CN115285069A - Robot system for hydrogen filling of hydrogen fuel cell vehicle and use method - Google Patents
Robot system for hydrogen filling of hydrogen fuel cell vehicle and use methodDownload PDFInfo
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- 239000001257hydrogenSubstances0.000titleclaimsabstractdescription115
- UFHFLCQGNIYNRP-UHFFFAOYSA-NHydrogenChemical compound[H][H]UFHFLCQGNIYNRP-UHFFFAOYSA-N0.000titleclaimsabstractdescription113
- 239000000446fuelSubstances0.000titleclaimsabstractdescription29
- 238000000034methodMethods0.000titleclaimsabstractdescription14
- 239000002131composite materialSubstances0.000claimsabstractdescription47
- 230000000007visual effectEffects0.000claimsabstractdescription20
- 230000007246mechanismEffects0.000claimsabstractdescription13
- 238000005984hydrogenation reactionMethods0.000claimsdescription56
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- 125000004435hydrogen atomChemical group[H]*0.000claimsdescription3
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- OKTJSMMVPCPJKN-UHFFFAOYSA-NCarbonChemical compound[C]OKTJSMMVPCPJKN-UHFFFAOYSA-N0.000description2
- 229910052799carbonInorganic materials0.000description2
- 238000004140cleaningMethods0.000description2
- 230000008569processEffects0.000description2
- 230000001681protective effectEffects0.000description2
- 238000004364calculation methodMethods0.000description1
- 238000005516engineering processMethods0.000description1
- 238000005429filling processMethods0.000description1
- 239000007789gasSubstances0.000description1
- 150000002431hydrogenChemical class0.000description1
- 230000008439repair processEffects0.000description1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/02—Supplying fuel to vehicles; General disposition of plant in filling stations
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种用于氢燃料电池车氢气加注的机器人系统及使用方法，属于清洁能源设备及方法技术领域。The invention relates to a robot system and a use method for hydrogen filling of a hydrogen fuel cell vehicle, belonging to the technical field of clean energy equipment and methods.
背景技术Background technique
氢能作为一种可再生的二次能源，来源丰富，使用过程环境友好，无碳排放，被称为21世纪的理想能源，将成为我国实现双碳目标实现的重要途径。河钢集团响应国家战略部署，积极布局氢能产业，打造氢能重卡产业集群。2020年12月，河钢集团已建成2座加氢站，并将实现氢燃料电池车辆和加氢站的同步运营。到2025年，初步构建加氢站网络，建设不少于30座加氢站。As a renewable secondary energy source, hydrogen energy is rich in sources, environmentally friendly in the use process, and has no carbon emissions. It is known as the ideal energy source in the 21st century and will become an important way for my country to achieve the double carbon goal. In response to the national strategic deployment, HBIS Group has actively deployed the hydrogen energy industry and built a hydrogen energy heavy truck industrial cluster. In December 2020, HBIS Group has built two hydrogen refueling stations, and will realize the simultaneous operation of hydrogen fuel cell vehicles and hydrogen refueling stations. By 2025, initially build a network of hydrogen refueling stations, and build no less than 30 hydrogen refueling stations.
河钢集团现有35/70MPa为燃料电池汽车加注氢气的加氢示范站一座，已经处于运营状态。在加氢过程中，人工操作工作量大，存在较大的安全风险。HBIS Group currently has a 35/70MPa hydrogen refueling demonstration station for fuel cell vehicles, which is already in operation. In the process of hydrogenation, the manual operation is heavy and there are great safety risks.
发明内容Contents of the invention
本发明目的是提供一种用于氢燃料电池车氢气加注的机器人系统及使用方法，通过自主导航和视觉识别，配备视觉系统和相关控制算法，控制机器人取代人工实现氢气加注功能，可以确保系统安全、可靠、智能运行，有效地解决了背景技术中存在的上述问题。The purpose of the present invention is to provide a robot system and method for hydrogen filling of hydrogen fuel cell vehicles. Through autonomous navigation and visual recognition, equipped with a vision system and related control algorithms, the robot can be controlled to replace manual hydrogen filling, which can ensure The system is safe, reliable, and intelligently operated, and effectively solves the above-mentioned problems existing in the background technology.
