AGV vehicle-mounted rainwater collecting, snow removing and hydrogen producing device method and medium

Abstract

The invention discloses an AGV vehicle-mounted rainwater collecting, snow removing and hydrogen producing device and method and a medium. The AGV vehicle-mounted rainwater collecting, snow removing and hydrogen producing device comprises a positioning module, a road surface image collecting module, a rain and snow collecting module and a hydrogen producing module. The positioning module comprises an AGV magnetic nail positioning antenna; the road surface image acquisition module comprises a road surface image acquisition device; the rain and snow collecting module comprises a platform rain collecting device, a rainwater collecting pipeline, an ice crusher, a snow cleaning rolling brush, an accumulated snow shovel and a melting filter box; the hydrogen production module comprises a hydrogen production box and a hydrogen tank; the number of the road surface image collectors is at least two, and at least one vehicle head position and at least one vehicle tail position of the AGV are respectively arranged; the platform rainwater collecting device is arranged at the top of the AGV and is connected to the melting filter box through a rainwater collecting pipeline; the ice crusher, the snow cleaning rolling brush, the accumulated snow shovel, the melting filter box, the hydrogen production box and the hydrogen tank are sequentially arranged at the bottom of the AGV, the melting filter box is connected with the hydrogen production box through a pipeline, and the hydrogen production box is connected with the hydrogen tank through a pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of automated terminals and automated guided vehicle (AGV) energy, and in particular to an AGV-mounted rainwater collection and snow removal hydrogen production device method and medium. Background Art

[0002] AGV is a key equipment for horizontal container transportation in automated terminals. The energy system is the core of many AGV system organizations and is responsible for providing energy guarantee for the normal operation of other system organizations. With the comprehensive promotion of "green port" construction, lithium battery modules with many advantages such as good high temperature performance, low self-discharge rate and strong safety are widely used in AGV equipment. However, due to the special operating conditions of automated terminals, the AGV has a long operating time, the number of charging times has increased exponentially, and the operating environment is not good, resulting in a decrease in the service life and remaining capacity of the lithium battery module. Some domestic automated terminal AGVs have begun to replace battery modules in batches. Severe lithium battery module failures seriously affect the operation safety of automated terminals, and the replacement of battery modules is expensive. At the same time, most domestic automated terminals are located in the coastal areas on the east side of the land. There is a lot of rain and snow in summer and winter. The road surface in the automated operation area will accumulate water and ice. Poor road conditions will affect the driving safety of AGVs.

[0003] Some domestic automated ports use hydrogen fuel cells. The use of hydrogen energy eliminates the "yellow zone" of battery power in AGVs under extreme working conditions and solves the problem of mission attenuation of a single battery module. However, hydrogen fuel cells have difficulties in hydrogen tank refueling and require additional hydrogen refueling stations, which restricts the application and promotion of hydrogen fuel cells in AGVs. At the same time, for rainy and snowy weather, the existing treatment methods are mostly to limit the speed of AGVs and wait for the rainy and snowy weather to stop manual de-icing. The traditional de-icing method not only requires and interrupts operations, affecting operating efficiency, but also personnel entering the automated operation area, posing a safety hazard of human-machine crossover.

[0004] The existing ports and terminals have not yet found a suitable solution to the problems of AGV energy system life decay, hydrogen fuel cell refueling, and de-icing in extreme weather. Therefore, the automated terminal urgently needs a method that can reduce the impact of rain and snow on AGV driving and solve the problem of hydrogen fuel cell hydrogen supply. Summary of the invention

[0005] The embodiment of the present application provides an AGV-mounted rainwater collection and snow removal hydrogen production device method and medium, which achieves the technical effect of reducing the impact of rainy and snowy weather on AGV driving and solving the hydrogen supply problem of hydrogen fuel cells.

[0006] In a first aspect, an embodiment of the present application provides an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device, the device comprising: Positioning module, road image acquisition module, rain and snow collection module and hydrogen production module; the positioning module includes an AGV magnetic nail positioning antenna; the road image acquisition module includes a road image collector; the rain and snow collection module includes a platform rain collection device, a rainwater collection pipeline, an ice crusher, a snow-clearing roller brush, a snow shovel and a melting filter box; the hydrogen production module includes a hydrogen production box and a hydrogen tank; there are at least two road image collectors, at least one is set at the front position and the rear position of the AGV; the platform rain collection device is arranged on the top of the AGV and is connected to the melting filter box through a rainwater collection pipeline; the ice crusher, snow-clearing roller brush, snow shovel, melting filter box, hydrogen production box and hydrogen tank are arranged at the bottom of the AGV in sequence, the melting filter box is connected to the hydrogen production box through a pipeline, and the hydrogen production box is connected to the hydrogen tank through a pipeline.

