Hydrogen-powered autonomous mobile vehicle and operating method of the same

Abstract

A hydrogen-powered autonomous mobile vehicle includes a mixing valve, a hydrogen storage device, a fuel cell, an energy storage, and an electrolyzer. The mixing valve has a first gas intake port, a second gas intake port, and an outlet port and includes a gas intake duct. The hydrogen storage device is coupled to the first gas intake port. The fuel cell is coupled to the outlet port. The fuel cell is configured to perform a first redox reaction based on hydrogen from the hydrogen storage device to generate electrical energy and water. The energy storage is configured to receive the electrical energy. The electrolyzer is powered by the energy storage. The electrolyzer is configured to receive the water and perform a water electrolysis reaction to generate hydrogen and oxygen. The electrolyzer is coupled to the gas intake duct. The mixing valve is configured such that hydrogen supplied by the hydrogen storage device and hydrogen generated by the water electrolysis reaction converge and convey into the fuel cell. The fuel cell is further configured to perform a second redox reaction based on the converged hydrogen.

Description

Technical Field

[0001] This invention relates to a hydrogen-powered autonomous mobile vehicle and its operation method. Prior Technology

[0002] Autonomous mobile vehicles (AMVs) can meet the material handling needs of automated equipment and human-machine collaboration, and are therefore increasingly being used in various industries such as logistics picking. However, these AMVs are also facing a dilemma. For example, common AMVs rely on batteries for power, but current battery capacity is limited and requires periodic charging, making it difficult to extend the continuous operating time of AMVs. Summary of the Invention

[0003] The purpose of this invention is to generate hydrogen and oxygen by performing a water electrolysis reaction using an electrolyzer, which is then supplied to a fuel cell for a redox reaction. The hydrogen generated from the water electrolysis reaction and the hydrogen supplied by a hydrogen storage device are first combined via a mixing valve before being supplied to the fuel cell. By continuously repeating the redox reaction and the water electrolysis reaction, the power supply time can be extended, the range of hydrogen-powered autonomous vehicles can be improved, and the handling efficiency of automated warehousing can be enhanced.

[0004] One aspect of the present invention relates to a hydrogen-powered autonomous mobile vehicle comprising a carrier, a mixing valve, a hydrogen storage device, a fuel cell, an energy storage device, and an electrolyzer. The mixing valve, hydrogen storage device, fuel cell, energy storage device, and electrolyzer are located on the carrier. The mixing valve has a first inlet port, a second inlet port, and an outlet port. The first inlet port and the outlet port are opposite to each other and connected through a first flow channel. The second inlet port is connected to the first flow channel through a second flow channel. The mixing valve also includes an inlet pipe extending from the second inlet port through the second flow channel into the first flow channel. The hydrogen storage device is coupled to the first inlet port of the mixing valve. The fuel cell is configured to perform a first redox reaction based on hydrogen from the hydrogen storage device to generate electricity and water. The fuel cell is coupled to the outlet port of the mixing valve. The energy storage device is configured to receive the electrical energy generated by the fuel cell. The electrolyzer is configured to receive water generated by the fuel cell and perform a water electrolysis reaction to generate hydrogen and oxygen. The electrolyzer is powered by the energy storage device. The electrolyzer is coupled to the inlet pipe of the mixing valve. The mixing valve is configured to combine hydrogen supplied by the hydrogen storage device with hydrogen produced by water electrolysis and deliver it to the fuel cell. The fuel cell is then configured to further perform a second redox reaction based on the combined hydrogen.

[0005] In one embodiment, the hydrogen-powered autonomous mobile vehicle also includes a processor. The processor is communicatively connected to an energy storage unit. The processor is configured to drive the energy storage unit to supply power to the electrolyzer to perform a water electrolysis reaction when the water accumulated in the electrolyzer from the fuel cell exceeds a predetermined value.

[0006] In one embodiment, the hydrogen-powered autonomous mobile vehicle further includes a water flow sensor. The water flow sensor is coupled between the fuel cell and the electrolyzer and communicatively connected to a processor. The water flow sensor is configured to sense the flow rate of water received by the electrolyzer from the fuel cell and transmit a sensing signal to the processor.

[0007] In one embodiment, the inner diameter of the intake pipe is smaller than the inner diameter of the first flow pipe.

[0008] In one embodiment, the fuel cell is coupled to an electrolyzer. The fuel cell is configured to receive oxygen produced by the water electrolysis reaction.

[0009] In one embodiment, the hydrogen-powered autonomous mobile vehicle further includes a drive mechanism. The drive mechanism is located on the vehicle and configured to drive the vehicle's movement. The drive mechanism is powered by an energy storage device.