本发明的技术方案是：一种用于氢燃料电池车氢气加注的机器人系统，包含复合移动机器人、辅助机构、视觉系统、视觉摄像头和加氢机，所述复合移动机器人包含底盘和机械臂，机械臂有两个，安装在底盘上；辅助机构安装在机械臂上，视觉系统分别安装复合移动机器人的两个机械臂上和底盘的头部和尾部，视觉摄像头安装在加氢机的上方。The technical solution of the present invention is: a robot system for hydrogen filling of hydrogen fuel cell vehicles, including a composite mobile robot, an auxiliary mechanism, a vision system, a vision camera and a hydrogenation machine, and the composite mobile robot includes a chassis and a mechanical arm , there are two mechanical arms, which are installed on the chassis; the auxiliary mechanism is installed on the mechanical arm, the vision system is respectively installed on the two mechanical arms of the composite mobile robot and the head and tail of the chassis, and the visual camera is installed on the top of the hydrogenation machine .
所述复合移动机器人的底盘设有四轮转向移动结构，尺寸为1500mm*2000mm，厚度为600mm，设有激光雷达。The chassis of the composite mobile robot is provided with a four-wheel steering mobile structure with a size of 1500mm*2000mm, a thickness of 600mm, and a laser radar.
所述复合移动机器人的机械臂为臂展为1800mm的6轴机械臂。The mechanical arm of the compound mobile robot is a 6-axis mechanical arm with an arm span of 1800 mm.
所述视觉系统安装有专用工业相机、补光光源设备和视觉分析软件。The vision system is equipped with a special industrial camera, supplementary light source equipment and visual analysis software.
所述复合移动机器人安装有静电夹。The composite mobile robot is equipped with an electrostatic clamp.
所述复合移动机器人的机械臂末端带有氢气检测仪。The end of the mechanical arm of the compound mobile robot has a hydrogen detector.
一种用于氢燃料电池车氢气加注的机器人系统的使用方法，包含以下步骤：A method for using a robot system for hydrogen filling of a hydrogen fuel cell vehicle, comprising the following steps:
（1）视觉摄像头拍摄氢燃料电池汽车的状态，识别出车辆车牌号、是否停到加氢位置、车内人员是否下车和车辆是否熄火，并将信息传递给视觉系统主机和控制系统；(1) The visual camera captures the state of the hydrogen fuel cell vehicle, recognizes the license plate number of the vehicle, whether it is parked at the hydrogen refueling position, whether the occupants get off the vehicle and whether the vehicle is turned off, and transmits the information to the visual system host and control system;
（2）视觉系统主机和控制系统进行数据分析，符合加氢要求并根据加氢站控制系统的加氢指令，将允许加氢的信号传递到复合移动机器人内；(2) The vision system host computer and control system conduct data analysis, meet the hydrogen refueling requirements and transmit the hydrogen refueling permission signal to the compound mobile robot according to the hydrogen refueling instructions of the hydrogen refueling station control system;
（3）复合移动机器人接收到控制系统传递过来的启动加氢的信号后，运行至加氢机和氢燃料电池车辆中间的加氢位置，并将到位的信号传递给视觉系统和控制系统；(3) After receiving the hydrogen refueling start signal from the control system, the composite mobile robot runs to the hydrogen refueling position between the hydrogen refueling machine and the hydrogen fuel cell vehicle, and transmits the signal to the vision system and control system;
（4）视觉系统和控制系统接收到复合移动机器人到位的信号后，启动视觉系统识别车辆的型号、氢气罐位置和加氢枪的状态，并将信号传递给控制系统；(4) After the vision system and control system receive the signal that the composite mobile robot is in place, start the vision system to identify the model of the vehicle, the position of the hydrogen tank and the state of the hydrogenation gun, and transmit the signal to the control system;