[0007] Furthermore, the melting and filtering box specifically includes: a liquefaction tank, a cooling water pipe, a hydraulic oil pipe, a melting filter and a pure water tank; the cooling water pipe and the hydraulic oil pipe are wound around the outside of the liquefaction tank; the pure water tank is located at the lower part of the liquefaction tank, and the pure water tank is connected to the liquefaction tank through a first pipeline, and a melting filter is arranged on the first pipeline; the cooling water pipe and the hydraulic oil pipe wound around the outside of the liquefaction tank are used to melt the accumulated snow and ice in the liquefaction tank; the melting filter is used to filter the melted snow and ice and rainwater and flow them into the pure water tank.

[0008] Furthermore, the hydrogen production box specifically includes: a water pump, an electrolytic hydrogen production device, a hydrogen box, a gas compression pump and a gas filling check valve; wherein the electrolytic hydrogen production device is connected to the pure water tank at the front through the water pump, and is connected to the hydrogen tank at the rear through the second pipeline; wherein the gas compression pump and the gas filling check valve are sequentially arranged on the second pipeline; the electrolytic hydrogen production device also has an oxygen outlet, which is connected to the outside; the electric pump is used to pump water in the pure water tank into the electrolytic hydrogen production device; the electrolytic hydrogen production device is used to decompose water into hydrogen and oxygen, wherein oxygen is discharged out of the hydrogen production box through the oxygen outlet, and hydrogen enters the hydrogen box; the gas compression pump is used to compress the hydrogen in the hydrogen box and pump it into the hydrogen tank; the gas filling check valve is used to prevent the hydrogen in the hydrogen tank from flowing back into the hydrogen box.

[0009] Furthermore, a controller is provided on the AGV; a bottom surface inclined toward the melting filter box is provided at the bottom of the snow shovel, and a snow shovel entrance door limit, a snow shovel exit door limit and a snow shovel lower limit are provided; the melting filter box is provided with a melting filter box lower baffle limit and a melting filter box entrance door limit; wherein, the melting filter box lower baffle limit has a long end, a protrusion and a short end from bottom to top; wherein, the snow shovel entrance door limit and the snow shovel exit door limit are both provided with motors for controlling their operation, and are respectively connected to the controller through electrical signals.

[0010] In a second aspect, the embodiment of the present application further provides an AGV vehicle-mounted rainwater collection and snow removal hydrogen production method. Based on the above-mentioned AGV vehicle-mounted rainwater collection and snow removal hydrogen production device, the method includes: S01. The first AGV obtains a road image through a road image acquisition module during driving, and determines whether there is snow on the road through a preset method; S02. When it is determined that there is snow on the road, the coordinates of the snowy road surface that the first AGV has passed are obtained through the magnetic nail positioning antenna of the first AGV, and the first AGV collects snow through the rain and snow collection module when passing through the snowy road; S03. The snow and rainwater collected by the rain and snow collection module are transmitted to the hydrogen production module, and hydrogen is produced through the hydrogen production module and stored in the hydrogen tank of the hydrogen production module; S04. The coordinates of the snowy road surface are sent to the second AGV, and the second AGV is driven to the snowy road surface, and the image of the snowy road surface is obtained through the road image acquisition module, and it is determined by a preset method whether there is still snow on the snowy road surface. When there is snow, the second AGV collects snow again through the rain and snow collection module; S05. Repeat step S04 until the AGV determines that there is no snow on the snowy road surface.

[0011] Furthermore, the preset method specifically includes: converting the RGB color model of the acquired road surface image Convert to HSV color model through preset formula ; According to the preset HSV value threshold range of snow accumulation, the pixel points that meet the color characteristics of road snow are extracted, and the remaining color pixels are processed as black points; when the number of black points is less than the preset black point threshold, it is judged that there is snow on the road surface in the road surface image.

[0012] Furthermore, the preset formula is: ; ; .

[0013] Furthermore, the preset HSV value threshold range of snow accumulation is: H: , S: , V: .

