Solid hydrogen energy system and hydrogen-powered humanoid robot

Abstract

The invention relates to the technical field of solid hydrogen energy, in particular to a solid hydrogen energy system and a hydrogen-powered humanoid robot. The solid hydrogen energy system comprises a solid hydrogen storage module, a hydrogen conveying module, a hydrogen fuel cell module, a data acquisition module, a motion control module and an energy management module, the hydrogen flow, the environmental parameters and the motion state of the robot are monitored in real time through the data acquisition module, the follow-up motion state of the robot is generated in combination with the motion control module, and an adjustment instruction is transmitted to the energy management module based on the motion state; the energy management module dynamically adjusts operation parameters of the solid hydrogen storage module, the hydrogen conveying module and the hydrogen fuel cell module based on an adjustment instruction input by the motion control module, so that efficient operation of the solid hydrogen energy system and reasonable distribution of energy are ensured; when the solid hydrogen energy system provided by the technical scheme is used for supplying energy to the hydrogen-powered humanoid robot, the energy conversion efficiency is higher, and the coordination with a robot motion control system is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of solid-state hydrogen energy, in particular to a solid-state hydrogen energy system and a hydrogen-powered humanoid robot. BACKGROUND

[0002] With the continuous development of science and technology, humanoid robots have been widely used in many fields such as industry, service, medical treatment and so on. However, most of the traditional humanoid robots are driven by electricity, which has the problems of short endurance time, long charging time and low energy density, limiting their application in some scenes that require long-time continuous operation or have high requirements for energy density.

[0003] As a clean, efficient and high-energy-density energy, hydrogen energy has great application potential. The solid-state hydrogen energy system is considered as one of the ideal power sources for future humanoid robots due to its high safety, large hydrogen storage density, easy storage and transportation and other advantages.

[0004] However, the current solid-state hydrogen energy system has the problems of low energy conversion efficiency and poor cooperativity with the robot motion control system when applied to the hydrogen-powered humanoid robot. SUMMARY

[0005] The purpose of the present application is to provide a solid-state hydrogen energy system and a hydrogen-powered humanoid robot, which aims to solve the technical problems of low energy conversion efficiency and poor cooperativity with the robot motion control system of the current solid-state hydrogen energy system when applied to the hydrogen-powered humanoid robot.

[0006] To achieve the above-mentioned purpose, the present application provides a solid-state hydrogen energy system, comprising a solid-state hydrogen storage module, a hydrogen gas delivery module, a hydrogen fuel cell module, a data acquisition module, a motion control module and an energy management module, the solid-state hydrogen storage module is connected with the hydrogen gas delivery module, the hydrogen gas delivery module is connected with the hydrogen fuel cell module, the hydrogen fuel cell module is connected with the energy management module, the energy management module is connected with the data acquisition module and the motion control module, the data acquisition module is connected with the motion control module, and the motion control module is connected with the motor system of the humanoid robot.

[0007] The solid-state hydrogen storage module is used for storing and releasing hydrogen gas, and dynamically adjusting the hydrogen gas output flow according to the power demand of the humanoid robot.

[0008] The hydrogen gas delivery module is used for delivering the hydrogen gas released by the solid-state hydrogen storage module to the hydrogen fuel cell module, and dynamically adjusting the hydrogen gas flow according to the motion state of the humanoid robot.

[0009] The hydrogen fuel cell module converts chemical energy into electrical energy through the chemical reaction of hydrogen and oxygen, and provides power for the motor system of the humanoid robot.

[0010] The data acquisition module is used to collect hydrogen flow, ambient data and robot motion state;

[0011] The motion control module generates subsequent motion state of the robot based on the data collected by the data acquisition module, and sends adjustment instructions to the energy management module based on the motion state;

[0012] The energy management module dynamically adjusts the operating parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module based on the adjustment instructions input by the motion control module, to ensure efficient operation and reasonable energy distribution of the solid-state hydrogen energy system.

