CN109448141A - A kind of parking fee self-help charging method and self-help charger - Google Patents
A kind of parking fee self-help charging method and self-help charger Download PDFInfo
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- CN109448141A CN109448141A CN201811295473.3A CN201811295473A CN109448141A CN 109448141 A CN109448141 A CN 109448141A CN 201811295473 A CN201811295473 A CN 201811295473A CN 109448141 A CN109448141 A CN 109448141A
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- mechanical arm
- distance
- module
- vehicle
- theatre
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q20/00—Payment architectures, schemes or protocols
- G06Q20/08—Payment architectures
- G06Q20/14—Payment architectures specially adapted for billing systems
- G06Q20/145—Payments according to the detected use or quantity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q20/00—Payment architectures, schemes or protocols
- G06Q20/30—Payment architectures, schemes or protocols characterised by the use of specific devices or networks
- G06Q20/32—Payment architectures, schemes or protocols characterised by the use of specific devices or networks using wireless devices
- G06Q20/327—Short range or proximity payments by means of M-devices
- G06Q20/3276—Short range or proximity payments by means of M-devices using a pictured code, e.g. barcode or QR-code, being read by the M-device
Abstract
The invention discloses parking fee self-help charging method and self-help chargers, method is applied to the mechanical arm installed on the self-help charger being arranged in parking lot, a barcode scanning box is fixed on mechanical arm, include: to receive the vehicle wake up instruction that parking lot sentry box terminal is sent when leaving the theatre, according to the wake up instruction calculate itself between the vehicle currently left the theatre at a distance from and attitude angle；It is moved to predeterminated position from original position according to calculated distance and attitude angle information, is shortened at a distance from the vehicle currently left the theatre so that car owner, which carries out barcode scanning by the barcode scanning box, pays parking fee；The return instruction that parking lot sentry box terminal is sent when paying successfully is received, is instructed according to the return, is recovered to original position.The present embodiment facilitates car owner to complete the operation of barcode scanning payment parking fee, improves the payment experience of car owner.
Description
Technical field
The present invention relates to parking lot management technical fields, and in particular to a kind of parking fee self-help charging method and self-help charging
Machine.
Background technique
In general, often no signal or signal are weaker for underground parking, this has seriously affected car owner and has used mobile phone scanning two
The mode of dimension code carries out the e-payment of parking fee.Have the electronic cash code (such as wechat, Alipay) of some applications support from
Line payment, so part underground parking be proposed using on self-help charger barcode scanning box (or barcode scanning payment box, built-in figure
Code scanner device, for realizing the acquisition and parsing to two-dimension code pattern) mode of scanning electron payment code completes to stop
Expense is paid.
But the scanning range of barcode scanning box is certain, and scanning range is smaller, is limited to this, car owner often can not
Accurately by vehicle parking barcode scanning box can be in scanning range, the utilization rate of barcode scanning box is very low.
Summary of the invention
The present invention provides a kind of parking fee self-help charging method and self-help chargers, cross mechanical arm and automatically push away barcode scanning box
It send close to car owner, electronics can be completed regardless of whether parking lot cellular signal strength is qualified by assisting car owner to complete barcode scanning payment
Parking fee is paid in payment, and fast passing is left the theatre, and the utilization rate of barcode scanning box is improved, and does not need precisely for vehicle to be parked in barcode scanning box
Can improve user experience in scanning range.
According to the one aspect of the application, a kind of parking fee self-help charging method is provided, is applied to be arranged in parking lot
Self-help charger on the mechanical arm installed, fix a barcode scanning box on the mechanical arm, parking fee self-help charging method includes:
Receive the vehicle wake up instruction that parking lot sentry box terminal is sent when leaving the theatre, according to the wake up instruction calculate itself with
Distance and attitude angle between the vehicle currently left the theatre；
According to calculated distance and attitude angle information it is moved to predeterminated position from original position, shortens and currently left the theatre
The distance of vehicle pays parking fee so that car owner carries out barcode scanning by the barcode scanning box；
The return instruction that parking lot sentry box terminal is sent when paying successfully is received, is instructed, is recovered to according to the return
Original position.
