CN113719746A - Full-automatic hydrogen receiving and filling system of hydrogen filling station - Google Patents
Full-automatic hydrogen receiving and filling system of hydrogen filling station Download PDFInfo
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- CN113719746A CN113719746A CN202110594653.7A CN202110594653A CN113719746A CN 113719746 A CN113719746 A CN 113719746A CN 202110594653 A CN202110594653 A CN 202110594653A CN 113719746 A CN113719746 A CN 113719746A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C5/00—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures
- F17C5/002—Automated filling apparatus
- F17C5/007—Automated filling apparatus for individual gas tanks or containers, e.g. in vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
- F17C13/023—Special adaptations of indicating, measuring, or monitoring equipment having the mass as the parameter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
- F17C13/025—Special adaptations of indicating, measuring, or monitoring equipment having the pressure as the parameter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
- F17C13/026—Special adaptations of indicating, measuring, or monitoring equipment having the temperature as the parameter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C5/00—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures
- F17C5/06—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures for filling with compressed gases
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C7/00—Methods or apparatus for discharging liquefied, solidified, or compressed gases from pressure vessels, not covered by another subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/03—Control means
- F17C2250/036—Control means using alarms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/04—Indicating or measuring of parameters as input values
- F17C2250/0404—Parameters indicated or measured
- F17C2250/043—Pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/04—Indicating or measuring of parameters as input values
- F17C2250/0404—Parameters indicated or measured
- F17C2250/0439—Temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/06—Controlling or regulating of parameters as output values
- F17C2250/0689—Methods for controlling or regulating
- F17C2250/0694—Methods for controlling or regulating with calculations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/07—Actions triggered by measured parameters
- F17C2250/072—Action when predefined value is reached
- F17C2250/075—Action when predefined value is reached when full
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/30—Hydrogen technology
- Y02E60/32—Hydrogen storage
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
The invention provides a full-automatic hydrogen receiving and filling system of a hydrogen filling station. The system comprises a vehicle automatic identification subsystem, a voice prompt and ground light subsystem, a hydrogen robot automatic receiving subsystem and a filling device; the vehicle automatic identification subsystem comprises a camera with a field automatic camera shooting function, an access control device and a vehicle information control system, wherein the vehicle information comprises vehicle license plate numbers, transportation units, transportation vehicle conditions and medium parameter conditions; the voice prompt and ground light subsystem comprises a ground sensor, a light indication subsystem and a voice subsystem. The invention has the beneficial effects that: the system can integrate the prior hydrogenation machine, personnel and operation into a whole, simultaneously detect the process parameter change in the filling process in real time, ensure the filling safety, improve the filling efficiency and reduce the personnel cost.
Description
Technical Field
The invention relates to the field of hydrogenation stations, in particular to a full-automatic hydrogen receiving and filling system for a hydrogenation station.
Background
At present, all hydrogenation stations on the market achieve a hydrogen unloading site of the hydrogenation station by adopting a long-tube trailer (TT vehicle), 2 workers are dispatched from the hydrogenation station to carry out TT vehicle guiding and guiding in a warehouse, a hydrogen unloading hose is connected, a hydrogen dew point is tested, then the hydrogen unloading hose is purged and replaced, finally a control valve is opened, the operator can leave after observing for 20min without abnormality, the whole process needs 2 workers to track and operate in the whole process, confirmation and observation are carried out, and the whole process needs 40min-60 min. In the whole process, the paper still adopted for recording hydrogen detection data (parameters such as dew point, pressure and temperature) and confirming the operation process, meanwhile, the problems of safety risk of hydrogen leakage, non-standard quality data record and the like caused by personnel misoperation and non-standard operation exist in the whole process, and the cost of 2 personnel and time are increased. The hydrogen filling process is that after hydrogen is pressurized by a compressor, the hydrogen is controlled by a hydrogen pipeline and a manual hydrogenation device, a hose is connected with a hydrogen storage bottle of a fuel cell vehicle, 2 hydrogenation personnel on site carry out hydrogenation operation, a hydrogenation valve is opened, the compressor is started, then the hydrogen fuel cell vehicle is filled, when a certain amount or pressure is filled, the hydrogen storage bottle is manually stopped, the hydrogenation hose is disconnected, the whole process needs personnel to carry out whole-course inspection, the hydrogen leakage condition is detected, the filling temperature change condition of the gas bottle is ensured, the filling rate cannot be too high, but cannot be too small, the filling efficiency is influenced, and manpower, a large amount of time and energy are wasted.
