CN112242010B - Urban road parking ETC patrol vehicle charging system and charging method - Google Patents
Urban road parking ETC patrol vehicle charging system and charging method Download PDFInfo
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- CN112242010B CN112242010B CN202011158855.9A CN202011158855A CN112242010B CN 112242010 B CN112242010 B CN 112242010B CN 202011158855 A CN202011158855 A CN 202011158855A CN 112242010 B CN112242010 B CN 112242010B
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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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
Abstract
The invention discloses an ETC patrol vehicle charging system for urban road parking, which relates to the technical field of parking management and adopts the technical scheme that: including vehicle detector, inspection robot, license plate recognition device and ETC recognition device, ETC system and parking management terminal, vehicle detector, inspection robot, license plate recognition device all are connected with parking management terminal with ETC recognition device, ETC system and parking management terminal looks mutual connection, parking management terminal is used for receiving feedback information to send positional information to inspection robot, inspection robot removes to the parking stall that corresponds the sign indicating number, license plate recognition device is used for discerning vehicle license plate information, ETC recognition device is used for discerning the vehicle, the ETC system is used for driving in and drives out the automatic deduction of time according to the vehicle that parking management terminal was decided. The ETC vehicle charging system can reduce the use cost, is convenient for the automatic fee deduction of the ETC vehicle, and has the effect of improving the use convenience of the ETC vehicle.
Description
Technical Field
The invention relates to the technical field of parking management, in particular to an ETC patrol vehicle charging system and a charging method for urban road parking.
Background
With the improvement of the living standard of people, the motor vehicles are widely popularized, the vehicle market holding amount is very large, and the economic development of China is continuously increased. In order to facilitate the temporary parking of car owners, roadside temporary parking berths are arranged on most urban department road sections, so that the problems of parking difficulty and the like are relieved to a certain extent, and the temporary parking is greatly facilitated for users. In order to facilitate the charging of roadside temporary parking, a roadside parking charging system is designed in the prior art, and the charging operation of roadside parking is facilitated.
If the grant notice number is CN210573943U, the chinese patent that the notice day is 2020.05.19 discloses a roadside parking charging system based on ETC equipment, including ETC card reader, earth magnetism detection module, microwave detection module, Lora module, display module, host system, charging device and parking stall lock, ETC card reader, electromagnetic detection module, microwave detection module, charging device are connected with main control UK through the Lora module respectively, and host system's first output is connected with the input of parking stall lock, and host system's second output is connected with display module's input.
All set up earth magnetism detection module, microwave detection module and ETC card reader at every parking stall, detection module is used for detecting whether this parking stall has the vehicle to park, when detecting that there is the vehicle to park, the parking stall lock of this parking stall starts, the ETC card reader is used for reading on-vehicle ETC equipment, acquires license plate information, calculates the parking expense according to the parking time, and show through display module, the car owner collects fee the back through the UnionPay module, the parking stall lock contacts, the vehicle could drive from the parking stall, make roadside parking charge automation, reduce the human cost. But every parking stall all sets for the ETC card reader, and the ETC card reader is more expensive, and the cost is higher, and the ETC car owner needs manual payment, can the unblock drive away from, does not carry out rational use to the ETC system, leads to the use comparatively troublesome.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the ETC patrol vehicle charging system for urban road parking, which can reduce the use cost, is convenient for automatic fee deduction of ETC vehicles and has the effect of improving the use convenience of the ETC vehicles.
In order to realize the purpose, the invention provides the following technical scheme:
an ETC (electronic toll collection) patrol vehicle charging system for urban road parking comprises a vehicle detector arranged on roadside parking spaces, a patrol robot moving along the extension direction of a plurality of roadside parking spaces, a license plate recognition device and an ETC recognition device which are arranged on the patrol robot, an ETC system connected with the ETC recognition device and a parking management terminal for managing the roadside parking spaces, wherein the vehicle detector is provided with a plurality of vehicle detectors and the parking spaces in one-to-one correspondence, the vehicle detectors are provided with different coding information and are recorded on the parking management terminal, the vehicle detector, the patrol robot, the license plate recognition device and the ETC recognition device are all connected with the parking management terminal, the ETC system is mutually connected with the parking management terminal, the vehicle detector is used for detecting that a vehicle enters or exits the parking spaces, and the parking management terminal is used for receiving feedback information of the vehicle detector, the license plate recognition device and the ETC recognition device, and transmitting parking space code information and corresponding position information of the vehicle to the patrol robot, wherein the patrol robot moves to the parking space with the corresponding code, the license plate recognition device is used for recognizing license plate information of the vehicle, the ETC recognition device is used for recognizing the vehicle, and the ETC system is used for automatically deducting fee according to the vehicle entrance and exit time determined by the parking management terminal.