（5）控制系统根据视觉系统的识别信息，启动辅助机构安装防静电装置，打开氢燃料电池车的氢罐外盖和加氢口盖子，将加氢枪插入加氢口，打开阀门开始氢气加注，加氢机将氢气加注完成的压力信号传递给控制系统；(5) According to the identification information of the vision system, the control system starts the auxiliary mechanism to install the anti-static device, opens the hydrogen tank outer cover and the hydrogenation port cover of the hydrogen fuel cell vehicle, inserts the hydrogenation gun into the hydrogenation port, and opens the valve to start hydrogenation. Note, the hydrogenation machine transmits the pressure signal of the completion of hydrogen filling to the control system;
（6）控制系统根据加氢机的压力信号向复合移动机器人发送加氢完成的信号，复合移动机器人停止氢气加注作业，将加氢枪抽出放回原位，盖好加氢口盖和氢罐外盖，摘掉防静电装置，并将加注作业完成的信号传递给控制系统；(6) The control system sends a hydrogenation completion signal to the compound mobile robot according to the pressure signal of the hydrogenation machine. The compound mobile robot stops the hydrogen filling operation, pulls out the hydrogenation gun and puts it back to its original position, and covers the hydrogenation port and the hydrogenation port. Remove the anti-static device from the outer cover of the tank, and transmit the signal of the completion of the filling operation to the control system;
（7）控制系统接收到加注完成的指令后，将回归待机位置的指令发送复合移动机器人，复合移动机器人接收到指令后运行到待机位置。(7) After the control system receives the command that the filling is completed, it sends the command to return to the standby position to the composite mobile robot, and the composite mobile robot runs to the standby position after receiving the command.
所述复合移动机器人安装有静电夹。The composite mobile robot is equipped with an electrostatic clamp.
所述复合移动机器人的机械臂末端带有氢气检测仪。The end of the mechanical arm of the compound mobile robot has a hydrogen detector.
本发明的有益效果是：通过自主导航和视觉识别，配备视觉系统和相关控制算法，控制机器人取代人工实现氢气加注功能，可以确保系统安全、可靠、智能运行。The beneficial effects of the present invention are: through autonomous navigation and visual recognition, equipped with a visual system and related control algorithms, the control robot replaces the artificial hydrogen filling function, which can ensure the safe, reliable and intelligent operation of the system.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图中：复合移动机器人1、辅助机构2、视觉系统3、视觉摄像头4、加氢机5。In the figure: composite mobile robot 1, auxiliary mechanism 2, vision system 3, vision camera 4, hydrogenation machine 5.
具体实施方式Detailed ways
为了使发明实施案例的目的、技术方案和优点更加清楚，下面将结合实施案例中的附图，对本发明实施案例中的技术方案进行清晰的、完整的描述，显然，所表述的实施案例是本发明一小部分实施案例，而不是全部的实施案例，基于本发明中的实施案例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施案例，都属于本发明保护范围。In order to make the purpose, technical solutions and advantages of the invention implementation cases clearer, the technical solutions in the implementation cases of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the implementation cases. Obviously, the implementation cases described are the present invention Invention of a small part of the implementation cases, not all of the implementation cases, based on the implementation cases in the present invention, all other implementation cases obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.