[0014] Furthermore, the first AGV is driven to a snowy road surface, and snow is collected by a rain and snow collection module, specifically including: when the first AGV drives to a snowy road surface, the ice crusher, the snow-clearing roller brush and the snow shovel are controlled to descend to a preset position, and the snow shovel opens an entrance during the descent; the ice crusher crushes the ice on the snowy road surface, and the snow-clearing roller brush rolls to sweep the snow and the crushed ice into the snow shovel.

[0015] In a third aspect, an embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to: be able to implement any one of the steps of the above-mentioned AGV vehicle-mounted rainwater collection and snow removal hydrogen production method.

[0016] The embodiment of the present application provides an AGV-mounted rainwater collection, snow removal and hydrogen production device method and medium, which realizes the effective utilization of natural resources by collecting rain and snow to produce hydrogen, and has a positive effect on the hydrogenation problem of AGV hydrogen fuel cells; the present application sets a platform rain collection device, an ice crusher, a snow removal roller brush, a snow shovel and a melting filter box on the AGV, so that the AGV has the ability to collect rainwater and handle accumulated ice and snow, thereby preventing rainy and snowy weather from affecting the driving of the AGV, and also converts rainwater and accumulated ice and snow into pure water after melting, filtering and other treatments, thereby realizing the reuse of rain and snow resources, and replenishing hydrogen energy for the AGV, making the AGV more environmentally friendly. Protection and energy saving; during the collection process, accumulated snow and rainwater are melted, filtered and other treatments to be converted into pure water, which is conducive to improving the efficiency of electrolytic hydrogen production and making the produced hydrogen purer; this application uses the automated driving and magnetic nail positioning technology of AGV (automatic guided vehicle) through the road image acquisition module to achieve accurate identification and positioning of snow-covered roads, improve the efficiency and accuracy of snow removal operations, and combined with the preset image processing method, it can determine in real time whether there is snow on the road surface, and trigger subsequent snow removal and hydrogen production processes, realizing intelligent management; the gas filling one-way valve in the hydrogen production module prevents hydrogen backflow and leakage, ensuring the safe operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the overall structure of an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device provided in an embodiment of the present application; Figure 2 A schematic structural diagram of a snow shovel and a hydrogen production module of an AGV vehicle-mounted rainwater collection, snow removal and hydrogen production device provided in an embodiment of the present application; Figure 3 A schematic diagram of a structure in which a snow shovel and a melting filter box of an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device are not connected to each other provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of an AGV vehicle-mounted rainwater collection, snow removal and hydrogen production device provided in an embodiment of the present application when a snow shovel is connected to a melting filter box; Figure 5 A method flow chart of a method for producing hydrogen by collecting rainwater and snow removal on an AGV provided in an embodiment of the present application; Figure 6 A schematic diagram of image recognition of a preset method provided in an embodiment of the present application.

[0018] Figure markings: 1-AGV magnetic nail positioning antenna, 2-road image collector, 3-platform rainwater collection device, 4-rainwater collection pipeline, 5-ice crusher, 6-snow removal roller brush, 7-snow shovel, 8-melting filter box, 9-hydrogen production box, 10-hydrogen tank, 12-liquefied tank, 13-cooling water pipe, 14-hydraulic oil pipe, 15-melting filter, 16-pure water tank, 17-water pump, 18-electrolysis hydrogen production device, 19-oxygen outlet, 20-hydrogen tank, 21-gas compression pump, 22-gas filling check valve, 23-snow shovel entrance door limit, 24-snow shovel exit door limit, 25-snow shovel lower limit, 26-melting filter box lower baffle limit, 27-melting filter box entrance door limit. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0020] The embodiment of the present application provides an AGV-mounted rainwater collection and snow removal hydrogen production device method and medium, which achieves the technical effect of reducing the impact of rainy and snowy weather on AGV driving and solving the hydrogen supply problem of hydrogen fuel cells.

[0021] The technical solution proposed in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device provided in an embodiment of the present application. Figure 1 As shown, an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device provided in an embodiment of the present application specifically includes: Positioning module, road surface image acquisition module, rain and snow collection module and hydrogen production module.

[0023] The positioning module includes an AGV magnetic nail positioning antenna 1.