Disclosure of Invention
In order to solve the above problems, the present invention provides a full-automatic hydrogen receiving and filling system for a hydrogen filling station, which mainly comprises: the system comprises a vehicle automatic identification subsystem, a voice prompt and ground light subsystem, a hydrogen robot automatic receiving subsystem and a filling device;
the vehicle automatic identification subsystem comprises a camera with a field automatic camera shooting function, an access control device and a vehicle information control system, wherein the vehicle information comprises vehicle license plate numbers, transportation units, transportation vehicle conditions and medium parameter conditions;
the voice prompt and ground light subsystem comprises a ground sensor, a light indicator subsystem and a voice subsystem; the ground sensor is used for monitoring the distance between the vehicle and the periphery of the garage when the hydrogen TT vehicle enters the garage, and reminding a driver and escort personnel of accurately and safely entering a parking area by means of automatic voice indication sent by the voice subsystem;
the automatic receiving subsystem and the filling device of the hydrogen robot comprise a robot with a controller, a robot arm video subsystem, a torsion monitoring element, a dew point detection element, a leakage detection element, a temperature detection element, a pressure detection element and a flow detection element; the robot is positioned in a hydrogen unloading area, and the robot arm video subsystem, the torsion monitoring element, the dew point detection element, the leakage detection element, the temperature detection element, the pressure detection element and the flow detection element are all positioned in an arm of the robot; the robot arm video subsystem is used for monitoring the connection process of the hose, the torsion monitoring element is used for connecting the hydrogen hose and the hydrogen TT vehicle interface, the torsion monitoring element comprises a fastening device, when the hydrogen hose and the hydrogen TT vehicle interface are connected, the fastening device rotates a nut at the front end of the hose, and when the hydrogen hose and the connector are completely assembled, the fastening device is automatically loosened according to a set fastening torque threshold value;
when the hydrogen receiving and filling system of the hydrogen station is used for receiving hydrogen, after a hydrogen TT vehicle reaches a hydrogen station site, the automatic vehicle identification subsystem judges the detection states of a license plate number and a hydrogen TT vehicle gas cylinder, identifies whether the hydrogen TT vehicle is a vehicle which is qualified to detect and dispatched by a hydrogen transportation unit, if so, automatically opens a hydrogen unloading area entrance guard, and prompts a driver and escort personnel to leave the site through the hydrogen unloading area entrance guard according to voice prompt sent by the voice subsystem and indication information output by the hydrogen unloading area light indication subsystem, and after the hydrogen TT vehicle is flamed and stops, the voice subsystem prompts the driver and escort personnel to leave the site, and controls a robot arm to automatically connect a hydrogen unloading hose with a hydrogen TT vehicle interface through a robot arm video subsystem and a torsion detection element, detecting whether the connection of a hydrogen unloading hose is normal or not, arranging an anti-tripping device in the hydrogen unloading hose, if so, tightly connecting the anti-tripping device with a hydrogen TT vehicle interface, after detecting that the connection of the hydrogen unloading hose is normal, executing the operation of automatically opening a hydrogen TT vehicle valve and an air unloading cabinet valve by the automatic receiving subsystem of the hydrogen robot, performing hydrogen dew point detection and leakage detection, recording detection data in the whole process of the robot, if hydrogen leakage occurs, triggering and setting an alarm threshold value by the detected hydrogen concentration, executing an automatic alarm cut-off function, and after the hydrogen dew point and leakage detection are qualified, withdrawing from a hydrogen unloading area and starting hydrogen pressurization operation;