一种用于氢燃料电池车氢气加注的机器人系统，包含复合移动机器人1、辅助机构2、视觉系统3、视觉摄像头4和加氢机5，所述复合移动机器人1包含底盘和机械臂，机械臂有两个，安装在底盘上；辅助机构2安装在机械臂上，视觉系统3分别安装复合移动机器人1的两个机械臂上和底盘的头部和尾部，视觉摄像头4安装在加氢机5的上方。A robot system for hydrogen refueling of a hydrogen fuel cell vehicle, comprising a composite mobile robot 1, an auxiliary mechanism 2, a vision system 3, a vision camera 4 and a hydrogenation machine 5, the composite mobile robot 1 comprising a chassis and a mechanical arm, There are two mechanical arms, which are installed on the chassis; the auxiliary mechanism 2 is installed on the mechanical arm, the vision system 3 is respectively installed on the two mechanical arms of the composite mobile robot 1 and the head and tail of the chassis, and the visual camera 4 is installed on the hydrogenation system. Machine 5 above.
所述复合移动机器人1的底盘设有四轮转向移动结构，尺寸为1500mm*2000mm，厚度为600mm，设有激光雷达。The chassis of the composite mobile robot 1 is provided with a four-wheel steering mobile structure with a size of 1500mm*2000mm, a thickness of 600mm, and a laser radar.
所述复合移动机器人1的机械臂为臂展为1800mm的6轴机械臂。The mechanical arm of the compound mobile robot 1 is a 6-axis mechanical arm with a span of 1800mm.
所述视觉系统3安装有专用工业相机、补光光源设备和视觉分析软件。The vision system 3 is equipped with a special industrial camera, supplementary light source equipment and visual analysis software.
所述复合移动机器人1安装有静电夹。The composite mobile robot 1 is equipped with an electrostatic clamp.
所述复合移动机器人1的机械臂末端带有氢气检测仪。The end of the mechanical arm of the composite mobile robot 1 is equipped with a hydrogen detector.
一种用于氢燃料电池车氢气加注的机器人系统的使用方法，包含以下步骤：A method for using a robot system for hydrogen filling of a hydrogen fuel cell vehicle, comprising the following steps:
（1）视觉摄像头拍摄氢燃料电池汽车的状态，识别出车辆车牌号、是否停到加氢位置、车内人员是否下车和车辆是否熄火，并将信息传递给视觉系统主机和控制系统；(1) The visual camera captures the state of the hydrogen fuel cell vehicle, recognizes the license plate number of the vehicle, whether it is parked at the hydrogen refueling position, whether the occupants get off the vehicle and whether the vehicle is turned off, and transmits the information to the visual system host and control system;
（2）视觉系统主机和控制系统进行数据分析，符合加氢要求并根据加氢站控制系统的加氢指令，将允许加氢的信号传递到复合移动机器人内；(2) The vision system host computer and control system conduct data analysis, meet the hydrogen refueling requirements and transmit the hydrogen refueling permission signal to the compound mobile robot according to the hydrogen refueling instructions of the hydrogen refueling station control system;
（3）复合移动机器人接收到控制系统传递过来的启动加氢的信号后，运行至加氢机和氢燃料电池车辆中间的加氢位置，并将到位的信号传递给视觉系统和控制系统；(3) After receiving the hydrogen refueling start signal from the control system, the composite mobile robot runs to the hydrogen refueling position between the hydrogen refueling machine and the hydrogen fuel cell vehicle, and transmits the signal to the vision system and control system;
（4）视觉系统和控制系统接收到复合移动机器人到位的信号后，启动视觉系统识别车辆的型号、氢气罐位置和加氢枪的状态，并将信号传递给控制系统；(4) After the vision system and control system receive the signal that the composite mobile robot is in place, start the vision system to identify the model of the vehicle, the position of the hydrogen tank and the state of the hydrogenation gun, and transmit the signal to the control system;