Optionally, according to the wake up instruction calculate itself between the vehicle currently left the theatre at a distance from and attitude angle include:
According to the wake up instruction, the camera being installed on mechanical arm is controlled, acquires image information；
According to described image information, calculate at a distance from the vehicle currently left the theatre and attitude angle；
Being moved to predeterminated position from original position according to calculated distance and attitude angle information includes:
According to calculated distance and attitude angle information, drive control mechanical arm completes angular pose adjustment and displacement changes
Become.
Optionally, this method further include:
Real-time detection is at a distance from the object of front in moving process, when being less than threshold value at a distance from the object of front, control
System reduces the speed of service, until stopping movement；When detecting that front object leaves the moving region of mechanical arm, control restores just
Constant velocity.
According to further aspect of the application, a kind of parking fee self-help charger, fitting machine on self-help charger are provided
Tool arm fixes a barcode scanning box on the mechanical arm,
The mechanical arm receives the wake up instruction that parking lot sentry box terminal is sent when vehicle is left the theatre, and is referred to according to the wake-up
Enable calculate itself between the vehicle currently left the theatre at a distance from and attitude angle；
The mechanical arm is moved to predeterminated position from original position according to calculated distance and attitude angle information, shortens
At a distance from the vehicle currently left the theatre, so that car owner, which carries out barcode scanning by the barcode scanning box, pays parking fee；
The mechanical arm receives the return instruction that parking lot sentry box terminal is sent when paying successfully, according to the return
Instruction, is recovered to original position.
Optionally, the mechanical arm includes: main control module, power supply module, vision module, mechanical arm servo driving control mould
Block and mechanical arm module,
The power supply module, for being each module for power supply,
The image information of acquisition is sent to the main control module for acquiring image information by the vision module；
The main control module calculates at a distance from the vehicle currently left the theatre and posture for according to described image information
Distance and attitude angle information are sent to the mechanical arm servo driving control module by angle；
The mechanical arm servo driving control module completes angular pose adjustment and position for drive control mechanical arm module
It moves and changes；
The mechanical arm module, for being moved under the control of the mechanical arm servo driving control module.
Optionally, the main control module is also used to detect mechanical arm module at a distance from the object of front during shifting
When less than threshold value, the mechanical arm servo driving control module is notified, reduce the speed of service of the mechanical arm module, until stopping
Only move.
Optionally, the main control module, be also used to detect during shifting mechanical arm module at a distance from the object of front,
When detecting that front object leaves the moving region of mechanical arm module, the mechanical arm servo driving control module is notified, control
Make the mechanical arm module recovery normal speed.
Optionally, the vision module includes binocular camera, to realize the vision of 2D/3D.
Optionally, the mechanical arm is specifically used for receiving parking lot sentry box terminal in vehicle triggering geomagnetic sensor of leaving the theatre
When, identify the license plate for vehicle of leaving the theatre and transfer current vehicle down time and fee to be charged information after send wake-up refer to
It enables.
Optionally, a barcode scanning box is fixed on the end of the side of the mechanical arm.
Using the self-help charging method and self-help charger of the embodiment of the present invention, the barcode scanning range of barcode scanning box, phase are breached
When the operation in the barcode scanning box for extending barcode scanning distance, facilitating car owner to complete barcode scanning payment parking fee, it ensure that fund security, mention
The mode that payment code is scanned for barcode scanning box, can effectively prevent the case where two dimensional code is exchanged, avoid the monetary losses of car owner.
Operation security is provided, even if the mobile phone signal in parking lot relatively nor affects on normal payment, ensure that vehicle pass-through efficiency.And
And improve the payment experience of car owner, car owner without other operating burdens, avoid because parking position is swept farther out less than two dimensional code or
Night, which can not identify, needs the unnecessary trouble such as move backward, get off caused by the abnormal conditions such as two dimensional code, at the same also reduce because
Fault accident caused by such movement.