when the full-automatic hydrogen receiving and filling system of the hydrogen station performs hydrogen filling work, after a hydrogen fuel battery car stops at a filling position, the automatic receiving subsystem and the filling device of the hydrogen robot detect that the current hydrogen fuel battery car stops flameout and stops, one mechanical arm of the robot automatically extends out of a clamp to open a gland of the hydrogen battery car, the other mechanical arm is communicated with a hydrogen pipeline and then controls to lock a pipeline valve, after the actions are completed, the robot sends a control command to a compressor to control the compressor to perform hydrogenation operation, simultaneously monitors the discharge flow, pressure, temperature and leakage conditions of a filling port of the fuel battery car in the hydrogenation operation process, if hydrogen leakage occurs, the detected hydrogen concentration triggers and sets an alarm threshold value, and transmits various detected information to a controller to be processed, then the full-automatic hydrogen receiving and filling system of the hydrogen filling station executes a preset command of closing the pipeline valve and the cut-off valve, the pipeline valve and the cut-off valve are automatically closed, a controller in the robot processes the changed process parameters in the filling process, and then the rotating speed of the compressor is adjusted in real time, so that the hydrogen filling can be carried out more quickly and more safely; after the hydrogen gas is filled, the pipeline valve is cut off, a filling port gland on the fuel cell vehicle is closed, and the voice subsystem sends out filling completion and hydrogenation information.
Further, the vehicle information is provided by a hydrogen supplier and is recorded into the vehicle automatic identification device and system after the hydrogen charging is completed.
Further, the torsion detecting element is a mechanical magnetic suspension torque element or a digital torque fastening element.
Further, the leakage detection element is a hydrogen concentration sensor, and whether hydrogen leakage exists is judged by detecting whether the external hydrogen concentration exceeds a preset normal threshold value.
Further, the temperature detection element is a temperature sensor and is used for detecting the temperature condition of the filling opening of the fuel cell vehicle in real time.
Further, the pressure detection element is a pressure sensor and is used for detecting the pressure condition of the filling opening of the fuel cell vehicle in real time.
Further, the flow detection element is a hydrogen mass flow meter and is used for detecting the flow condition of the filling port of the fuel cell vehicle in real time.
Further, a dew point detection element is mounted in an arm of the robot and used for detecting whether a hydrogen dew point is qualified or not in a hydrogen receiving process, and when a detection result is less than-60 ℃, the hydrogen dew point is qualified and then hydrogen receiving operation is carried out.
Further, the hydrogen receiving process can be completed in only 20 min.
Further, the temperature detection element, the pressure detection element, the flow detection element and the hydrogen leakage detection element are used for detecting real-time data of whether temperature, pressure, flow and hydrogen are leaked in the hydrogen filling process and transmitting the real-time data to a controller in the robot for judgment in real time, when certain parameter changes and exceeds a set normal range, the robot responds to control the compressor to give an alarm, stop or carry out frequency conversion and speed regulation, and meanwhile, the voice subsystem sends corresponding voice to remind a monitoring person to process, and records alarm fault information and a processing method.
The technical scheme provided by the invention has the beneficial effects that: the full-automatic action in the process of loading and unloading the TT vehicle is realized, the complexity in the field paper recording process is reduced, meanwhile, the risk of hydrogen leakage caused by the nonstandard operation of field personnel can be reduced, and meanwhile, the personnel cost can be reduced.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic diagram of a full-automatic hydrogen receiving and filling system of a hydrogen filling station according to an embodiment of the invention.