（5）控制系统根据视觉系统的识别信息，启动辅助机构安装防静电装置，打开氢燃料电池车的氢罐外盖和加氢口盖子，将加氢枪插入加氢口，打开阀门开始氢气加注，加氢机将氢气加注完成的压力信号传递给控制系统；(5) According to the identification information of the vision system, the control system starts the auxiliary mechanism to install the anti-static device, opens the hydrogen tank outer cover and the hydrogenation port cover of the hydrogen fuel cell vehicle, inserts the hydrogenation gun into the hydrogenation port, and opens the valve to start hydrogenation. Note, the hydrogenation machine transmits the pressure signal of the completion of hydrogen filling to the control system;
（6）控制系统根据加氢机的压力信号向复合移动机器人发送加氢完成的信号，复合移动机器人停止氢气加注作业，将加氢枪抽出放回原位，盖好加氢口盖和氢罐外盖，摘掉防静电装置，并将加注作业完成的信号传递给控制系统；(6) The control system sends a hydrogenation completion signal to the compound mobile robot according to the pressure signal of the hydrogenation machine. The compound mobile robot stops the hydrogen filling operation, pulls out the hydrogenation gun and puts it back to its original position, and covers the hydrogenation port and the hydrogenation port. Remove the anti-static device from the outer cover of the tank, and transmit the signal of the completion of the filling operation to the control system;
（7）控制系统接收到加注完成的指令后，将回归待机位置的指令发送复合移动机器人，复合移动机器人接收到指令后运行到待机位置。(7) After the control system receives the command that the filling is completed, it sends the command to return to the standby position to the composite mobile robot, and the composite mobile robot runs to the standby position after receiving the command.
所述复合移动机器人安装有静电夹。The composite mobile robot is equipped with an electrostatic clamp.
所述复合移动机器人的机械臂末端带有氢气检测仪。The end of the mechanical arm of the compound mobile robot has a hydrogen detector.
在实际应用中，复合移动机器人由可四轮转向、移动的底盘带两个6轴机械臂组成。底盘 1500mm*2000mm厚度为600mm，携带激光雷达可以自主导航，其上方安装2个臂展为1800mm的六轴机械臂。复合移动机器人是移动执行机构，可以在氢站内的两个加氢机作业位置进行移动。In practical applications, the composite mobile robot consists of a four-wheel-steering, mobile chassis with two 6-axis manipulators. The chassis is 1500mm*2000mm and the thickness is 600mm. It can carry a laser radar and can navigate autonomously. Two six-axis robotic arms with a reach of 1800mm are installed above it. The composite mobile robot is a mobile actuator that can move between the two hydrogenation machine operating positions in the hydrogen station.
辅助机构2主要安装在两个机械臂上，是作业执行机构。主要功能是在加注氢气时依据视觉指引安装静电夹，打开氢燃料卡车氢罐外壳门、加氢口保护盖，夹起加氢枪等，加氢完成后逆序依次以上作业。The auxiliary mechanism 2 is mainly installed on two mechanical arms, and is an operation executing mechanism. The main function is to install the electrostatic clamp according to the visual guidance when filling hydrogen, open the hydrogen tank shell door of the hydrogen fuel truck, the protective cover of the hydrogenation port, clamp the hydrogenation gun, etc., and perform the above operations in reverse order after the hydrogenation is completed.
视觉系统3主要安装在机械臂和底盘的头尾。接收到控制系统发出的氢气加注作业指令后，复合移动机器人移动站加注位置，视觉系统识别车辆位置、型号等相关信息并发送至控制系统进行分析，给机器人发送信号，机器人开始进行加注作业。Vision system 3 is mainly installed at the head and tail of the robotic arm and chassis. After receiving the hydrogen filling operation command issued by the control system, the composite mobile robot moves the filling position, and the vision system recognizes the vehicle position, model and other related information and sends it to the control system for analysis, sends a signal to the robot, and the robot starts filling Operation.