[0024] It should be noted that the magnetic nail is a passive device buried below the ground. It contains a storage unit that can store position coordinate information. Each magnetic nail stores a unique position coordinate. The magnetic nail antenna installed on the AGV is equivalent to a mobile card reader. It reads the position coordinates of the scanned magnetic nails in real time during the movement, and feeds back the position coordinate information to the background system, so that the background system obtains the current coordinates of the AGV. This application uses the automated driving and magnetic nail positioning technology of AGV (automatic guided vehicle) through the road image acquisition module to achieve accurate identification and positioning of snow-covered roads, thereby improving the efficiency and accuracy of snow removal operations.

[0025] The road surface image acquisition module includes a road surface image collector 2, and the road surface image collector 2 is respectively arranged at the front position and the rear position of the AGV.

[0026] In one embodiment, the road surface image collector 2 is a camera arranged at the front and rear of the AGV, and is used to collect road surface images in front and behind the AGV in real time.

[0027] The rain and snow collection module includes a platform rain collection device 3, a rainwater collection pipeline 4, an ice crusher 5, a snow removal roller brush 6, a snow shovel 7 and a melting filter box 8. The hydrogen production module includes a hydrogen production box 9 and a hydrogen tank 10.

[0028] Among them, the platform rainwater collecting device 3 is arranged on the top of the AGV and is connected to the melting filter box 8 through the rainwater collection pipeline 4. The ice crusher 5, snow removal roller brush 6, snow shovel 7, melting filter box 8, hydrogen production box 9 and hydrogen tank 10 are arranged at the bottom of the AGV in sequence. The melting filter box 8 is connected to the hydrogen production box 9 through a pipeline, and the hydrogen production box 9 is connected to the hydrogen tank 10 through a pipeline.

[0029] That is to say, the present application collects rainwater through the platform rainwater collecting device 3 set on the top of the AGV, and sends the rainwater to the melting filter box 8 through the rainwater collecting pipeline 4; crushes the ice and snow on the road surface through the ice crusher 5, and uses the snow-clearing roller brush 6 to put the crushed ice and snow into the snow shovel 7, and the snow shovel 7 sends the ice and snow to the melting filter box 8. The present application enables the AGV to have the ability to collect rainwater and handle ice and snow, preventing rain and snow from affecting the driving of the AGV, and also converts rainwater and ice and snow into pure water after melting, filtering and other treatments, realizing the reuse of rain and snow resources, and replenishing hydrogen energy for the AGV, making the AGV more environmentally friendly and energy-saving.

[0030] Figure 3 A schematic diagram of the structure of an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device provided in an embodiment of the present application, in which the snow shovel 7 and the melting filter box 8 are not connected; Figure 3As shown, the AGV is provided with a controller, the bottom of the snow shovel 7 is provided with a bottom surface inclined toward the melting filter box 8, and is provided with a snow shovel entrance door limit 23, a snow shovel exit door limit 24 and a snow shovel lower limit 25.

[0031] The melting filter box 8 is provided with a melting filter box lower baffle limiter 26 and a melting filter box inlet door limiter 27. The melting filter box lower baffle limiter 26 has a long end, a convex block and a short end from bottom to top.

[0032] The snow shovel inlet door limiter 23 and the snow shovel outlet door limiter 24 are both provided with motors for controlling their operation, and are respectively connected to the controller via electrical signals.

[0033] When the snow shovel 7 is lowered: The controller controls the snow shovel entrance door limiter 23 to rotate downward to open the entrance of the snow shovel 7; The snow shovel outlet door limit 24 remains in a vertical downward state, so that the outlet of the snow shovel 7 remains in a closed state.

[0034] That is to say, the embodiment of the present application sets the snow shovel entrance door limit 23 so that the snow shovel can automatically open to collect snow and ice, and remain closed when not collecting snow and ice, to prevent foreign objects from entering.

[0035] Figure 4 A schematic diagram of the structure of an AGV vehicle-mounted rainwater collection and snow removal hydrogen production device provided in an embodiment of the present application when the snow shovel 7 is connected to the melting filter box 8, as shown in FIG. Figure 4 As shown, when the snow shovel 7 rises: The controller controls the snow shovel outlet door limiter 24 to rotate upward and open, and pushes the melting filter box inlet door limiter 27 upward to open the inlet of the melting filter box 8; The snow shovel lower limit 25 contacts and lifts up the protrusion of the melting filter box lower baffle limit 26, so that the melting filter box lower baffle limit 26 rotates with the rise of the snow shovel 7 until the long end of the melting filter box lower baffle limit 26 is attached to the snow shovel lower limit 25, so that a channel is formed between the snow shovel 7 and the melting filter box 8.