Detailed description of the invention
Fig. 1 is the flow chart of the parking fee self-help charging method of the embodiment of the present invention；
Fig. 2 is the block diagram of the mechanical arm of the embodiment of the present invention；
Fig. 3 is the flow diagram of the parking fee self-help charging method of the embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.Obviously, described embodiments are some of the embodiments of the present invention, without
It is whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
E-payment increased popularity in the prior art, and sweep two dimensional code and carry out payment parking fee in the scene of no mobile phone signal
In cannot use.In order to solve the problems, such as that signal difference cannot be paid, also has propped up using payment code barcode scanning box in the prior art
It pays, the defect of this scheme is: the position of barcode scanning box is fixed, and can not flexibly be displaced and scanning range is small.And actual conditions
It is that the height of different automobile types vehicle is different, parking position is lack of standardization, the reasons such as not accurate, makes barcode scanning box can not extensively
With causing its utilization rate lower.In this regard, the design concept of the embodiment of the present invention is: automatically being pushed barcode scanning box by mechanical arm
To close to car owner's predeterminated position, car owner is facilitated to complete barcode scanning payment.Regardless of whether parking lot cellular signal strength is qualified, it is ok
It completes e-payment and pays parking fee, fast passing is left the theatre, and user experience is improved.
Fig. 1 is the flow chart of the parking fee self-help charging method of the embodiment of the present invention, and the parking fee of the present embodiment is self-service to be paid
Charging method fixes a barcode scanning box applied to the mechanical arm installed on the self-help charger being arranged in parking lot on the mechanical arm,
Referring to Fig. 1, parking fee self-help charging method includes:
Step S101 receives the wake up instruction that parking lot sentry box terminal is sent when vehicle is left the theatre, according to the wake up instruction
Calculate itself between the vehicle currently left the theatre at a distance from and attitude angle；
Step S102 is moved to predeterminated position from original position according to calculated distance and attitude angle information, shorten with
The distance for the vehicle currently left the theatre pays parking fee so that car owner carries out barcode scanning by the barcode scanning box；
Step S103 receives the return instruction that parking lot sentry box terminal is sent when paying successfully, is referred to according to the return
It enables, is recovered to original position.
As shown in Figure 1 it is found that the parking fee self-help charging method of the present embodiment, before and after payment, Crush trigger arm is intelligent
Manipulation adjustment displacement, pushes to car owner for the barcode scanning box on mechanical arm and nearby car owner's barcode scanning is facilitated to pay parking fee, to improve
The utilization rate of barcode scanning box provides solution party to carry out barcode scanning payment under the weaker scene of the network signals such as underground parking
Case ensure that vehicle pass-through efficiency.In addition, the mode of barcode scanning box scanning payment code has effectively prevented the feelings that two dimensional code is exchanged
Condition avoids the monetary losses of car owner, parking lot.Importantly, improve convenient experience, car owner without other operating burdens,
Avoid because parking position sweep farther out can not identify the abnormal conditions such as two dimensional code less than two dimensional code or night caused by need move backward,
It unnecessary trouble, while the accident of making mistakes caused by also reducing because of such movement such as gets off.
In one embodiment, it calculates itself according to the wake up instruction in step S101 shown in Fig. 1 and currently leaves the theatre
Distance and attitude angle between vehicle include: to control the camera being installed on mechanical arm according to the wake up instruction, acquire image
Information；According to described image information, calculate at a distance from the vehicle currently left the theatre and attitude angle；According to calculated distance and appearance
It includes: according to calculated distance and attitude angle information, drive control machine that state angle information, which is moved to predeterminated position from original position,
Tool arm completes angular pose adjustment and displacement changes.That is, mechanical arm can calculate the position with vehicle of currently leaving the theatre automatically
It moves and angular deviation, and adjusts according to these information oneself position and posture, so that car owner be facilitated to pass through on mechanical arm
Barcode scanning box carries out parking fee e-payment.
In addition, it is contemplated that the safety issue in remote moving process, the method for the present embodiment further include: be moved through
Real-time detection is at a distance from the object of front in journey, and when being less than threshold value at a distance from the object of front, control reduces the speed of service, directly
It is moved to stopping；When detecting that front object leaves the moving region of mechanical arm, control restores normal speed.That is, this implementation
The mechanical arm of example has safe distance defencive function, prevents the generation of the favorite outer collision accident of moving process.
Below in conjunction with Fig. 2 and Fig. 3, with a concrete application scene to the parking fee based on mechanical arm of the embodiment of the present invention
Self-help charging process is illustrated.