[0013] The solid-state hydrogen storage module includes a hydrogen storage alloy unit and an intelligent temperature control unit. The hydrogen storage alloy unit uses multi-layer composite hydrogen storage alloy material to improve hydrogen storage density and release efficiency. The intelligent temperature control unit adjusts the temperature of the hydrogen storage alloy unit according to the instructions of the energy management module to optimize the release efficiency of hydrogen. The hydrogen storage alloy unit also has a micro-channel heat dissipation structure on the surface of the hydrogen storage alloy shell.

[0014] The hydrogen delivery module includes a micro hydrogen pump and a flow control valve. The input end of the micro hydrogen pump is connected to the solid-state hydrogen storage module. The output end of the micro hydrogen pump is connected to the hydrogen inlet of the hydrogen fuel cell module through a high-pressure gas pipe, and provides stable high-pressure hydrogen supply for the hydrogen fuel cell module. The intelligent flow control valve is installed on the high-pressure gas pipe and is in communication with the energy management module. It dynamically adjusts the hydrogen flow according to the robot motion state feedback by the motion control module to ensure stable gas supply for the hydrogen fuel cell module.

[0015] The hydrogen fuel cell module includes a fuel cell stack, a bipolar plate, a gas distribution unit and a kinetic energy output unit. The fuel cell stack is composed of multiple fuel cell units, which is used to convert the chemical energy of hydrogen and oxygen into electrical energy. The bipolar plate is installed between the fuel cell units to efficiently conduct current and separate reaction gas. The gas distribution module is connected to the high-pressure gas pipe of the hydrogen delivery module to ensure efficient supply of hydrogen and oxygen, and timely discharge of tail gas. The kinetic energy output unit is connected to the kinetic energy control system of the humanoid robot. The kinetic energy output unit is used to deliver the kinetic energy generated by the dynamically adjusted hydrogen fuel cell module to the kinetic energy control system of the humanoid robot.

[0016] The data acquisition module includes a hydrogen flow sensor, an environment sensor, a motion state sensor and a motor power sensor, the hydrogen flow sensor is installed on the high-pressure gas pipe of the hydrogen delivery module and is used for monitoring the hydrogen flow in real time, the environment sensor is installed on the shell of the humanoid robot and is used for collecting surrounding environment data, the motion state sensor is installed on the joints and motors of the humanoid robot and is used for monitoring the position, speed and torque of each control motor of the robot when the robot as a whole moves or turns, the mechanical hand moves or other auxiliary functions are used, the motor power sensor is installed on the motor of the humanoid robot and is used for monitoring the output power of each motor during the movement of the robot, and the data acquisition module transmits the collected data to the energy management module and the motion control module, thereby providing data support for dynamic adjustment of the system and accurate control of the robot.

[0017] The motion control module includes a motion instruction input unit, a motion model generation unit and an adjustment instruction delivery unit, the motion instruction input unit is used for receiving and analyzing the motion process input by the robot and determining the subsequent motion state of the robot, the motion model generation unit is connected with the motion instruction input unit and the data acquisition module, generates a subsequent motion model of the robot based on the subsequent motion state of the robot and the real-time data of the robot collected by the data acquisition module, and the adjustment instruction delivery unit is connected with the motion model generation unit and the energy management module, sends an adjustment instruction to the energy management module based on the generated motion model, dynamically adjusts the operating parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module, and realizes efficient operation of the system and reasonable allocation of energy.

[0018] The energy management module includes a central controller and a communication unit, the communication module is connected with the data acquisition module and the motion control module, is used for realizing data interaction and collaborative control, and the central controller dynamically adjusts the operating parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module according to the adjustment instruction delivered by the motion control module, so as to realize efficient operation of the system and reasonable allocation of energy.

[0019] The motion model generation unit generates a motion model by using the following formula:

[0020] M(t)=A * S(t)+B * D(t);

[0021] In the formula, M(t) represents a motion model generated at time t, A is a motion state coefficient matrix, which is preset according to a motion flow input by the robot; S(t) is a subsequent motion state vector of the robot determined by the motion instruction input unit; B is a real-time data coefficient matrix, which is dynamically adjusted according to a motion demand of the robot; and D(t) is a real-time data vector of the robot collected by the data collection module.