Further setting: still include the track of laying along a plurality of parking stall extending direction, patrol the robot and remove on the track, just the track is provided with the sensor that is used for responding to patrol the robot and passes through, a plurality of corresponding to the position department of the boundary of two adjacent parking stalls the sensor has the coding information who corresponds with the parking stall, just the sensor is connected with patrol the robot, patrol the robot and confirm the parking stall information that gets into according to sensor feedback signal.
Further setting: the both sides all are equipped with the device of removing obstacles that is used for clearing up the ascending barrier of track extending direction around the inspection robot, install the radar that is used for detecting the barrier on the device of removing obstacles, radar and device of removing obstacles are all connected on the inspection robot, just inspection robot control the device of removing obstacles is opened and close.
Further setting: the device of removing obstacles is including locating the ejector pad of inspection robot bottom, the push rod of being connected with the ejector pad and the electronic jar of sharp of being connected with the push rod, the track lateral wall is located to the ejector pad, just the ejector pad sets up to keeping away from orbital direction slope outwards from the track lateral wall, the push rod removes along perpendicular to track lateral wall direction, the electronic jar of sharp is installed in inspection robot bottom, inspection robot bottom lateral wall is equipped with and is used for guiding the guide way that the push rod removed to perpendicular to track direction, the push rod slides and locates in the guide way.
Further setting: the system comprises a parking management terminal, a mobile terminal applet and a background management system connected with the mobile terminal applet, wherein the background management system is connected with the parking management terminal and used for receiving license plate information fed back by the parking management terminal and vehicle entering and exiting time and sending corresponding information to the mobile terminal applet, and when the vehicle leaves, the mobile terminal applet feeds back parking information and cost information for non-ETC users to pay autonomously.
Further setting: one side that the inspection robot is close to the parking stall is provided with the car distance caliber that is used for detecting two adjacent car intervals, be equipped with the vice mobile device who follows single parking stall reciprocating motion on the inspection robot, the car distance caliber all is connected with vice mobile device and is controlled by parking management terminal, when the inspection robot reachs the parking stall that needs discernment, vice mobile device starts with the car distance caliber, the inspection robot records the interval of vehicle and two adjacent vehicles around with in the parking stall according to the car distance caliber, gets maximum value interval back transfer inspection robot to maximum value interval position department, launches license plate recognition device and discerns.
Further setting: be equipped with flexible arm on the inspection robot, the one end that inspection robot was kept away from to flexible arm is equipped with the mount pad, rotate the reversing mechanism who is equipped with the switching-over seat and is connected with the switching-over seat on the mount pad, license plate recognition device all locates on the switching-over seat with ETC recognition device, reversing mechanism connects and is controlled by flexible arm.
Further setting: flexible arm snatchs the installation arm and the slip extension arm of cup jointing on the installation arm of end connection including installing the roating seat on the inspection robot, locating manipulator on the roating seat, be equipped with in the inspection robot and be used for driving roating seat pivoted rotation motor, be equipped with the rack on the extending direction of installation arm, be equipped with linear electric motor on the extension arm, be connected with the gear on linear electric motor's the output shaft, wheel and rack meshing sets up, the mount pad is located the extension arm is kept away from one of installation arm and is served, just be equipped with the deflector motor who is used for adjusting license plate recognition device and ETC recognition device counterpoint angle on the reversing seat.
Compared with the prior art, the invention has the following advantages by adopting the technical scheme:
1. by moving the inspection robot, the vehicle information can be identified by using the license plate identification device and the ETC identification device on the inspection robot, and an ETC card reader is not required to be installed on each parking space, so that the use cost is saved;
2. the ETC system is combined with the parking management terminal, so that fee deduction can be automatically performed through the ETC system when the vehicle is driven away, automatic fee deduction of the ETC vehicle is facilitated, and the using convenience of the ETC vehicle is improved;
3. The parking spaces are coded and recorded in the parking management terminal, so that the parking management terminal can conveniently judge the parking and the exiting of the vehicles at the corresponding positions according to the vehicle detectors, the patrol robot can conveniently and accurately move to the corresponding parking spaces for information identification, and the parking management efficiency and the management convenience are improved;
4. through the sensor arranged on the track, the corresponding parking space information can be fed back in real time in the moving process of the inspection robot, the accuracy of the inspection robot in moving in place is improved, the automatic management effect of a parking lot is optimized, and the labor cost is saved;
5. the arranged radar is matched with the obstacle clearing device for use, so that impurities on the track can be cleared, the stable movement of the inspection robot is ensured, the automatic management effect is improved, manual clearing is not needed, and the labor cost is saved;
6. the maximum distance between the vehicle in the parking space and the two adjacent vehicles in front and back is conveniently determined by matching the vehicle distance measurer with the auxiliary moving device, so that the license plate recognition device and the ETC recognition device are conveniently used, and the convenience of vehicle information acquisition is improved;
7. through the reversing mechanism who sets up, can drive the switching-over seat and rotate, can carry out 180 angle switchings with license plate recognition device and ETC recognition device, conveniently switch the discernment to the locomotive and the rear of a vehicle, improve vehicle information acquisition's convenience.