[0036] That is to say, in the embodiment of the present application, when the snow shovel outlet door limit 24 is opened, the inlet door limit 27 of the melting filter box is opened, and when the snow shovel 7 rises, the lower baffle limit 26 of the melting filter box is opened through the snow shovel lower limit 25, so that a passage is formed between the snow shovel 7 and the melting filter box 8, which is conducive to the passage of snow and ice while preventing liquids such as oil dripping from the AGV above from contaminating the snow and ice.

[0037] Specifically, the melting and filtering box 8 includes: a liquefaction box 12 , a cooling water pipe 13 , a hydraulic oil pipe 14 , a melting filter 15 and a pure water tank 16 .

[0038] A cooling water pipe 13 and a hydraulic oil pipe 14 are wound around the outside of the liquefied tank 12 .

[0039] The cooling water pipe 13 and the hydraulic oil pipe 14 wound around the outside of the liquefied tank 12 are used to melt the snow and ice accumulated in the liquefied tank.

[0040] The pure water tank 16 is located at the lower part of the liquefaction tank 12, and the pure water tank 16 is connected to the liquefaction tank 12 through a first pipeline, and a melting filter 15 is arranged on the first pipeline; The melting filter 15 is used to filter the melted snow, ice and rainwater and then flow them into the pure water tank.

[0041] In the embodiment of the present application, a melting filter 15 is provided to filter the liquid in the liquefied tank 12 and then send it to the pure water tank 16, so that the produced hydrogen is purer, and after removing impurities, the efficiency of hydrogen production by electrolysis is greatly improved.

[0042] Figure 2 A schematic diagram of the structure of a snow shovel 7 and a hydrogen production module of an AGV vehicle-mounted rainwater collection, snow removal and hydrogen production device provided in an embodiment of the present application; Figure 2 As shown, the hydrogen production box 9 includes: a water pump 17, an electrolytic hydrogen production device 18, a hydrogen box 20, a gas compression pump 21 and a gas filling check valve 22.

[0043] The electrolytic hydrogen production device 18 is connected to the front pure water tank 16 through a water pump 17, and is connected to the rear hydrogen tank 10 through a second pipeline. The electrolytic hydrogen production device 18 also has an oxygen outlet, which is connected to the outside.

[0044] The electric pump is used to pump water 17 in the pure water tank 16 to the electrolytic hydrogen production device 18 .

[0045] The electrolytic hydrogen production device 18 is used to decompose water into hydrogen and oxygen, wherein the oxygen is discharged from the hydrogen production box 9 through the oxygen outlet 19 and the hydrogen enters the hydrogen box 20.

[0046] The embodiment of the present application sets up an electrolytic hydrogen production device 18 to collect snow, ice and rainwater to produce hydrogen, which not only effectively utilizes rain and snow resources, but also replenishes hydrogen energy resources for the AGV by sending hydrogen into the hydrogen tank 10, effectively solving the energy supply problem of the AGV hydrogen fuel cell.

[0047] The second pipeline is provided with a gas compression pump 21 and a gas filling one-way valve 22 in sequence.

[0048] The gas compression pump 21 is used to compress the hydrogen in the hydrogen box 20 and pump it into the hydrogen tank 10 .

[0049] The refueling check valve 22 is used to prevent the hydrogen in the hydrogen tank 10 from flowing back into the hydrogen box 20 .

[0050] That is to say, the present application effectively prevents hydrogen backflow by setting the gas filling check valve 22, thereby improving the utilization rate of hydrogen and the safety of the device.

[0051] The above are the device embodiments proposed in this application. Figure 5 A method flow chart of a method for producing hydrogen by collecting rainwater and removing snow on an AGV provided in an embodiment of the present application is as follows: Figure 5 As shown, the embodiment of the present application also provides an AGV vehicle-mounted rainwater collection and snow removal hydrogen production method, the method comprising: Step S01: The first AGV obtains a road surface image through the road surface image acquisition module 2 during driving, and determines whether there is snow on the road surface through a preset method.

[0052] Specifically, the preset method includes: The RGB color model of the acquired road image Convert to HSV color model through preset formula .

[0053] The default formula is: ; ; .

[0054] According to the preset HSV value threshold range of snow accumulation, the pixels that meet the color characteristics of road snow are extracted, and the remaining color pixels are processed as black points.