[0022] The adjustment instruction conveying unit dynamically adjusts the operation parameters of each module by using the following power distribution algorithm:

[0023] P output (t)=P base +K f* F(t)+K e* E(t);

[0024] In the formula, P output (t) represents output power at time t, P base is basic power, which is preset according to a current motion state of the robot; K f is a load coefficient, which is dynamically adjusted according to a load condition of the robot; F(t) is a load torque at time t, which is calculated by the motion model generation unit according to the motion model; K e is an energy efficiency coefficient, which is dynamically adjusted according to real-time data provided by the data collection module; and E(t) is an energy efficiency deviation at time t, which is provided by the energy management module.

[0025] The application further provides a hydrogen-powered humanoid robot, which uses the solid-state hydrogen energy system as described above to control kinetic energy.

[0026] The solid-state hydrogen energy system and the hydrogen-powered humanoid robot provided by the application comprise a solid-state hydrogen storage module, a hydrogen conveying module, a hydrogen fuel cell module, a data collection module, a motion control module and an energy management module, the hydrogen flow, environmental parameters and motion state of the robot are monitored in real time by the data collection module, the subsequent motion state of the robot is generated in combination with the motion control module, and based on the motion state, adjustment instructions are conveyed to the energy management module, the energy management module dynamically adjusts the operation parameters of the solid-state hydrogen storage module, the hydrogen conveying module and the hydrogen fuel cell module based on the adjustment instructions input by the motion control module, ensures efficient operation of the solid-state hydrogen energy system and reasonable distribution of energy, and the solid-state hydrogen energy system provided by the application has higher energy conversion efficiency when supplying energy to the hydrogen-powered humanoid robot and has better synergy with the motion control system of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0028] Figure 1 is the overall principle block diagram of the solid-state hydrogen energy system provided by the present application.

[0029] Figure 2 is the partial principle block diagram of the solid-state hydrogen energy system provided by the present application.

[0030] 101-solid-state hydrogen storage module, 102-hydrogen delivery module, 103-hydrogen fuel cell module, 104-data acquisition module, 105-motion control module, 106-energy management module, 107-hydrogen storage alloy unit, 108-intelligent temperature control unit, 109-micro hydrogen pump, 110-flow control valve, 111-fuel cell stack, 112-bipolar plate, 113-gas distribution unit, 114-kinetic energy output unit, 115-hydrogen flow sensor, 116-environmental sensor, 117-motion state sensor, 118-motor power sensor, 119-motion instruction input unit, 120-motion model generation unit, 121-regulation instruction delivery unit, 122-central controller, 123-communication unit, 124-cold start module, 125-waste heat utilization module. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0032] Please refer to Figure 1 and Figure 2The application provides a solid-state hydrogen energy system, which comprises a solid-state hydrogen storage module 101, a hydrogen delivery module 102, a hydrogen fuel cell module 103, a data acquisition module 104, a motion control module 105 and an energy management module 106, wherein the solid-state hydrogen storage module 101 is connected with the hydrogen delivery module 102, the hydrogen delivery module 102 is connected with the hydrogen fuel cell module 103, the hydrogen fuel cell module 103 is connected with the energy management module 106, the energy management module 106 is connected with the data acquisition module 104 and the motion control module 105, the data acquisition module 104 is connected with the motion control module 105, and the motion control module 105 is connected with a motor system of a humanoid robot.

[0033] The solid-state hydrogen storage module 101 is used for storing and releasing hydrogen and dynamically adjusting the hydrogen output flow according to the power demand of the humanoid robot.

[0034] The hydrogen delivery module 102 is used for delivering the hydrogen released by the solid-state hydrogen storage module 101 to the hydrogen fuel cell module 103 and dynamically adjusting the hydrogen flow according to the motion state of the humanoid robot.

[0035] The hydrogen fuel cell module 103 converts chemical energy into electric energy through the chemical reaction of hydrogen and oxygen and provides power for the motor system of the humanoid robot.