[0010] In one embodiment, the hydrogen-powered autonomous mobile vehicle further includes an air intake device. The air intake device is located on the vehicle and configured to deliver outside air to the fuel cell. The oxygen for the first redox reaction is provided by the outside air.

[0011] In one embodiment, the second flow channel is perpendicular to the first flow channel, giving the mixing valve a T-shaped profile.

[0012] In one embodiment, the mixing valve further includes a first connector, a second connector, and a third connector. A first inlet port is located at the first connector. A second inlet port is located at the second connector. An outlet port is located at the third connector. An inlet pipe is coupled to the second connector and has an L-shaped profile. One end of the inlet pipe extends toward the second inlet port. The other end of the inlet pipe extends toward the outlet port.

[0013] Another aspect of the present invention relates to a method of operating a hydrogen-powered autonomous mobile vehicle, comprising: generating electricity and water by a first redox reaction of hydrogen and oxygen using a fuel cell; delivering the water generated by the fuel cell to an electrolyzer; performing a water electrolysis reaction using the water generated by the fuel cell to generate hydrogen and oxygen, wherein the electrolyzer is powered at least partially by the electricity generated by the fuel cell; after the water electrolysis reaction, combining hydrogen from the electrolyzer with hydrogen from a hydrogen storage device using a mixing valve, wherein the mixing valve has a first inlet port, a second inlet port, and an outlet port, wherein the first inlet port and the outlet port are opposite to each other and connected through a first flow pipe, and the second inlet port is connected to the first flow pipe through a second flow pipe; the mixing valve further includes an inlet pipe extending from the second inlet port through the second flow pipe to the first flow pipe, such that the pressure of the hydrogen from the electrolyzer in the inlet pipe is greater than the pressure of the hydrogen from the hydrogen storage device in the first flow pipe; and further performing a second redox reaction using the combined hydrogen via a fuel cell.

[0014] In one embodiment, the first redox reaction is based on hydrogen from a hydrogen storage device and oxygen from outside air. Outside air is supplied to the fuel cell by an air intake device.

[0015] In one embodiment, hydrogen gas from the electrolyzer flows through the inlet pipe of the mixing valve, hydrogen gas from the hydrogen storage device flows through the first flow pipe of the mixing valve, and the inner diameter of the inlet pipe is smaller than the inner diameter of the first flow pipe.

[0016] In one embodiment, the operation method further includes delivering oxygen generated by the electrolyzer to the fuel cell after the water electrolysis reaction, so that the fuel cell can carry out a second redox reaction.

[0017] In one embodiment, the operation method further includes storing the electrical energy generated by the fuel cell in an energy storage device, wherein the energy storage device is electrically connected to the electrolyzer and configured to supply power to the electrolyzer.

[0018] In one embodiment, the operation method further includes supplying power to the drive mechanism of the carrier via the energy storage device to drive the carrier to move, wherein the fuel cell, electrolyzer, energy storage device and drive mechanism are located on the carrier.

[0019] In one embodiment, the operation method further includes: acquiring a water level value in the electrolyzer using a sensor; and supplying power to the electrolyzer when the water level value exceeds a first predetermined value, so that the electrolyzer begins to carry out a water electrolysis reaction.

[0020] In one embodiment, the sensor is a water flow sensor. The water flow sensor is coupled between the fuel cell and the electrolyzer.

[0021] In one embodiment, obtaining the water level value in the electrolyzer by means of a sensor includes: sensing multiple flow rates of water delivered to the electrolyzer by the fuel cell at multiple time points and generating multiple sensing signals; and receiving the sensing signals by means of a processor and obtaining the water level value in the electrolyzer based on the sensing signals, wherein the processor is communicatively connected to the sensor.

[0022] In one embodiment, the processor is also communicatively connected to the energy storage device and configured to drive the energy storage device to supply power to the electrolyzer.

[0023] In one embodiment, the operation method further includes stopping the supply of power to the electrolyzer when the water level in the electrolyzer is lower than a second predetermined value, wherein the second predetermined value is less than a first predetermined value.

[0024] In summary, in the hydrogen-powered autonomous mobile vehicle and its operating method according to one embodiment of the present invention, by setting up an electrolyzer, the water produced by the redox reaction of the fuel cell can be directly collected and subjected to water electrolysis. The resulting hydrogen and oxygen are then directly supplied to the fuel cell for further redox reactions. Furthermore, the hydrogen and oxygen supplied to the fuel cell for redox reactions can each have multiple supply sources to extend the power supply time, improve the endurance of the hydrogen-powered autonomous mobile vehicle, and enhance the handling efficiency of automated warehousing.