Mechanical arm in the embodiment of the present application is mounted on self-help charger, which can be placed in parking lot
Entrance at, it will be understood that the self-help charger can have the general utility functions of self-help charger in the prior art, for example beat
Print strip, display fee to be charged, the functions such as pay in cash.In addition, also installing mechanical arm, machine on the self-help charger of the present embodiment
A barcode scanning box is fixed on tool arm, for example fixes a barcode scanning box on the end of mechanical arm side, this side is referred to far from self-service
The side of payment machine.Here barcode scanning box is also referred to as barcode scanning payment box, barcode scanning box integrated graphics code scanning means, for realizing to two
Tie up the acquisition and parsing of code figure.
Mechanical arm receives the wake up instruction that parking lot sentry box terminal is sent when vehicle is left the theatre, according to the wake up instruction meter
Calculate itself between the vehicle currently left the theatre at a distance from and attitude angle；According to calculated distance and attitude angle information from original position
It is moved to predeterminated position, is shortened at a distance from the vehicle currently left the theatre, so that car owner carries out barcode scanning payment by the barcode scanning box
Parking fee；And the return instruction that parking lot sentry box terminal is sent when paying successfully is received, it is instructed, is withdrawn according to the return
To original position.
As a result, the present embodiment by setting mechanical arm, breach barcode scanning box position in the prior art fix, scanning range it is small
Limitation, be equivalent to the scanning range for extending barcode scanning box, car owner is not necessarily to precisely resting in vehicle into the scanning range of barcode scanning box
Inside e-payment can also be completed by barcode scanning box, improve convenient experience.
It should be noted that barcode scanning box is read for bar code information such as one-dimension code, two dimensional codes, the clearing of account is carried out
Barcode scanning payment equipment；For example, the barcode scanning payment for applications such as Alipay or wechats, reads vehicle by the scanning function of barcode scanning box
The payment code of primary user simultaneously carries out payment to complete the payment of parking fee, this technology is the prior art, and the present embodiment is to this
Excessive explanation is not done.
Referring to Fig. 3, the mechanical arm of the present embodiment includes: main control module, power supply module, vision module, the drive of mechanical arm steering engine
Dynamic control module and mechanical arm module, power supply module, for being aforementioned each module (that is, main control module, power supply module, vision
Module, mechanical arm servo driving control module and mechanical arm module) it powers, vision module will be adopted for acquiring image information
The image information of collection is sent to the main control module；Main control module, for calculating and currently leaving the theatre according to described image information
Vehicle distance and attitude angle, distance and attitude angle information are sent to the mechanical arm servo driving control module；It is mechanical
Arm servo driving control module completes angular pose adjustment for drive control mechanical arm module and displacement changes；Mechanical arm mould
Block, for being moved under the control of the mechanical arm servo driving control module.By before parking fee is paid the fees, Crush trigger arm
Intelligent control and the position for being moved close to car owner user, and after payment, Crush trigger arm is self-service to return to original position, is promoted
The convenient experience of car owner user.The mechanical arm automatic measurement & calculation displacement range and attitude angle of the present embodiment, more intelligent and individual character
Change.
In one embodiment, main control module is also used to detect mechanical arm module and front object (people during shifting
Or other objects) distance be less than threshold value when, notify the mechanical arm servo driving control module, reduce the mechanical arm module
The speed of service, until stop movement.For example, someone passes through in mechanical arm in the vehicle moving process currently left the theatre
Herein, the main control module of the mechanical arm of the present embodiment is detected is less than threshold value at a distance from people, for example at 0.8 meter, notice is mechanical
Arm servo driving control module reduces the speed of service of mechanical arm module, to prevent accident collision.
In addition, main control module, is also used to detect that mechanical arm module at a distance from the object of front, works as detection during shifting
When leaving the moving region of mechanical arm module to front object (for example, someone passes by from the moving region of mechanical arm, and walk it is remote it
Afterwards), it notifies the mechanical arm servo driving control module, controls the mechanical arm module recovery normal speed.
What needs to be explained here is that the vision module in Fig. 3 includes binocular camera, to realize the vision of 2D/3D.That is,
Mechanical arm is integrated with vision system, by installing binocular camera, can be realized the vision of 2D/3D.2) mechanical arm can basis
The image of camera shooting, automatic measurement & calculation is at a distance from target and angular deviation.Mechanical arm passes through main control module, drive control machine
Tool arm completes angular pose adjustment and automatic telescopic displacement.