[0036] The data acquisition module 104 is used for acquiring hydrogen flow, surrounding environment data and robot motion state.

[0037] The motion control module 105 generates the subsequent motion state of the robot based on the data collected by the data acquisition module 104 and sends the adjustment instruction to the energy management module 106 based on the motion state.

[0038] The energy management module 106 dynamically adjusts the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102 and the hydrogen fuel cell module 103 based on the adjustment instruction input by the motion control module 105, so as to ensure the efficient operation of the solid-state hydrogen energy system and the reasonable distribution of energy.

[0039] In the embodiment, the data acquisition module 104 monitors the hydrogen flow, environmental parameters and robot motion state in real time, and generates the subsequent motion state of the robot in combination with the motion control module 105, and based on the motion state, sends the adjustment instruction to the energy management module 106, and the energy management module 106 dynamically adjusts the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102 and the hydrogen fuel cell module 103 based on the adjustment instruction input by the motion control module 105, to ensure efficient operation and reasonable energy allocation of the solid-state hydrogen energy system. When the solid-state hydrogen energy system provided by the technical solution is used to supply energy to the hydrogen-powered humanoid robot, the energy conversion efficiency is higher, and the collaboration with the robot motion control system is better.

[0040] Further, the solid-state hydrogen storage module 101 includes a hydrogen storage alloy unit 107 and an intelligent temperature control unit 108. The hydrogen storage alloy unit 107 uses a multi-layer composite hydrogen storage alloy material to improve the hydrogen storage density and release efficiency. The intelligent temperature control unit 108 adjusts the temperature of the hydrogen storage alloy unit 107 according to the instruction of the energy management module 106 to optimize the release efficiency of hydrogen. The surface of the hydrogen storage alloy shell of the hydrogen storage alloy unit 107 is also provided with a micro-channel heat dissipation structure for rapid heat dissipation to prevent heat accumulation during hydrogen storage.

[0041] In the embodiment, the solid-state hydrogen storage module 101 uses the hydrogen storage alloy unit 107 with a multi-layer composite hydrogen storage alloy material to significantly improve the hydrogen storage density and hydrogen release efficiency. At the same time, the intelligent temperature control unit 108 is equipped to accurately adjust the temperature of the hydrogen storage alloy unit 107 according to the instruction of the energy management module 106, further optimizing the hydrogen release efficiency. The micro-channel heat dissipation structure is provided on the surface of the hydrogen storage alloy shell to effectively manage the heat during hydrogen storage, ensuring the safe and stable operation of the solid-state hydrogen storage module 101 and providing reliable hydrogen supply for the entire solid-state hydrogen energy system.

[0042] Further, the hydrogen delivery module 102 includes a micro hydrogen pump 109 and a flow control valve 110. The input end of the micro hydrogen pump 109 is connected to the solid-state hydrogen storage module 101. The output end of the micro hydrogen pump 109 is connected to the hydrogen inlet of the hydrogen fuel cell module 103 through a high-pressure gas pipe, and provides stable high-pressure hydrogen supply for the hydrogen fuel cell module 103. The intelligent flow control valve 110 is installed on the high-pressure gas pipe and is in communication connection with the energy management module 106, and dynamically adjusts the hydrogen flow according to the robot motion state feedback by the motion control module 105 to ensure stable gas supply for the hydrogen fuel cell module 103.

[0043] In the embodiment, the hydrogen delivery module 102 extracts and pressurizes the hydrogen released by the solid-state hydrogen storage module 101 through the micro hydrogen pump 109 and delivers it to the hydrogen fuel cell module 103, ensuring stable high-pressure hydrogen supply. Meanwhile, the intelligent flow control valve 110 is installed on the high-pressure gas pipe and is in communication with the energy management module 106. It dynamically adjusts the hydrogen flow according to the robot motion state feedback from the motion control module 105, ensuring stable gas supply for the hydrogen fuel cell module 103, achieving high efficiency and flexibility of hydrogen delivery, and providing key support for the stable operation of the hydrogen-powered humanoid robot.