In the attached drawings, 1-a hydrogen TT vehicle, 2-a full-automatic hydrogen receiving and filling system of the hydrogen filling station, 3-a compressor and 4-a fuel cell vehicle.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a full-automatic hydrogen receiving and filling system of a hydrogen filling station. Referring to fig. 1, fig. 1 is a schematic diagram of a full-automatic hydrogen receiving and filling system of a hydrogen filling station according to an embodiment of the present invention, including: the system comprises a vehicle automatic identification subsystem, a voice prompt and ground light subsystem, a hydrogen robot automatic receiving subsystem and a filling device;
the vehicle automatic identification subsystem comprises a camera with a field automatic camera shooting function, an access control device and a vehicle information control system, wherein the vehicle information comprises vehicle license plate numbers, transportation units, transportation vehicle conditions and medium parameter conditions; the vehicle information is provided by a hydrogen supplier and is input into the automatic vehicle identification device and the automatic vehicle identification system after the hydrogen filling is completed.
The voice prompt and ground light subsystem comprises a ground sensor, a light indicator subsystem and a voice subsystem; the ground sensor is used for monitoring the distance between a vehicle and the periphery of a garage when a hydrogen long-tube trailer (hereinafter referred to as a hydrogen TT vehicle) enters the garage, and reminding a driver and escort personnel of accurately and safely entering a parking area by means of automatic voice indication sent by the voice subsystem;
the automatic receiving subsystem and the filling device of the hydrogen robot comprise a robot with a controller, a robot arm video subsystem, a torsion monitoring element, a dew point detection element, a leakage detection element, a temperature detection element, a pressure detection element and a flow detection element; the robot is positioned in a hydrogen unloading area, and the robot arm video subsystem, the torsion monitoring element, the dew point detection element, the leakage detection element, the temperature detection element, the pressure detection element and the flow detection element are all positioned in an arm of the robot; the robot arm video subsystem is used for monitoring the connection process of the hose, the torsion monitoring element is used for connecting the hydrogen hose and the hydrogen TT vehicle interface, the torsion monitoring element comprises a fastening device, when the hydrogen hose and the hydrogen TT vehicle interface are connected, the fastening device rotates a nut at the front end of the hose, and when the hydrogen hose and the connector are completely assembled, the fastening device is automatically loosened according to a set fastening torque threshold value; the torsion detection element is a mechanical magnetic suspension torque element or a digital torque fastening element. The leakage detection element is a hydrogen concentration sensor, and whether hydrogen leakage exists is judged by detecting whether the concentration of external hydrogen exceeds a preset normal threshold value. The temperature detection element is a temperature sensor and is used for detecting the temperature condition of the filling port of the fuel cell vehicle 2 in real time. The pressure detection element is a pressure sensor and is used for detecting the pressure condition of the filling port of the fuel cell vehicle 2 in real time. The flow detection element is a hydrogen mass flow meter and is used for detecting the flow condition of the filling port of the fuel cell vehicle 2 in real time. A hydrogen concentration sensor, a temperature sensor, a pressure sensor and a hydrogen mass flowmeter are arranged in a robot arm. The process parameters in the step 4 can be collected in real time, the data is transmitted to the robot control center for analysis and judgment, and when the real-time process parameter data reaches a certain set threshold value, the robot control center sends alarm information and then performs actions such as automatic shutdown and the like.