In one embodiment of the invention, mechanical arm is specifically used for receiving parking lot sentry box terminal in vehicle triggering of leaving the theatre
When geomagnetic sensor, identify the license plate for vehicle of leaving the theatre and transfer current vehicle down time and fee to be charged information after send out
The wake up instruction sent.
In the present embodiment, when feeling when the triggering of appearance vehicle, parking lot sentry box terminal passes through video capture license plate photo,
Identify license plate.Down time and the fee to be charged information of current vehicle are transferred after the completion of identification license plate.Meanwhile it being issued to mechanical arm
Wake up instruction.After mechanical arm receives wake up instruction, by being installed on the camera of mechanical arm, image information is acquired.According to figure
As information, the angle and distance of measuring and calculating and vehicle, and the work of automatic displacement is completed, pushes barcode scanning box close to vehicle.Referring to figure
2, process starts,
Firstly, vehicle triggering ground sense, that is, the current vehicle that will leave parking lot triggers earth magnetism at parking exit
Sensor.
System identification license board information.The charging administration system in parking lot identifies the license board information of current vehicle, such as logical
It crosses Car license recognition camera vehicle license is shot and carries out image recognition and obtain license board information.
Transfer down time, fee to be charged.System searches current vehicle in the parking information of preservation according to license board information
Corresponding down time and the down time receivable parking fee.
To sending instructions under mechanical arm.System can show fee to be charged in self-help charger after transferring out fee to be charged
On, the intelligent terminal of car owner user can also be pushed to by cloud server, such car owner user can understand this parking
Fee to be charged.
Mechanical arm vision module acquires image.Camera collection image information on mechanical arm, i.e., to the vehicle currently left the theatre
It is shot.
Main control module calculates potential difference.Main control module on mechanical arm handles the image information of acquisition, and computer
The difference and attitude angle deviation of the displacement of tool arm and current vehicle.
Main control module issues control signal.Control signal, which is issued, this refers to the main control module on mechanical arm gives mechanical arm rudder
Machine drive control module.
Drive control is changed direction, extension is displaced.That is, the mechanical arm servo driving control module on mechanical arm sends driving
Signal controls mechanical arm block transforms direction and extends displacement, reduces at a distance from current vehicle.It should be noted that this reality
The mechanical arm for applying example can not only change and the linear distance of current vehicle and can change angular deviation with vehicle, can
Enough change posture, enables adaptation to the vehicle (car, SUV) of different height, the different vehicles for parking posture carry out barcode scanning and pay
Money.
Barcode scanning payment.The payment application that the car owner user of current vehicle passes through the barcode scanning box scanning car primary user on mechanical arm
Such as the payment code in Alipay or wechat, carry out barcode scanning payment.
It pays successfully, system issues return instruction in situ to mechanical arm according to successful information is paid.
Mechanical arm returns to original position, and mechanical arm is according to instruction in situ is returned, and after returning to original position, payment flow terminates.
The present embodiment in the self-help charging equipment of parking lot by installing intelligent machine arm as a result, and barcode scanning box is consolidated
Due on mechanical arm.Feel when vehicle triggering, after stationary parking, mechanical arm automatic measurement & calculation is stretched at a distance from vehicle, and automatically
On reasonable position, e-payment is completed using barcode scanning box for car owner.After paying successfully, banister is argued for the sake of arguing clearance, and mechanical arm is automatic
It is recovered to origin-location, improves the utilization rate of barcode scanning box, to be swept under the weaker scenes of network signals such as underground parking
Code payment provides solution, ensure that vehicle pass-through efficiency.In addition, the mode of barcode scanning box scanning payment code effectively prevents
The case where two dimensional code is exchanged avoids the monetary losses of car owner, parking lot, also avoids being swept farther out because of parking position less than two
Dimension code or night can not identify and need the unnecessary trouble such as move backward, get off caused by the abnormal conditions such as two dimensional code.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
It is interpreted into and reflects an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, just as the following claims reflect, inventive aspect is single less than disclosed above
All features of embodiment.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment party
Formula, wherein each, the claims themselves are regarded as separate embodiments of the invention.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (10)
1. a kind of parking fee self-help charging method, which is characterized in that applied to being installed on the self-help charger being arranged in parking lot
Mechanical arm, fix a barcode scanning box on the mechanical arm, parking fee self-help charging method includes:
Receive the vehicle wake up instruction that parking lot sentry box terminal is sent when leaving the theatre, according to the wake up instruction calculate itself and it is current
Distance and attitude angle between the vehicle left the theatre；
It is moved to predeterminated position from original position according to calculated distance and attitude angle information, the vehicle for shortening and currently leaving the theatre
Distance so that car owner pass through the barcode scanning box carry out barcode scanning pay parking fee；
The return instruction that parking lot sentry box terminal is sent when paying successfully is received, is instructed, is recovered to original according to the return
Position.