[0044] Further, the hydrogen fuel cell module 103 includes a fuel cell stack 111, a bipolar plate 112, a gas distribution unit 113, and a kinetic energy output unit 114. The fuel cell stack 111 is composed of multiple fuel cell units, used to convert the chemical energy of hydrogen and oxygen into electrical energy. The bipolar plate 112 is installed between the fuel cell units, used for efficient conduction of current and separation of reaction gas. The gas distribution module is connected to the high-pressure gas pipe of the hydrogen delivery module 102, ensuring efficient supply of hydrogen and oxygen, and timely discharge of exhaust gas. The kinetic energy output unit 114 is connected to the kinetic energy control system of the humanoid robot. The kinetic energy output unit 114 is used to deliver the kinetic energy generated by the hydrogen fuel cell module 103 after dynamic adjustment to the kinetic energy control system of the humanoid robot.

[0045] In the embodiment, the hydrogen fuel cell module 103 efficiently converts the chemical energy of hydrogen and oxygen into electrical energy through the fuel cell stack 111 composed of multiple fuel cell units. The bipolar plate 112 is installed between the fuel cell units, ensuring efficient conduction of current and separation of reaction gas. The gas distribution unit 113 is connected to the hydrogen delivery module 102, ensuring stable supply of hydrogen and oxygen and exhaust gas discharge. The kinetic energy output unit 114 delivers the kinetic energy generated by the hydrogen fuel cell module 103 after dynamic adjustment to the kinetic energy control system of the humanoid robot.

[0046] Further, the data acquisition module 104 includes a hydrogen flow sensor 115, an environment sensor 116, a motion state sensor 117, and a motor power sensor 118. The hydrogen flow sensor 115 is installed on the high-pressure gas pipe of the hydrogen delivery module 102 to monitor the hydrogen flow in real time. The environment sensor 116 is installed on the shell of the humanoid robot to collect surrounding environment data. The motion state sensor 117 is installed on the joints and motors of the humanoid robot to monitor the position, speed, and torque of each control motor of the robot when the robot is moving or turning, the motion of the mechanical hand, or other auxiliary functions. The motor power sensor 118 is installed on the motor of the humanoid robot to monitor the output power of each motor during the movement of the robot. The data acquisition module 104 transmits the collected data to the energy management module 106 and the motion control module 105 to provide data support for the dynamic adjustment of the system and the precise control of the robot.

[0047] In the present embodiment, the data acquisition module 104 monitors the hydrogen flow in real time through the hydrogen flow sensor 115 installed on the high-pressure gas pipe of the hydrogen delivery module 102, collects surrounding environment data using the environment sensor 116 installed on the shell of the humanoid robot, monitors the position, speed, and torque of the motor when the robot is moving or turning, the motion of the mechanical hand, and other auxiliary functions through the motion state sensor 117 installed on the joints and motors of the robot, and monitors the output power of each motor during the movement of the robot through the motor power sensor 118 installed on the motor. The module transmits the collected data to the energy management module 106 and the motion control module 105 to provide comprehensive and real-time data support for the dynamic adjustment of the system and the precise control of the robot, ensuring that the hydrogen-powered humanoid robot can operate efficiently and stably under different working conditions.

[0048] The motion state sensor 117 includes a position sensor for measuring the real-time position of the robot joint or motor, a speed sensor for measuring the real-time speed of the robot joint or motor, a torque sensor for measuring the real-time torque of the robot joint or motor, an acceleration sensor for measuring the real-time acceleration of the robot joint or motor, a gyroscope for measuring the angular velocity and angular acceleration of the robot joint or motor, a magnetic field sensor for measuring the magnetic field change of the robot joint or motor, and indirectly measuring the position and speed.