When the hydrogen receiving work is carried out, after the hydrogen TT vehicle 1 reaches the site of the hydrogen station, the vehicle automatic identification subsystem judges the detection states of the license plate number and the gas cylinder of the hydrogen TT vehicle 1, identifies whether the hydrogen TT vehicle 1 is a vehicle which is dispatched by a qualified detection and hydrogen transportation unit, if so, automatically opens a hydrogen unloading area gate, according to the voice prompt sent by the voice subsystem and the indication information output by the light indication subsystem of the hydrogen unloading area, a driver of the hydrogen TT vehicle 1 drives the hydrogen TT vehicle to pass through the hydrogen unloading area gate to enter a hydrogen unloading appointed position, after the hydrogen TT vehicle 1 is flamed out and stops, the voice subsystem prompts a driver and escort personnel to leave the site, and the robot arm is controlled by the robot arm video subsystem of the robot arm and the torsion detection element to automatically connect a hydrogen unloading hose with the interface of the hydrogen TT vehicle 1, and detecting whether the connection of the hydrogen unloading hose is normal or not, wherein an anti-tripping device is arranged in the hydrogen unloading hose, if so, the anti-tripping device is tightly connected with the interface of the hydrogen TT vehicle 1, after the connection of the hydrogen unloading hose is detected to be normal, the automatic receiving subsystem of the hydrogen robot executes the operation of automatically opening the valve of the hydrogen TT vehicle 1 and the valve of the gas unloading cabinet to carry out the detection of the dew point of hydrogen and the detection of leakage, the whole process of the robot records the detection data, if the hydrogen leakage occurs, the detected hydrogen concentration triggers and sets an alarm threshold value to execute the automatic alarm cut-off function, a dew point detection element is arranged in the arm of the robot and is used for detecting whether the dew point of the hydrogen is qualified or not in the hydrogen receiving process, when the detection result is less than-60 ℃, the hydrogen is qualified, then the hydrogen receiving operation is carried out, and the detection of the dew point and the leakage of the hydrogen is qualified, the robot exits the hydrogen unloading area and starts to perform hydrogen pressurization operation; the whole process only needs 20min, meanwhile, the personnel intervention is reduced, the operation process and the action confirmation are recorded, the risks of quality, safety leakage and the like caused by manual operation errors and execution failure are avoided, and the personnel and property losses are reduced.
When the full-automatic hydrogen receiving and filling system 3 of the hydrogen filling station performs hydrogen filling work, after the hydrogen fuel cell vehicle 2 stops at a filling position, the automatic receiving subsystem and the filling device of the hydrogen robot detect that the current hydrogen fuel cell vehicle 2 is flamed out and stops, one mechanical arm of the robot automatically extends out of a clamp to open a gland of the fuel cell vehicle 2, the other mechanical arm is communicated with a hydrogen pipeline and then controls to lock a pipeline valve, after the actions are completed, the robot sends a control command to a compressor 4 to control the compressor 4 to perform hydrogenation operation, and simultaneously monitors the outflow, pressure, temperature and leakage conditions of a filling port of the fuel cell vehicle 2 in the hydrogenation operation process, if hydrogen leakage occurs, the detected hydrogen concentration triggers and sets an alarm threshold value, and transmits various detected information to a controller to be processed, then the full-automatic hydrogen receiving and filling system 3 of the hydrogen filling station executes a preset command of closing the pipeline valve and the cut-off valve, automatically closes the pipeline valve and the cut-off valve, and a controller in the robot processes changed process parameters in the filling process, so that the rotating speed of the compressor 4 is adjusted in real time, and hydrogen filling is performed more quickly and more safely; after the hydrogen gas is filled, the pipeline valve is cut off, the filling port gland on the fuel cell vehicle 2 is closed, and the voice subsystem sends out the filling completion and hydrogenation information. The robot records the hydrogenation information, which mainly means that the pressure, the temperature, the hydrogen purity (dew point), the pressure, the temperature and the instantaneous flow during filling before and after the hydrogen is received are automatically recorded during the hydrogen receiving and filling process, the hydrogen filling weight of the hydrogen fuel cell vehicle 2 is automatically calculated, and the real-time data and the variation trend of each process parameter during the hydrogen receiving, unloading and filling process are recorded.
The temperature detection element, the pressure detection element, the flow detection element and the hydrogen leakage detection element are used for detecting real-time data of whether temperature, pressure, flow and hydrogen are leaked in the hydrogen filling process and transmitting the real-time data to a controller in the robot for judgment in real time, when certain parameter changes and exceeds a set normal range, the robot responds to the data, the compressor 4 is controlled to give an alarm, shut down or carry out variable frequency speed regulation, and meanwhile, the voice subsystem sends corresponding voice to remind monitoring personnel to process the data, and alarm fault information and a processing method are recorded. In the whole process, personnel do not need to track in the whole process, and only the personnel need to monitor in a central control room. And a full-automatic robot is used for carrying out full-process tracking and real-time monitoring in the hydrogen receiving and filling process.