2. the method according to claim 1, wherein calculating itself according to the wake up instruction and currently leaving the theatre
Distance and attitude angle between vehicle include:
According to the wake up instruction, the camera being installed on mechanical arm is controlled, acquires image information；
According to described image information, calculate at a distance from the vehicle currently left the theatre and attitude angle；
Being moved to predeterminated position from original position according to calculated distance and attitude angle information includes:
According to calculated distance and attitude angle information, drive control mechanical arm completes angular pose adjustment and displacement changes.
3. the method according to claim 1, wherein this method further include:
Real-time detection is at a distance from the object of front in moving process, when being less than threshold value at a distance from the object of front, control drop
The low speed of service, until stopping movement；When detecting that front object leaves the moving region of mechanical arm, control restores positive constant speed
Degree.
4. a kind of parking fee self-help charger, which is characterized in that install mechanical arm on self-help charger, fixed on the mechanical arm
One barcode scanning box,
The mechanical arm receives the wake up instruction that parking lot sentry box terminal is sent when vehicle is left the theatre, according to the wake up instruction meter
Calculate itself between the vehicle currently left the theatre at a distance from and attitude angle；
The mechanical arm is moved to predeterminated position from original position according to calculated distance and attitude angle information, shortens and work as
Before the distance of vehicle left the theatre carry out barcode scanning so that car owner passes through the barcode scanning box and pay parking fee；
The mechanical arm receives the return instruction that parking lot sentry box terminal is sent when paying successfully, is instructed according to the return,
It is recovered to original position.
5. parking fee self-help charger according to claim 4, which is characterized in that the mechanical arm includes: main control module,
Power supply module, vision module, mechanical arm servo driving control module and mechanical arm module,
The power supply module, for being each module for power supply,
The image information of acquisition is sent to the main control module for acquiring image information by the vision module；
The main control module is calculated with the vehicle currently left the theatre at a distance from and attitude angle for according to described image information, general
Distance and attitude angle information are sent to the mechanical arm servo driving control module；
The mechanical arm servo driving control module completes angular pose adjustment for drive control mechanical arm module and displacement changes
Become；
The mechanical arm module, for being moved under the control of the mechanical arm servo driving control module.
6. parking fee self-help charger according to claim 5, which is characterized in that the main control module is also used to moving
When detecting that mechanical arm module is less than threshold value at a distance from the object of front in the process, the mechanical arm servo driving control mould is notified
Block reduces the speed of service of the mechanical arm module, until stopping movement.
7. parking fee self-help charger according to claim 5, which is characterized in that the main control module is also used to moving
Mechanical arm module is detected in the process at a distance from the object of front, when detecting that front object leaves the motor area of mechanical arm module
When domain, the mechanical arm servo driving control module is notified, control the mechanical arm module recovery normal speed.
8. parking fee self-help charger according to claim 5, which is characterized in that the vision module includes binocular camera shooting
Head, to realize the vision of 2D/3D.
9. parking fee self-help charger according to claim 4, which is characterized in that the mechanical arm, which is specifically used for receiving, to stop
Parking lot sentry box terminal identifies the license plate for vehicle of leaving the theatre and transfers stopping for current vehicle when leaving the theatre vehicle triggering geomagnetic sensor
The wake up instruction sent after vehicle time and fee to be charged information.
10. parking fee self-help charger according to claim 4, which is characterized in that the end of the side of the mechanical arm
On fix a barcode scanning box.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211249A (en) * | 2019-06-21 | 2019-09-06 | 陈宇飞 | A kind of parking lot fee payment method and device for supporting a variety of means of payment |
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