视觉系统3通过安装专用工业相机和补光光源设备，需要视觉主机进行分析计算，连续拍摄复合移动机器人启动后的图像，实时将图像传输到后端处理，使用视觉分析专用的软件算法，识别计算合适的加氢位置、加注车辆是否满足加注条件、车辆的氢罐位置和静电夹位置信息，通过软件处理后以3D坐标的形式发送给复合移动机器人，复合移动机器人据此进行加注作业。The vision system 3 installs a special industrial camera and supplementary light source equipment, requires the vision host to perform analysis and calculation, continuously captures the images after the composite mobile robot starts, and transmits the images to the back-end processing in real time, using special software algorithms for visual analysis to identify and calculate The suitable hydrogen refueling position, whether the refueling vehicle meets the refueling conditions, the location of the vehicle's hydrogen tank and the position of the electrostatic clamp are processed by software and sent to the composite mobile robot in the form of 3D coordinates, and the composite mobile robot performs refueling operations accordingly .
本发明的工作原理为：加注车辆通过客户端进行加注业务预约，车辆进入氢站后视觉摄像头4识别车辆信息及位置，确定车辆满足加注条件，将信息通过控制系统传递给处于待机状态的复合移动机器人。复合移动机器人根据信息移动至加注位置，保持固定姿态，然后在视觉系统指引下开始加氢作业。The working principle of the present invention is: the refueling vehicle makes a reservation for refueling business through the client, and after the vehicle enters the hydrogen station, the visual camera 4 recognizes the vehicle information and position, determines that the vehicle meets the refilling conditions, and transmits the information to the waiting state through the control system. composite mobile robot. The composite mobile robot moves to the refueling position according to the information, maintains a fixed posture, and then starts the hydrogen refueling operation under the guidance of the vision system.
复合移动机器人安装静电夹，六轴机械臂臂末端带有氢气检测仪，机械臂打开车辆氢罐外壳，打开加氢口保护盖，检测空气中氢气含量是否符合加氢要求，且视觉系统读取气瓶压力表的数值，判断压力是否满足加注条件。复合移动机器人从加氢机夹起加氢枪插入加氢口，打开阀门加氢，同时氢气检测仪实时检测空气中氢气含量，判断是否大于1000ppm，如果大于则停止加氢，机器人将加氢枪放回加氢机，夹起专用清洁头清理加氢口。如果符合加氢条件、则放回专用清洁头且夹起加氢枪再次加氢，如果再次检查空气中氢气含量大于1000ppm，则报警故障通知人员及时修理。否则直到加氢完毕。机器人与加氢机进行实时通讯，获取氢气加注过程的压力、流量，并实现自动计费。The composite mobile robot is equipped with an electrostatic clamp, and the end of the six-axis robotic arm is equipped with a hydrogen detector. The robotic arm opens the hydrogen tank shell of the vehicle, opens the protective cover of the hydrogen refueling port, and detects whether the hydrogen content in the air meets the hydrogen refueling requirements, and the vision system reads The value of the pressure gauge of the gas cylinder can be used to judge whether the pressure meets the filling conditions. The composite mobile robot picks up the hydrogenation gun from the hydrogenation machine and inserts it into the hydrogenation port, opens the valve for hydrogenation, and at the same time, the hydrogen detector detects the hydrogen content in the air in real time to determine whether it is greater than 1000ppm. Put it back into the hydrogenation machine, and pick up the special cleaning head to clean the hydrogenation port. If the hydrogenation conditions are met, put back the special cleaning head and pick up the hydrogenation gun to refuel again. If the hydrogen content in the air is checked again to be greater than 1000ppm, it will alarm and notify the personnel to repair in time. Otherwise, until the hydrogenation is completed. The robot communicates with the hydrogenation machine in real time, obtains the pressure and flow rate of the hydrogen filling process, and realizes automatic billing.
本发明具有技术方案科学合理、结构简单实用、系统稳定可靠等优点，实现了机器人智能加氢的目的，提高了氢气加注的安全性和智能化。The invention has the advantages of scientific and reasonable technical scheme, simple and practical structure, stable and reliable system, etc., realizes the purpose of intelligent hydrogenation of robots, and improves the safety and intelligence of hydrogen filling.
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