[0025] These and other aspects of the invention will become apparent from the following description of preferred embodiments in conjunction with the drawings, but variations and modifications may be made therein without departing from the spirit and scope of the novel concept of the invention. Simple Explanation of the Diagram

[0026] The drawings illustrate one or more embodiments of the invention and, together with the written description, serve to explain the principles of the invention. Throughout the drawings, the same reference numerals are used wherever possible to refer to similar or identical elements of the embodiments, wherein: Figure 1 is a block diagram of a hydrogen-powered autonomous mobile vehicle according to an embodiment of the present invention. Figures 2 and 3 are perspective views of a hydrogen-powered autonomous mobile vehicle according to an embodiment of the present invention. Figure 4 is a partial perspective view of a hydrogen-powered autonomous mobile vehicle according to an embodiment of the present invention. Figures 5 and 6 are partial cross-sectional schematic diagrams of a hydrogen-powered autonomous mobile vehicle according to an embodiment of the present invention. Implementation

[0027] The present invention aims to provide a hydrogen-powered autonomous mobile vehicle and its operation method, which can combine hydrogen generated by water electrolysis and hydrogen provided by a hydrogen storage device through a mixing valve, and recycle water generated by a hydrogen fuel cell to extend the power supply time.

[0028] Please refer to Figures 1 through 3. Figure 1 is a block diagram of a hydrogen-powered autonomous mobile vehicle 10 according to an embodiment of the present invention. Figures 2 and 3 are perspective views of the hydrogen-powered autonomous mobile vehicle 10 from different angles.

[0029] As shown in Figures 1 to 3, the hydrogen-powered autonomous mobile vehicle 10 includes a carrier 100, an air intake device 110, a filtration and oxygen supply system 115, a hydrogen storage device 120, a fuel cell 130, a power management system 140, a drive mechanism 150, an electrolyzer 160, a sensor 170, and a mixing valve 180. The air intake device 110, the filtration and oxygen supply system 115, the hydrogen storage device 120, the fuel cell 130, the power management system 140, the drive mechanism 150, the electrolyzer 160, and the mixing valve 180 are located on the carrier 100, as shown in Figures 2 and 3.

[0030] An intake device 110 is coupled to a filtration and oxygen supply system 115 to a fuel cell 130. The intake device 110 is configured to deliver outside air to the fuel cell 130 as an oxygen supply source. As shown in Figures 2 and 3, the intake device 110 is located on one side of the fuel cell 130 to facilitate the entry of outside air into the fuel cell 130. In one embodiment, the intake device 110 may include a fan (as shown in Figure 3), and the filtration and oxygen supply system 115 may include a filtration device such as a high-efficiency particulate air (HEPA) filter element. In one embodiment, the filtration and oxygen supply system 115 may be located within the fuel cell 130. Therefore, the filtration and oxygen supply system 115 is not shown in the following figures.

[0031] Hydrogen storage device 120 is coupled to fuel cell 130 via mixing valve 180. As shown in Figure 2, hydrogen storage device 120 is configured to supply hydrogen through line P1. In one embodiment, hydrogen storage device 120 can be a high-pressure hydrogen storage cylinder. Hydrogen storage device 120 and fuel cell 130 can be coupled via, for example, mixing valve 180. Specifically, hydrogen storage device 120 is coupled to mixing valve 180 via line P1, while fuel cell 130 is coupled to mixing valve 180 via line P2. In one embodiment, a pressure sensor and a solenoid valve are provided between hydrogen storage device 120 and mixing valve 180 (e.g., in line P1).

[0032] The fuel cell 130 is configured to generate electricity and water through a redox reaction based on received hydrogen and oxygen. The hydrogen and oxygen supply sources for the fuel cell 130 vary at different stages of operation, as will be detailed in later paragraphs. In one embodiment, the fuel cell 130 includes a proton exchange membrane.

[0033] The power management system 140 includes an energy storage device 142, a voltage regulator 144, and a processor 146. The energy storage device 142 is electrically connected to the fuel cell 130 and configured to receive electrical energy generated by the fuel cell 130. The voltage regulator 144 is electrically connected to the energy storage device 142 and configured to suppress inrush current. The electrical energy output from the energy storage device 142, after passing through the voltage regulator 144, has a more stable voltage. This prevents damage caused by high voltage or high current surges when supplying power to the drive mechanism 150. In other words, the energy storage device 142 and the voltage regulator 144 act as a buffer when power is supplied to the drive mechanism 150 from the fuel cell 130. In one embodiment, the energy storage device 142 is a rechargeable lithium battery, and the voltage regulator 144 is a DC-DC converter. Processor 146 is communicatively connected to energy storage unit 142 and configured to transmit drive signals to power energy storage unit 142 to other devices (such as electrolyzer 160). In one embodiment, processor 146 is a processor of a computing system, such as a central processing unit (CPU), microcontroller unit (MCU), microprocessor, programmable logic controller (PLC), or a combination of the foregoing. In one embodiment, power management system 140 also includes a hybrid integrated circuit (HIC).