[0049] Further, the motion control module 105 comprises a motion instruction input unit 119, a motion model generating unit 120 and an adjustment instruction delivery unit 121. The motion instruction input unit 119 is configured to receive and analyze the motion process input by the robot and determine the subsequent motion state of the robot. The motion model generating unit 120 is connected to the motion instruction input unit 119 and the data acquisition module 104, and generates a subsequent motion model of the robot based on the subsequent motion state of the robot and the real-time data of the robot acquired by the data acquisition module 104. The adjustment instruction delivery unit 121 is connected to the motion model generating unit 120 and the energy management module 106, and sends an adjustment instruction to the energy management module 106 based on the generated motion model, so as to dynamically adjust the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102 and the hydrogen fuel cell module 103, and realize efficient operation of the system and reasonable allocation of energy.

[0050] The motion model generating unit 120 generates a motion model by using the following formula:

[0051] M(t) = A * S(t) + B * D(t) ;

[0052] In the formula, M(t) represents the motion model generated at time t, A is a motion state coefficient matrix, which is preset according to the motion process input by the robot; S(t) is a subsequent motion state vector of the robot determined by the motion instruction input unit 119; B is a real-time data coefficient matrix, which is dynamically adjusted according to the motion demand of the robot; and D(t) is a real-time data vector of the robot acquired by the data acquisition module 104.

[0053] The adjustment instruction delivery unit 121 dynamically adjusts the operating parameters of each module by using the following power distribution algorithm:

[0054] P output (t) = P base + K f* F(t) + K e* E(t) ;

[0055] In the formula, P output (t) represents the power output at time t, P base is a basic power, which is preset according to the current motion state of the robot; K f is a load coefficient, which is dynamically adjusted according to the load condition of the robot; F(t) is a load torque at time t, which is calculated by the motion model generating unit 120 according to the motion model; and K eis the coefficient of energy efficiency, which is dynamically adjusted according to real-time data provided by the data acquisition module 104; E(t) is the energy efficiency deviation at time t, which is provided by the energy management module 106.

[0056] In the embodiment, the motion control module 105 receives and analyzes the motion process input by the robot through the motion instruction input unit 119, determines the subsequent motion state, and generates a motion model by combining the motion state with real-time data of the data acquisition module 104 using the formula M(t) = A*S(t) + B*D(t). The adjustment instruction delivery unit 121 dynamically calculates the power demand based on the motion model using the power distribution algorithm P output (t) = P base + K f* F(t) + K e* E(t), and sends an adjustment instruction to the energy management module 106 to dynamically adjust the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102, and the hydrogen fuel cell module 103, so as to achieve efficient operation of the system and reasonable allocation of energy, and ensure that the power demand of the hydrogen-powered humanoid robot is accurately met under different motion states.

[0057] Further, the energy management module 106 includes a central controller 122 and a communication unit 123, which are connected to the data acquisition module 104 and the motion control module 105 for data interaction and collaborative control. The central controller 122 dynamically adjusts the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102, and the hydrogen fuel cell module 103 according to the adjustment instruction delivered by the motion control module 105, so as to achieve efficient operation of the system and reasonable allocation of energy.

[0058] In the embodiment, the energy management module 106 receives the adjustment instruction from the motion control module 105 through the central controller 122, and dynamically adjusts the operating parameters of the solid-state hydrogen storage module 101, the hydrogen delivery module 102, and the hydrogen fuel cell module 103 accordingly, so as to achieve efficient operation of the system and reasonable allocation of energy. The communication unit 123 is responsible for data interaction and collaborative control with the data acquisition module 104 and the motion control module 105, ensuring that the operating state information of the entire system can be shared in real time, thereby achieving stable and efficient operation of the hydrogen-powered humanoid robot under different working conditions.

[0059] Further, the solid-state hydrogen energy system further comprises a cold start module 124 connected to the hydrogen fuel cell module 103, used to quickly start the hydrogen fuel cell module 103 in low temperature environment, ensuring the reliability and availability of the system under low temperature conditions.

[0060] In the present embodiment, the cold start module 124 preheats the key components of the hydrogen fuel cell module 103 through heating elements, while communicating with the energy management module 106, dynamically adjusting the preheating process according to the instructions of the energy management module 106, to optimize the starting efficiency and reduce energy consumption.