When hydrogen is in the receiving or filling process, if hydrogen leakage occurs, the hydrogen concentration sensor in the robot mechanical arm can automatically detect the hydrogen concentration and trigger the set alarm threshold. The information is transmitted to the robot controller, the information is analyzed and judged after being received, the pneumatic valve and the cut-off valve are operated according to a preset program, the hydrogen operation is guaranteed to be stopped immediately, leakage which occurs is diffused immediately, and the operation safety and reliability are guaranteed.
The invention has the beneficial effects that: the system can integrate the prior hydrogenation machine, personnel and operation into a whole, simultaneously detect the process parameter change in the filling process in real time, ensure the filling safety, improve the filling efficiency and reduce the personnel cost.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, but rather as the subject matter of the invention is to be construed in all aspects and as broadly as possible.
Claims (10)
1. The utility model provides a full-automatic hydrogen of hydrogen station is received and filling system which characterized in that: the method comprises the following steps: the system comprises a vehicle automatic identification subsystem, a voice prompt and ground light subsystem, a hydrogen robot automatic receiving subsystem and a filling device;
the vehicle automatic identification subsystem comprises a camera with a field automatic camera shooting function, an access control device and a vehicle information control system, wherein the vehicle information comprises vehicle license plate numbers, transportation units, transportation vehicle conditions and medium parameter conditions;
the voice prompt and ground light subsystem comprises a ground sensor, a light indicator subsystem and a voice subsystem; the ground sensor is used for monitoring the distance between the vehicle and the periphery of the garage when the hydrogen TT vehicle enters the garage, and reminding a driver and escort personnel of accurately and safely entering a parking area by means of automatic voice indication sent by the voice subsystem;
the automatic receiving subsystem and the filling device of the hydrogen robot comprise a robot with a controller, a robot arm video subsystem, a torsion monitoring element, a dew point detection element, a leakage detection element, a temperature detection element, a pressure detection element and a flow detection element; the robot is positioned in a hydrogen unloading area, and the robot arm video subsystem, the torsion monitoring element, the dew point detection element, the leakage detection element, the temperature detection element, the pressure detection element and the flow detection element are all positioned in an arm of the robot; the robot arm video subsystem is used for monitoring the hose connection process, the torsion monitoring element is used for connecting the hydrogen hose and the hydrogen TT vehicle interface, the torsion monitoring element comprises a fastening device, when the hydrogen hose and the hydrogen TT vehicle interface are connected, the fastening device rotates a nut at the front end of the hose, and when the hydrogen hose and the connector are completely assembled, the fastening device is automatically loosened according to a set fastening torque threshold value;
when the hydrogen receiving and filling system of the hydrogen station is used for receiving hydrogen, after a hydrogen TT vehicle reaches a hydrogen station site, the automatic vehicle identification subsystem judges the detection states of a license plate number and a hydrogen TT vehicle gas cylinder, identifies whether the hydrogen TT vehicle is a vehicle which is qualified to detect and is dispatched by a hydrogen transportation unit, if so, automatically opens a hydrogen unloading area gate inhibition, and prompts a driver and a transporting person to leave the site according to voice prompt sent by the voice subsystem and indication information output by a light indication subsystem of the hydrogen unloading area, the driver of the hydrogen TT vehicle drives the hydrogen TT vehicle to pass through the hydrogen unloading area to enter a hydrogen unloading appointed position, after the hydrogen TT vehicle is flamed out and stops, the voice subsystem prompts the driver and the transporting person to leave the site, and controls a robot arm to automatically connect a hydrogen unloading hose with a hydrogen TT vehicle interface by a robot arm video subsystem and a torsion detection element, and detects whether the hydrogen unloading hose is normally connected, the hydrogen unloading hose is internally provided with an anti-tripping device, if the anti-tripping device is connected with the hydrogen TT vehicle interface tightly, after the hydrogen unloading hose is detected to be connected normally, the automatic receiving subsystem of the hydrogen robot executes the operation of automatically opening a valve of the hydrogen TT vehicle and a valve of an air unloading cabinet to perform hydrogen dew point detection and leakage detection, the robot records detection data in the whole process, if the hydrogen leakage occurs, the detected hydrogen concentration triggers and sets an alarm threshold value to execute an automatic alarm cut-off function, and after the hydrogen dew point and the leakage detection are qualified, the robot quits a hydrogen unloading area to start to perform hydrogen pressurization operation;