[0034] The drive mechanism 150 is configured to move the carrier 100. In one embodiment, the drive mechanism 150 includes a motor, a reducer, and a tire, but the invention is not limited thereto. As previously mentioned, the drive mechanism 150 is powered by an energy storage device 142.

[0035] Electrolyzer 160 is coupled to fuel cell 130. Electrolyzer 160 is configured to receive water produced by fuel cell 130 (e.g., through pipe P3 in Figure 2) and perform water electrolysis to produce hydrogen and oxygen. The hydrogen and oxygen produced by electrolyzer 160 can be recycled back into fuel cell 130 for further redox reactions. In other words, when electrolyzer 160 is energized, the produced hydrogen and oxygen are continuously recycled back into fuel cell 130, serving together with hydrogen stored in hydrogen storage device 120 and external air drawn in by air intake device 110 as the hydrogen and oxygen supply source for the redox reactions of fuel cell 130.

[0036] In one embodiment, the hydrogen produced by the water electrolysis reaction in the electrolyzer 160 and the hydrogen supplied by the hydrogen storage device 120 are first combined via a mixing valve 180 and then delivered to the fuel cell 130. Specifically, as shown in Figure 2, the electrolyzer 160 is coupled to the mixing valve 180 via pipeline P4 and outputs hydrogen. In this way, the hydrogen from pipeline P1 of the hydrogen storage device 120 and the hydrogen from pipeline P4 of the electrolyzer 160 are combined via the mixing valve 180, and the combined hydrogen is then delivered to the fuel cell 130 via pipeline P2.

[0037] In one embodiment, the oxygen produced by the electrolyzer 160 is delivered to the filtration and oxygen supply system 115 via, for example, pipeline P5, where it merges with the oxygen introduced by the air intake device 110. In one embodiment, pipelines P4 and P5 are each equipped with check valves to prevent backflow of hydrogen and oxygen. Furthermore, the electrolyzer 160 is electrically connected to an energy storage device 142, which supplies power to the electrolyzer. In one embodiment, the electrolyzer 160 includes a proton exchange membrane.

[0038] To ensure the stability and efficiency of the electrolysis process, a certain amount of water is required in the electrolyzer 160. Therefore, a sensor 170 is coupled between the fuel cell 130 and the electrolyzer 160 and communicatively connected to the processor 146. The sensor 170 is configured to directly or indirectly acquire the water level value in the electrolyzer 160. For example, the sensor 170 can be a water flow sensor, configured to sense the flow rate of water received by the electrolyzer 160 from the fuel cell 130, and transmit the sensing signal to the processor 146. Simultaneously, the processor 146 is configured to accumulate the water flow rates sensed by the sensor 170 at multiple time points to obtain the water level value in the electrolyzer 160. Furthermore, the processor 146 is configured to transmit a drive signal to the energy storage unit 142 when the water level value in the electrolyzer 160 exceeds a first predetermined value, thereby driving the energy storage unit 142 to supply power to the electrolyzer 160, causing the electrolyzer 160 to begin the water electrolysis reaction.

[0039] The following will explain the operation method of the hydrogen-powered autonomous mobile vehicle 10 in conjunction with Figures 1 to 3.

[0040] First, the operation of the hydrogen-powered autonomous mobile vehicle 10 during the redox reaction between hydrogen from the hydrogen storage device 120 and oxygen from the outside air in the fuel cell 130 will be described. This is referred to as the first stage. The redox reaction in this stage is referred to as the "first redox reaction".

[0041] In the first stage, the air intake device 110 draws in outside air, for example, via a fan 112. The outside air is filtered for particulates and impurities by the filtration and oxygen supply system 115 before being delivered to the fuel cell 130. As shown in Figure 1, the outside air drawn in by the air intake device 110 includes oxygen O1, which is then filtered by the filtration and oxygen supply system 115 to form oxygen O3. Since outside air is used as the oxygen supply source in the first stage, oxygen O3 is essentially composed of oxygen O1.

[0042] Simultaneously, the hydrogen storage device 120 supplies hydrogen H1 through pipeline P1. The hydrogen H1 passes through the mixing valve 180 to form hydrogen H3, which is then transported to the fuel cell 130 through pipeline P2. Since the hydrogen storage device 120 is the hydrogen supply source in the first stage, hydrogen H3 is essentially composed of hydrogen H1.

[0043] Next, the fuel cell 130 undergoes a first redox reaction to generate electrical energy E1 and water W.