[0061] Further, the solid-state hydrogen energy system further comprises a waste heat utilization module 125 connected to the hydrogen fuel cell module 103, used to recover the waste heat generated by the hydrogen fuel cell module 103 during operation.

[0062] In the present embodiment, the waste heat utilization module 125 transfers the recovered heat to the solid-state hydrogen storage module 101 through a heat exchanger, used to increase the temperature of the hydrogen storage alloy, thereby optimizing the release efficiency of hydrogen, while the waste heat utilization module 125 communicates with the energy management module 106, dynamically adjusting the heat recovery and utilization process according to the instructions of the energy management module 106, to realize the overall energy optimization and efficient operation of the system.

[0063] The present application also provides a hydrogen-powered humanoid robot, which uses the solid-state hydrogen energy system as described above for kinetic energy control.

[0064] The above disclosure is only a preferred embodiment of the present application, of course, cannot be limited by the scope of the present application, those skilled in the art can understand that the implementation of all or part of the above-mentioned processes, and the equivalent changes made according to the claims of the present application, still belong to the scope covered by the present application.

Claims

1. A solid-state hydrogen energy system, characterized in that, It comprises a solid-state hydrogen storage module, a hydrogen delivery module, a hydrogen fuel cell module, a data acquisition module, a motion control module and an energy management module, the solid-state hydrogen storage module is connected with the hydrogen delivery module, the hydrogen delivery module is connected with the hydrogen fuel cell module, the hydrogen fuel cell module is connected with the energy management module, the energy management module is connected with the data acquisition module and the motion control module, the data acquisition module is connected with the motion control module, and the motion control module is connected with the motor system of the humanoid robot. The solid-state hydrogen storage module is used for storing and releasing hydrogen, and dynamically adjusting the hydrogen output flow according to the power demand of the humanoid robot. The hydrogen delivery module is used to deliver the hydrogen released by the solid-state hydrogen storage module to the hydrogen fuel cell module, and dynamically adjust the hydrogen flow according to the motion state of the humanoid robot. The hydrogen fuel cell module converts chemical energy into electrical energy through the chemical reaction of hydrogen and oxygen, and provides power for the motor system of the humanoid robot. The data acquisition module is used to collect hydrogen flow, surrounding environment data and robot motion state. The motion control module generates the subsequent motion state of the robot based on the data collected by the data acquisition module, and sends adjustment instructions to the energy management module based on the motion state. The energy management module dynamically adjusts the operating parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module based on the adjustment instructions input by the motion control module, to ensure efficient operation of the solid-state hydrogen energy system and reasonable allocation of energy.

2. The solid-state hydrogen energy system of claim 1, characterized in that, The solid-state hydrogen storage module comprises a hydrogen storage alloy unit and an intelligent temperature control unit, the hydrogen storage alloy unit adopts multi-layer composite hydrogen storage alloy material to improve hydrogen storage density and release efficiency, the intelligent temperature control unit adjusts the temperature of the hydrogen storage alloy unit according to the instructions of the energy management module to optimize the release efficiency of hydrogen, and the surface of the hydrogen storage alloy shell of the hydrogen storage alloy unit is also provided with a micro-channel heat dissipation structure.

3. The solid-state hydrogen energy system of claim 2, characterized in that, The hydrogen delivery module comprises a micro hydrogen pump and a flow control valve, the input end of the micro hydrogen pump is connected with the solid-state hydrogen storage module, the output end of the micro hydrogen pump is connected with the hydrogen inlet of the hydrogen fuel cell module through a high-pressure gas pipe, and the micro hydrogen pump provides stable high-pressure hydrogen supply for the hydrogen fuel cell module, the intelligent flow control valve is installed on the high-pressure gas pipe and is in communication connection with the energy management module, and dynamically adjusts the hydrogen flow according to the motion state of the robot fed back by the motion control module to ensure stable gas supply of the hydrogen fuel cell module.