[0055] Figure 6 The image recognition schematic diagram of the preset method provided in the embodiment of the present application is as follows: Figure 6 As shown, the pixels of the road surface where no snow exists are black dots.

[0056] The preset HSV value threshold range of snow accumulation is: H: , S: , V: .

[0057] When the number of the black dots is less than a preset black dot threshold, it is determined that there is snow on the road surface in the road surface image.

[0058] The embodiment of the present application performs HSV processing on the image of the snow-covered road surface to efficiently and conveniently identify whether there is snow on the road surface. The method is simple and effective, which saves computing power and also increases the accuracy of identifying the snow-covered road surface.

[0059] Step S02: when it is determined that there is snow on the road surface, the magnetic nail positioning antenna 1 of the first AGV obtains the snowy road surface that the first AGV has walked on, and when the first AGV passes through the snowy road surface, the rain and snow collection module collects the snow.

[0060] Specifically, when the first AGV passes through a snowy road, the rain and snow collection module collects snow, including: S201, when the first AGV drives onto a snowy road, the ice crusher 5, the snow-clearing roller brush 6 and the snow shovel 7 are controlled to descend to a preset position, and the snow shovel 7 opens an entrance during the descent process; S202 , the ice crusher 5 crushes the ice on the snowy road surface, and the snow-clearing roller brush 6 rolls to sweep the snow and the crushed ice into the snow shovel 7 .

[0061] Step S03: The accumulated snow and rainwater collected by the rain and snow collection module are transmitted to the hydrogen production module, and hydrogen is produced by the hydrogen production module and stored in the hydrogen tank 10 of the hydrogen production module.

[0062] Step S04, sending the coordinates of the snowy road surface to the second AGV, causing the second AGV to travel to the snowy road surface, obtaining an image of the snowy road surface through a road surface image acquisition module, and determining whether there is still snow on the snowy road surface through a preset method. If there is snow, causing the second AGV to collect snow again through a rain and snow collection module.

[0063] Step S05: Repeat step S04 until the AGV determines that there is no snow on the snowy road surface.

[0064] That is to say, the present application enables the AGV that finds snow on the road to clean the snow on the road, and enables the following AGV to check the road surface. If it is determined that there is still snow on the road surface, the AGV will clean it; if it is determined that there is no snow on the road surface, the AGV will drive normally. Through the repeated inspection of the AGV, the efficiency of the AGV's snow cleaning work is effectively improved, and the cleanliness of the road surface is guaranteed, preventing the accumulation of snow and ice from affecting the driving of the AGV.

[0065] Some embodiments of the present application provide corresponding Figure 1 A non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows: Any one of the steps of the above-mentioned AGV vehicle-mounted rainwater collection and snow removal hydrogen production method can be implemented.

[0066] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the IoT device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0067] The system and medium provided in the embodiments of the present application correspond one-to-one to the method. Therefore, the system and medium also have similar beneficial technical effects to the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the system and medium will not be repeated here.

[0068] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0069] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0073] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0074] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0075] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0076] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An AGV-mounted rainwater collection and snow removal hydrogen production device, characterized in that: The device comprises: Positioning module, road surface image acquisition module, rain and snow collection module and hydrogen production module; The positioning module includes an AGV magnetic nail positioning antenna; the road image acquisition module includes a road image collector; the rain and snow collection module includes a platform rain collection device, a rainwater collection pipeline, an ice crusher, a snow removal roller brush, a snow shovel and a melting filter box; the hydrogen production module includes a hydrogen production box and a hydrogen tank; There are at least two road image collectors, with at least one disposed at the front and rear of the AGV; the platform rainwater collection device is disposed on the top of the AGV and is connected to the melting filter box through a rainwater collection pipeline; the ice crusher, snow removal roller brush, snow shovel, melting filter box, hydrogen production box and hydrogen tank are disposed at the bottom of the AGV in sequence, the melting filter box is connected to the hydrogen production box through a pipeline, and the hydrogen production box is connected to the hydrogen tank through a pipeline.

2. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production device as claimed in claim 1, characterized in that: The melting and filtering box specifically comprises: Liquefaction tank, cooling water pipe, hydraulic oil pipe, melting filter and pure water tank; The cooling water pipe and the hydraulic oil pipe are wound around the outside of the liquefied tank; The pure water tank is located at the lower part of the liquefaction tank, and the pure water tank is connected to the liquefaction tank through a first pipeline, and a melting filter is arranged on the first pipeline; The cooling water pipe and hydraulic oil pipe wound around the outside of the liquefied tank are used to melt the snow and ice accumulated in the liquefied tank; The melting filter is used to filter melted snow, ice and rainwater and then flow them into the pure water tank.

3. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production device as claimed in claim 2, characterized in that: The hydrogen production box specifically comprises: Water pump, electrolytic hydrogen production device, hydrogen tank, gas compression pump and gas filling check valve; The electrolytic hydrogen production device is connected to the front pure water tank through a water pump, and is connected to the rear hydrogen tank through a second pipeline; wherein a gas compression pump and a gas filling check valve are sequentially arranged on the second pipeline; The electrolytic hydrogen production device also has an oxygen outlet, which is connected to the outside world; The electric pump is used to pump water in the pure water tank into the electrolytic hydrogen production device; The electrolytic hydrogen production device is used to decompose water into hydrogen and oxygen, wherein the oxygen is discharged out of the hydrogen production box through the oxygen outlet, and the hydrogen enters the hydrogen box; The gas compression pump is used to compress the hydrogen in the hydrogen box and pump it into the hydrogen tank; The gas filling one-way valve is used to prevent the hydrogen in the hydrogen tank from flowing back into the hydrogen box.

4. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production device as claimed in claim 3, characterized in that: include: The AGV is provided with a controller; The bottom of the snow shovel is provided with a bottom surface inclined toward the melting filter box, and is provided with a snow shovel entrance door limit, a snow shovel exit door limit and a snow shovel lower limit; The melting filter box is provided with a lower baffle limiter for the melting filter box and an inlet door limiter for the melting filter box; wherein the lower baffle limiter for the melting filter box has a long end, a convex block and a short end in sequence from bottom to top; Wherein, the snow shovel entrance door limiter and the snow shovel exit door limiter are both provided with motors for controlling their operation, and are respectively connected to the controller via electrical signals.

5. A method for producing hydrogen by collecting rainwater and removing snow on an AGV vehicle, the method being based on the AGV vehicle-mounted rainwater and snow removal hydrogen production device according to any one of claims 1 to 4, characterized in that: include: S01. The first AGV obtains a road image through a road image acquisition module during driving, and determines whether there is snow on the road through a preset method; S02, when it is determined that there is snow on the road surface, the coordinates of the snowy road surface that the first AGV has passed are obtained through the magnetic nail positioning antenna of the first AGV, and when the first AGV passes through the snowy road surface, the snow is collected by the rain and snow collection module; S03, transmitting the snow and rainwater collected by the rain and snow collection module to the hydrogen production module, and producing hydrogen through the hydrogen production module, and storing it in the hydrogen tank of the hydrogen production module; S04, sending the coordinates of the snowy road surface to the second AGV, causing the second AGV to drive to the snowy road surface, obtaining an image of the snowy road surface through a road surface image acquisition module, and determining whether there is still snow on the snowy road surface through a preset method, and if there is snow, causing the second AGV to collect snow again through a rain and snow collection module; S05. Repeat step S04 until the AGV determines that there is no snow on the snowy road surface.

6. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production method as claimed in claim 5, characterized in that: The preset method specifically includes: The RGB color model of the acquired road image Convert to HSV color model through preset formula ; According to the preset HSV value threshold range of snow accumulation, the pixel points that meet the color characteristics of road snow accumulation are extracted, and the remaining color pixels are processed as black points; When the number of the black dots is less than a preset black dot threshold, it is determined that there is snow on the road surface in the road surface image.

7. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production method as claimed in claim 6, characterized in that: The preset formula is: ； ； 。 8. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production method as claimed in claim 6, characterized in that: The preset HSV threshold range for snow accumulation is: H: ,S: ,V: 。 9. The AGV vehicle-mounted rainwater collection and snow removal hydrogen production method as claimed in claim 5, characterized in that: The first AGV is driven to a snowy road surface, and the snow is collected by the rain and snow collection module, specifically including: When the first AGV drives onto a snowy road, the ice crusher, snow-clearing roller brush, and snow shovel are controlled to descend to a preset position, and the snow shovel opens the entrance during the descent process; The ice crusher crushes the ice on the snowy road surface, and the snow-clearing roller brush rolls to sweep the snow and the crushed ice into the snow shovel.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: Implement the steps of the method described in any one of claims 5 to 9.

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