[0044] As shown in Figure 1, the energy storage device 142 receives electrical energy E1 and outputs it as electrical energy E2, which is then converted into electrical energy E3 in the voltage regulator 144. Electrical energy E3 is then transmitted to the drive mechanism 150 as a power supply to drive the movement of the carrier 100. It is worth noting that before the start of the first stage (e.g., at the beginning of operation of the hydrogen-powered autonomous mobile vehicle 10), the energy storage device 142 may already contain a non-zero electrical charge. In other words, the drive mechanism 150 is at least partially powered by the electrical energy E1 generated by the fuel cell 130.

[0045] Simultaneously, water W produced by fuel cell 130 is transported to electrolyzer 160 through pipeline P3. In one embodiment, a sensor 170, such as a water flow sensor, is installed in pipeline P3 to obtain the flow rate of water W. In another embodiment, the sensor 170 is installed inside fuel cell 130. During this stage, as fuel cell 130 continues to undergo the first redox reaction, water W is continuously transported to electrolyzer 160 and accumulates. Sensor 170 senses the flow rate of water W transported from fuel cell 130 to electrolyzer 160 at different time points and generates multiple corresponding sensing signals S1 based on the flow rate of water W, which are then transmitted to processor 146. Processor 146 receives the sensing signals S1 and accumulates the measured flow rate based on the sensing signals S1 to estimate the accumulated water level in electrolyzer 160.

[0046] Next, when the estimated water level exceeds a first predetermined value, the processor 146 sends a drive signal S2 to the energy storage device 142, causing the energy storage device 142 to supply electrical energy E4 to the electrolyzer 160 through the power management system 140. In other words, the electrolyzer 160 is at least partially powered by the electrical energy E1 generated by the fuel cell 130.

[0047] After being powered on, the electrolyzer 160 begins a water electrolysis reaction based on the water produced by the fuel cell 130 to produce hydrogen (H2) and oxygen (O2). This marks the second stage of operation, where the electrolyzer 160 continues the water electrolysis reaction and continuously supplies hydrogen (H2) and oxygen (O2) to the fuel cell 130. The redox reaction carried out by the fuel cell 130 in this stage is referred to as the "second redox reaction."

[0048] As shown in Figures 1 and 2, hydrogen H2 is output from the electrolyzer 160 through pipeline P4. Hydrogen H2 and hydrogen H1 are combined through mixing valve 180 to form hydrogen H3, which is then transported to the fuel cell 130 through pipeline P2. In other words, unlike the first stage, the hydrogen H3 supplied to the fuel cell 130 for the second redox reaction in the second stage includes both hydrogen H2 and hydrogen H1.

[0049] Simultaneously, oxygen O1 supplied by external air and oxygen O2 generated by electrolyzer 160 are combined through filtration and oxygen supply system 115 to form oxygen O3, which is then delivered to fuel cell 130 for the second redox reaction. Therefore, unlike the first stage, the oxygen O3 supplied to fuel cell 130 for the second redox reaction in the second stage includes both oxygen O2 and oxygen O1. It is worth noting that, compared to the first stage which uses only external air as the oxygen supply source, the second stage's recovery of oxygen O2 can improve the purity of oxygen in fuel cell 130, thereby increasing reaction efficiency.

[0050] As the electrolyzer 160 continues its water electrolysis reaction, the water level in the electrolyzer 160 decreases until it falls below a second predetermined value. At this point, the processor 146 instructs the energy storage unit 142 to stop supplying power to the electrolyzer 160. The second predetermined value is less than the first predetermined value. At this point, the second stage ends, the electrolyzer 160 stops its water electrolysis reaction, and the fuel cell 130 restarts its first redox reaction.

[0051] After the second stage begins, the processor 146 can estimate when the water level in the electrolyzer 160 will drop below a second predetermined value based on the current water level and the flow rate of water W measured by the sensor 170, thereby determining the time point at which power supply to the electrolyzer 160 will be stopped. To achieve this, flow sensors or pressure sensors can be installed in the hydrogen (H2) pipeline P4 and the oxygen (O2) pipeline P5 to assist the processor 146 in making the estimation.

[0052] By alternating between the first and second stages of operation, the water produced by the fuel cell 130 can be recycled, thereby improving the range of the hydrogen-powered autonomous mobile vehicle 10. Please refer to Figure 4, which is a partial three-dimensional schematic diagram of the hydrogen-powered autonomous mobile vehicle 10.

[0053] To ensure that water produced by fuel cell 130 can be transported to electrolyzer 160 via pipeline P3, the connection point between pipeline P3 and fuel cell 130 is slightly higher than the connection point between pipeline P3 and electrolyzer 160. In one embodiment, a check valve is also provided in pipeline P3 to prevent backflow of water. Furthermore, pipelines for transporting hydrogen and oxygen (such as pipelines P2, P4, and P5) are respectively connected to the upper parts of fuel cell 130 and electrolyzer 160. Additionally, as mentioned above, in one embodiment, a sensor 170 can be installed inside fuel cell 130 to obtain the accumulated water level value inside fuel cell 130. For example, sensor 170 can be installed inside fuel cell 130 at the position corresponding to the dashed box SP in Figure 4.

