Article: Vision-guided autonomous hydrogen refuelling system based on multi-scale recognition and force-position hybrid control Journal: International Journal of Information and Communication Technology (IJICT) 2026 Vol.27 No.36 pp.54 - 76 Abstract: With hydrogen energy emerging as a key pathway for achieving 'dual-carbon' targets, hydrogen refuelling stations face critical safety and efficiency challenges under extreme low-temperature conditions. To address the high risks, operational difficulty, and labour costs of manual refuelling, this study developed the world's first low-temperature resistant automated hydrogen refuelling robot. Integrating advanced machine vision, precision control, and safety monitoring, the system combines multi-scale perception with compliant control. Hardware includes an explosion-proof, temperature-controlled enclosure, a six-DOF industrial robot, and a pneumatically locked refuelling nozzle. Software employs a two-stage recognition: coarse 2D detection via transfer learning-optimised YOLOv10, followed by fine 3D point cloud localisation with 97.5% accuracy and 2-6mm error. A soft-floating force control algorithm ensures adaptive docking with ±5 N force precision. Successfully applied in hydrogen-fuelled rail transit, the system demonstrates significant value for hydrogen industry promotion, intelligent infrastructure in extreme environments, and next-generation automated refuelling technologies. Inderscience Publishers - linking academia, business and industry through research

Title: Vision-guided autonomous hydrogen refuelling system based on multi-scale recognition and force-position hybrid control

Authors: Chengxiang Liu; Wei Liu; Lei Zhou; Dong Wang; Jian Dong; Jian Zhang

Addresses: Guohua Energy Investment Co., Ltd., No. 3 Dongzhimen South Street, Dongcheng District, Beijing, 100007, China ' Guohua Energy Investment Co., Ltd., No. 3 Dongzhimen South Street, Dongcheng District, Beijing, 100007, China ' Guohua Energy Investment Co., Ltd., No. 3 Dongzhimen South Street, Dongcheng District, Beijing, 100007, China ' Guohua Bayannur (Urat Middle Banner) Wind Power Co., Ltd., Urad Middle Banner, Bayannur City, Inner Mongolia Autonomous Region, 015321, China ' CRRC Qingdao Sifang Rolling Stock Research Institute Co. Ltd., No. 231 Ruichang Road, Shibei District, Qingdao, Shandong Province, 266031, China ' School of Transportation, Shandong University of Science and Technology, Qingdao 266590, China; Shandong Key Laboratory of Hydrogen Electric Hybrid Power System Control and Safety, College of Energy Storage Technology, Shandong University of Science and Technology, Qingdao 266590, China

Abstract: With hydrogen energy emerging as a key pathway for achieving 'dual-carbon' targets, hydrogen refuelling stations face critical safety and efficiency challenges under extreme low-temperature conditions. To address the high risks, operational difficulty, and labour costs of manual refuelling, this study developed the world's first low-temperature resistant automated hydrogen refuelling robot. Integrating advanced machine vision, precision control, and safety monitoring, the system combines multi-scale perception with compliant control. Hardware includes an explosion-proof, temperature-controlled enclosure, a six-DOF industrial robot, and a pneumatically locked refuelling nozzle. Software employs a two-stage recognition: coarse 2D detection via transfer learning-optimised YOLOv10, followed by fine 3D point cloud localisation with 97.5% accuracy and 2-6mm error. A soft-floating force control algorithm ensures adaptive docking with ±5 N force precision. Successfully applied in hydrogen-fuelled rail transit, the system demonstrates significant value for hydrogen industry promotion, intelligent infrastructure in extreme environments, and next-generation automated refuelling technologies.

Keywords: hydrogen refuelling; robots; vision localisation.

DOI: 10.1504/IJICT.2026.153009

International Journal of Information and Communication Technology, 2026 Vol.27 No.36, pp.54 - 76

Received: 25 Nov 2025
Accepted: 06 Jan 2026
Published online: 17 Apr 2026 *

Title: Vision-guided autonomous hydrogen refuelling system based on multi-scale recognition and force-position hybrid control

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