when the full-automatic hydrogen receiving and filling system of the hydrogen filling station performs hydrogen filling work, after a hydrogen fuel cell vehicle stops at a filling position, the automatic receiving subsystem and the filling device of the hydrogen robot detect that the current hydrogen fuel cell vehicle stops flameout and stops, one mechanical arm of the robot automatically extends out of the clamp to open a gland of the hydrogen fuel cell vehicle, the other mechanical arm is communicated with a hydrogen pipeline, then the pipeline valve is controlled to be locked, after the actions are completed, the robot sends a control command to the compressor to control the compressor to perform hydrogenation operation, meanwhile, the flow, pressure, temperature and leakage conditions of a filling port of the fuel cell vehicle in the hydrogenation operation process are monitored, if hydrogen leakage occurs, the detected hydrogen concentration triggers and sets an alarm threshold value, the detected various information is transmitted to the controller to be processed, and then the full-automatic hydrogen receiving and filling system of the hydrogen filling station executes a preset command of closing the pipeline valve and a stop valve The pipeline valve and the cut-off valve are automatically closed, a controller in the robot processes the changed technological parameters in the filling process, and then the rotating speed of the compressor is adjusted in real time, so that hydrogen filling can be carried out more quickly and safely; after the hydrogen gas is filled, the pipeline valve is cut off, a filling port gland on the fuel cell vehicle is closed, and the voice subsystem sends out filling completion and hydrogenation information.
2. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the vehicle information is provided by a hydrogen supplier and is input into the automatic vehicle identification device and the automatic vehicle identification system after the hydrogen filling is completed.
3. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the torsion detection element is a mechanical magnetic suspension torque element or a digital torque fastening element.
4. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the leakage detection element is a hydrogen concentration sensor, and whether hydrogen leakage exists is judged by detecting whether the concentration of external hydrogen exceeds a preset normal threshold value.
5. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the temperature detection element is a temperature sensor and is used for detecting the temperature condition of the fuel cell vehicle filling opening in real time.
6. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the pressure detection element is a pressure sensor and is used for detecting the pressure condition of the fuel cell vehicle filling opening in real time.
7. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the flow detection element is a hydrogen mass flow meter and is used for detecting the flow condition of the fuel cell vehicle filling port in real time.
8. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: and a dew point detection element is arranged in an arm of the robot and used for detecting whether the hydrogen dew point is qualified or not in the hydrogen receiving process, and when the detection result is less than minus 60 ℃, the hydrogen dew point is qualified and then the hydrogen receiving operation is carried out.
9. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the hydrogen receiving process can be completed in only 20 min.
10. A hydrogen station full-automatic hydrogen receiving and filling system as claimed in claim 1, wherein: the temperature detection element, the pressure detection element, the flow detection element and the hydrogen leakage detection element are used for detecting real-time data of whether temperature, pressure, flow and hydrogen are leaked in the hydrogen filling process and transmitting the real-time data to a controller in the robot for judgment in real time, when certain parameter changes and exceeds a set normal range, the robot responds to the data, the compressor is controlled to give an alarm, shut down or carry out variable frequency speed regulation, and meanwhile, the voice subsystem sends corresponding voice to remind monitoring personnel to process the data, and alarm fault information and a processing method are recorded.
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