[0054] Please refer to Figures 5 and 6, which are partial cross-sectional schematic diagrams of the hydrogen-powered autonomous mobile vehicle 10. Figure 6 is drawn along section line A-A' in Figure 5. The following will describe the detailed structure of the mixing valve 180 of the hydrogen-powered autonomous mobile vehicle 10 and its configuration with other pipelines.

[0055] As shown in Figure 5, the mixing valve 180 has a first connector 181, a second connector 182, and a third connector 183. The first connector 181 has a first inlet port IN1. The second connector 182 has a second inlet port IN2. The third connector 183 has an outlet port OUT. The first inlet port IN1 and the outlet port OUT are opposite to each other and connected through a flow conduit 184. The second inlet port IN2 is connected to the flow conduit 184 through a flow conduit 185. As shown in Figure 5, the first connector 181 and the third connector 183 are located on opposite sides of the flow conduit 185. As shown in the cross-sectional view, the flow conduit 184 may be perpendicular to the flow conduit 185, giving the mixing valve 180 a T-shaped profile.

[0056] In addition, the mixing valve 180 also includes an inlet pipe 186. The inlet pipe 186 is configured to receive hydrogen supplied by line P4. As shown in Figure 5, the inlet pipe 186 is coupled to the second connector 182 and extends from the second inlet port IN2 through flow line 185 into flow line 184. One end of the inlet pipe 186 extends toward the second inlet port IN2 and line P4, and the other end extends toward the outlet port OUT and line P2. The inlet pipe 186 may have an L-shaped profile, but the invention is not limited thereto. The inlet pipe 186 has an inner diameter d2, and the portion of the inlet pipe 186 located in flow line 184 has an outer diameter d3.

[0057] Please refer to Figures 2, 4, and 5 simultaneously. The pipeline P1, used to output hydrogen supplied by the hydrogen storage device 120, is connected to the first inlet port IN1 via a first connector 181, thereby coupling the hydrogen storage device 120 to the first inlet port IN1 of the mixing valve 180. The pipeline P4, used to recover hydrogen generated by the electrolyzer 160, is connected to the second inlet port IN2 and the inlet pipe 186 via a second connector 182, thereby coupling the electrolyzer 160 to the inlet pipe 186 of the mixing valve 180. The pipeline P2, used to input the combined hydrogen into the fuel cell 130, is connected to the outlet port OUT via a third connector 183, thereby coupling the fuel cell 130 to the outlet port OUT of the mixing valve 180. The pipeline P2 may partially extend into the third connector 183.

[0058] Compared to the hydrogen stored under high pressure in the hydrogen storage device 120, the hydrogen produced by the electrolyzer 160 has a lower and less stable pressure. Therefore, to prevent hydrogen backflow when the fuel cell 130 and / or the electrolyzer 160 stops reacting, a mixing valve 180 is provided such that the inner diameter d2 of the inlet pipe 186 is smaller than the inner diameter d1 of the flow pipe 184, as shown in Figures 5 and 6. This ensures that when the fuel cell 130 and / or the electrolyzer 160 stops reacting, the pressure at the first inlet port IN1 is lower than the pressure in the inlet pipe 186, thereby preventing the high-pressure hydrogen in the hydrogen storage device 120 from flowing into the inlet pipe 186 via the pipeline P1.

[0059] Meanwhile, the inner diameter d2 of the inlet pipe 186 is smaller than the inner diameter d4 of the pipeline P2, therefore the gas pressure in the inlet pipe 186 is greater than the gas pressure in the pipeline P2. As a result, based on the pressure gradient difference, hydrogen from the electrolyzer 160 flows into the pipeline P2 through the inlet pipe 186. The region 184a of the flow pipe 184 near the pipeline P2 is occupied by the inlet pipe 186, therefore the portion of the flow pipe 184a available for hydrogen flow has a smaller cross-sectional area than other regions of the flow pipe 184 (for example, the cross-sectional area of ​​part of region 184a is the circular area of ​​the inner diameter d1 of the flow pipe 184 minus the circular area of ​​the outer diameter d3 of the inlet pipe 186), allowing hydrogen from the hydrogen storage device 120 to flow into the pipeline P2. The hydrogen pressure from the electrolyzer 160 in the inlet pipe 186 is greater than the hydrogen pressure from the hydrogen storage device 120 in region 184a, so that the hydrogen from the hydrogen storage device 120 will not flow into the electrolyzer 160. This allows the hydrogen from the electrolyzer 160 and the hydrogen from the hydrogen storage device 120 to flow into the pipeline P2, so as to facilitate uniform mixing of the hydrogen after confluence.