4. The solid-state hydrogen energy system of claim 3, characterized in that, The hydrogen fuel cell module comprises a fuel cell stack, a bipolar plate, a gas distribution unit and a kinetic energy output unit, the fuel cell stack is composed of multiple fuel cell units for converting the chemical energy of hydrogen and oxygen into electrical energy, the bipolar plate is installed between the fuel cell units for efficient conduction of current and separation of reaction gas, the gas distribution module is connected with the high-pressure gas pipe of the hydrogen delivery module to ensure efficient supply of hydrogen and oxygen and timely discharge of tail gas, and the kinetic energy output unit is connected with the kinetic energy control system of the humanoid robot, and the kinetic energy output unit is used to deliver the kinetic energy generated by the hydrogen fuel cell module after dynamic adjustment to the kinetic energy control system of the humanoid robot.

5. The solid-state hydrogen energy system of claim 4, wherein The data acquisition module comprises a hydrogen flow sensor, an environment sensor, a motion state sensor and a motor power sensor, the hydrogen flow sensor is installed on the high-pressure gas pipe of the hydrogen delivery module for real-time monitoring of hydrogen flow, the environment sensor is installed on the shell of the humanoid robot for collecting surrounding environment data, the motion state sensor is installed on the joints and motors of the humanoid robot for monitoring the position, speed and torque of each control motor of the robot when the robot as a whole moves or turns, the mechanical hand moves or other auxiliary functions are used, the motor power sensor is installed on the motor of the humanoid robot for monitoring the output power of each motor during the movement of the robot, and the data acquisition module transmits the collected data to the energy management module and the motion control module to provide data support for dynamic adjustment of the system and precise control of the robot.

6. The solid-state hydrogen energy system of claim 5, wherein The motion control module comprises a motion instruction input unit, a motion model generation unit and an adjustment instruction delivery unit, the motion instruction input unit is used to receive and analyze the motion process input by the robot and determine the subsequent motion state of the robot, the motion model generation unit is connected with the motion instruction input unit and the data acquisition module, and generates the subsequent motion model of the robot based on the subsequent motion state of the robot and the real-time data of the robot collected by the data acquisition module, and the adjustment instruction delivery unit is connected with the motion model generation unit and the energy management module, and sends adjustment instructions to the energy management module based on the generated motion model to dynamically adjust the operating parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module, so as to realize efficient operation of the system and reasonable allocation of energy.

7. The solid-state hydrogen energy system of claim 6, wherein The energy management module comprises a central controller and a communication unit, the communication unit is connected with the data acquisition module and the motion control module, and is used for realizing data interaction and cooperative control; the central controller dynamically adjusts operation parameters of the solid-state hydrogen storage module, the hydrogen delivery module and the hydrogen fuel cell module according to the adjustment instruction delivered by the motion control module, so as to realize efficient operation of the system and reasonable distribution of energy. 8.The solid-state hydrogen energy system of claim 7, wherein, The motion model generation unit generates a motion model by using the following formula: M(t) = A * S(t) + B * D(t); In the formula, M(t) represents a motion model generated at time t, A is a motion state coefficient matrix, which is preset according to a motion flow input by the robot; S(t) is a subsequent motion state vector of the robot, which is determined by the motion instruction input unit; B is a real-time data coefficient matrix, which is dynamically adjusted according to a motion demand of the robot; and D(t) is a real-time data vector of the robot, which is collected by the data acquisition module. 9.The solid-state hydrogen energy system of claim 8, wherein, The adjustment instruction delivery unit dynamically adjusts operation parameters of each module by using the following power distribution algorithm: P output (t) = P base + K f* F(t) + K e* E(t); where P output (t) represents the power output at time t, P base is the base power, preset according to the current motion state of the robot; K f is the load coefficient, dynamically adjusted according to the load condition of the robot; F(t) is the load torque at time t, calculated by the motion model generation unit according to the motion model; K e is the energy efficiency coefficient, dynamically adjusted according to the real-time data provided by the data acquisition module; E(t) is the energy efficiency deviation at time t, provided by the energy management module.

10. A hydrogen-powered humanoid robot, characterized by comprising: The solid-state hydrogen energy system of claim 1 is used for kinetic energy control.

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