[0060] From the detailed description of the specific embodiments of the present invention above, it is evident that in the hydrogen-powered autonomous mobile vehicle and its operating method according to one embodiment of the present invention, by setting up an electrolyzer, the water produced by the redox reaction of the fuel cell can be directly collected and subjected to water electrolysis. The resulting hydrogen and oxygen are then directly supplied to the fuel cell for further redox reactions. Furthermore, the hydrogen and oxygen supplied to the fuel cell for redox reactions can each have multiple supply sources to extend the power supply time, improve the endurance of the hydrogen-powered autonomous mobile vehicle, and enhance the handling efficiency of automated warehousing.

[0061] The foregoing description illustrates and describes exemplary embodiments of the present invention, but is not intended to exhaustively describe or limit the precise forms of the invention disclosed herein. The above teachings may be modified or varied.

[0062] The selected and illustrated embodiments are intended to explain the content of the invention and its practical application, thereby encouraging those skilled in the art to utilize the invention and its various embodiments, and to make various modifications to suit specific intended uses. Alternative embodiments will be apparent to those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention is determined by the appended claims and not by the foregoing description and the exemplary embodiments described therein.

[0063] 10: Hydrogen-powered autonomous mobile vehicles 100: Carrier 110: Air intake device 112: Fan 115: Filtration and Oxygen Supply System 120: Hydrogen storage device 130: Fuel Cell 140: Power Management System 142: Energy Storage Device 144: Voltage Regulator 146: Processor 150: Drive mechanism 160: Electrolyzer 170: Sensor 180: Mixing valve 181: First Connector 182: Second connector 183: Third connector 184, 185: Flowing pipes 184a: Area 186: Intake pipe A-A': Section line d1, d2, d4: inner diameter d3:Outer diameter E1, E2, E3, E4: Electrical energy H1, H2, H3: Hydrogen gas IN1: First air intake port IN2: Second air intake port O1, O2, O3: Oxygen OUT: Air outlet port P1, P2, P3, P4, P5: Pipelines S1: Sensing signal S2: Drive signal SP: Box W: Water

[0064] Domestic storage information (please note in order of storage institution, date, and number) none Overseas storage information (please note in the order of storage country, institution, date, and number) none

Claims

1. A hydrogen-powered autonomous mobile vehicle, comprising: a carrier; a mixing valve located on the carrier and having a first inlet port, a second inlet port, and an outlet port, wherein the first inlet port and the outlet port are opposite to each other and connected through a first flow channel, and the second inlet port is connected to the first flow channel through a second flow channel, the mixing valve further comprising an inlet pipe extending from the second inlet port through the second flow channel to the first flow channel, wherein an inner diameter of the inlet pipe is smaller than an inner diameter of the first flow channel; a hydrogen storage device located on the carrier and coupled to the first inlet port of the mixing valve; and a fuel cell located on the carrier and configured to perform a first redox reaction based on hydrogen from the hydrogen storage device to generate electricity and water, wherein the fuel cell is coupled to the outlet port of the mixing valve; An energy storage device is located on the carrier and configured to receive electrical energy generated by the fuel cell; and an electrolyzer is located on the carrier and configured to receive water generated by the fuel cell and perform a water electrolysis reaction to produce hydrogen and oxygen, wherein the electrolyzer is powered by the energy storage device and is coupled to the inlet pipe of the mixing valve, wherein the mixing valve is configured to allow the hydrogen supplied by the hydrogen storage device and the hydrogen generated by the water electrolysis reaction to merge and be delivered to the fuel cell, and the fuel cell is configured to further perform a second redox reaction based on the merged hydrogen.

2. The hydrogen-powered autonomous mobile vehicle as described in claim 1 further includes a processor communicatively connected to the energy storage unit, the processor being configured to drive the energy storage unit to supply power to the electrolyzer to perform the water electrolysis reaction when the water received by the electrolyzer from the fuel cell accumulates to a predetermined value.

3. The hydrogen-powered autonomous mobile vehicle as described in claim 2 further includes a water flow sensor coupled between the fuel cell and the electrolyzer and communicatively connected to the processor, the water flow sensor being configured to sense a flow rate of water received by the electrolyzer from the fuel cell and to transmit a sensing signal to the processor.

4. The hydrogen-powered autonomous mobile vehicle as claimed in claim 1, wherein the fuel cell is coupled to the electrolyzer, and the fuel cell is configured to receive oxygen produced by the water electrolysis reaction.

5. The hydrogen-powered autonomous mobile vehicle as described in claim 1 further includes a drive mechanism located on the vehicle and configured to drive the vehicle to move, wherein the drive mechanism is powered by the energy storage device.

6. The hydrogen-powered autonomous mobile vehicle as claimed in claim 1 further includes an air intake device located on the vehicle and configured to deliver outside air to the fuel cell, wherein the oxygen for the first redox reaction is provided by the outside air.

7. The hydrogen-powered autonomous mobile vehicle as claimed in claim 1, wherein the second flow conduit is perpendicular to the first flow conduit, such that the mixing valve has a T-shaped profile.

8. The hydrogen-powered autonomous mobile vehicle as claimed in claim 1, wherein the mixing valve further comprises a first connector, a second connector and a third connector, wherein the first air inlet port is located at the first connector, the second air inlet port is located at the second connector, the air outlet port is located at the third connector, the air inlet pipe is coupled to the second connector and has an L-shaped profile, one end of the air inlet pipe extends toward the second air inlet port and the other end of the air inlet pipe extends toward the air outlet port.

9. A method for operating a hydrogen-powered autonomous mobile vehicle, comprising: generating electricity and water by means of a fuel cell performing a first redox reaction based on hydrogen and oxygen; delivering the water generated by the fuel cell to an electrolyzer; and performing a water electrolysis reaction based on the water generated by the fuel cell in the electrolyzer to generate hydrogen and oxygen, wherein the electrolyzer is powered at least partially by the electricity generated by the fuel cell. After the water electrolysis reaction, hydrogen from the electrolyzer and hydrogen from a hydrogen storage device are combined by a mixing valve. The mixing valve has a first inlet port, a second inlet port, and an outlet port. The first inlet port and the outlet port are opposite each other and connected by a first flow pipe. The second inlet port is connected to the first flow pipe through a second flow pipe. The mixing valve also includes an inlet pipe extending from the second inlet port through the second flow pipe into the first flow pipe. The inner diameter of the inlet pipe is smaller than the inner diameter of the first flow pipe, such that the pressure of hydrogen from the electrolyzer in the inlet pipe is greater than the pressure of hydrogen from the hydrogen storage device in the first flow pipe. The combined hydrogen then undergoes a second redox reaction via the fuel cell.

10. A method of operating a hydrogen-powered autonomous mobile vehicle as claimed in claim 9, wherein the first redox reaction is based on hydrogen from the hydrogen storage device and oxygen from an external air source, wherein the external air is supplied to the fuel cell by an air intake device.

11. The method of operating the hydrogen-powered autonomous mobile vehicle as described in claim 9 further includes, after the water electrolysis reaction, delivering the oxygen generated by the electrolyzer to the fuel cell for the fuel cell to carry out the second redox reaction.

12. The method of operating the hydrogen-powered autonomous mobile vehicle as described in claim 9 further includes storing the electrical energy generated by the fuel cell into an energy storage device, wherein the energy storage device is electrically connected to the electrolyzer and configured to supply power to the electrolyzer.

13. The method of operating a hydrogen-powered autonomous mobile vehicle as described in claim 12 further includes supplying power to a drive mechanism of a vehicle via the energy storage device to drive the vehicle to move, wherein the fuel cell, the electrolyzer, the energy storage device and the drive mechanism are located on the vehicle.

14. The method of operating the hydrogen-powered autonomous mobile vehicle as described in claim 9 further comprises: acquiring a water level value in the electrolyzer by means of a sensor; and when the water level value exceeds a first predetermined value, supplying power to the electrolyzer to cause the electrolyzer to start the water electrolysis reaction.

15. A method of operating a hydrogen-powered autonomous mobile vehicle as described in claim 14, wherein the sensor is a water flow sensor coupled between the fuel cell and the electrolyzer.

16. The method of operating a hydrogen-powered autonomous mobile vehicle as claimed in claim 15, wherein obtaining the water level value in the electrolyzer by means of the sensor comprises: sensing a plurality of flow rates of water delivered to the electrolyzer by the fuel cell at a plurality of time points by the sensor and generating a plurality of sensing signals; and receiving the sensing signals by means of a processor and obtaining the water level value in the electrolyzer based on the sensing signals, wherein the processor is communicatively connected to the sensor.

17. A method of operating a hydrogen-powered autonomous mobile vehicle as described in claim 16, wherein the processor is also communicatively connected to an energy storage device and configured to drive the energy storage device to supply power to the electrolyzer.

18. The method of operating a hydrogen-powered autonomous mobile vehicle as described in claim 14 further includes stopping the supply of power to the electrolyzer when the water level in the electrolyzer is lower than a second predetermined value, wherein the second predetermined value is less than the first predetermined value.

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