Another object of the present invention is to provide an ETC patrol charging method for urban road parking, which can reduce the use cost, facilitate automatic fee deduction of ETC vehicles, and improve the convenience of use.
In order to realize the purpose, the invention provides the following technical scheme:
the ETC patrol charging method for urban road parking is used by utilizing the charging system and comprises the following steps:
s1, the vehicle drives into the parking space of the road to park, and the vehicle detector feeds back the parking position to the parking management terminal after detecting that the vehicle is parked;
s2, the parking management terminal determines parking space information according to the feedback information of the vehicle detector, determines specific parking space coding information, and formulates a moving route to feed back to the inspection robot;
s3, the patrol robot receives the information of the parking management terminal and moves towards the direction close to the parking space until the patrol robot locates at one side of the parking space;
s4, starting a license plate recognition device on the inspection robot to recognize vehicle license plate information, and recognizing an OBU in a vehicle by an ETC recognition device to acquire parking vehicle identity information and feeding the parking vehicle identity information back to the parking management terminal;
s5, the parking management terminal determines vehicle information according to the license plate recognition device and the ETC recognition device and records vehicle parking time;
S6, the vehicle leaves the parking space, the vehicle detector at the corresponding position senses that the vehicle leaves the parking space, and feeds back information to the parking management terminal;
and S7, the parking management terminal determines the vehicle driving-away time of the corresponding coded parking space, settles the fee and reports the fee to the ETC system for automatic settlement.
Further setting: in the step S4, the license plate recognition device records vehicle image information through shooting and recognizes license plate number information of the vehicle, the patrol robot recognizes whether an OBU module is installed in the vehicle according to the vehicle image information, the vehicle is scanned and recognized through the ETC recognition device, if yes, the license plate information is fed back to the parking management terminal and automatic settlement cost is carried out through the ETC system, if not, the license plate information is fed back to the parking management terminal, the parking management terminal feeds back vehicle parking time and parking information to the background management system when the vehicle drives away from a parking space, the information is input to the mobile terminal small program through the background management system, and non-ETC users carry out autonomous payment at the mobile terminal small program.
Compared with the prior art, the invention has the following advantages by adopting the technical scheme:
through the inspection robot and locate license plate recognition device and ETC recognition device on the inspection robot, can utilize the automatic inspection of inspection robot to license plate information and ETC information are discerned automatically, reduce use cost, make things convenient for the automatic fee deduction of ETC vehicle, have the effect that improves its convenience of use.
Drawings
FIG. 1 is a schematic view of a connection relationship of an ETC patrol vehicle charging system for urban road parking;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
FIG. 3 is a schematic view of a partially sectioned inspection robot;
FIG. 4 is an enlarged schematic view at B of FIG. 3;
fig. 5 is a schematic cross-sectional view of a part of the structure of the inspection robot in a top view direction on a rail;
fig. 6 is a schematic diagram of a logic relationship of the urban road parking ETC patrol charging method.
In the figure: 1. a vehicle detector; 2. a patrol robot; 21. a guide groove; 3. a license plate recognition device; 4. an ETC identification device; 5. an ETC system; 6. a parking management terminal; 7. a track; 71. a sensor; 8. a barrier removal device; 81. a push block; 82. a push rod; 83. a linear electric cylinder; 9. a radar; 10. a mobile terminal applet; 11. a background management system; 12. a vehicle distance measurer; 13. a secondary moving device; 14. a telescopic arm; 141. a rotating base; 142. a manipulator; 143. mounting an arm; 144. an extension arm; 145. a rack; 146. a linear motor; 147. a gear; 148. a mounting seat; 149. a reversing seat; 15. a reversing mechanism; 16. a deflection motor; 17. a storage battery; 18. a solar charging module; 19. cleaning with a brush; 20. an air blower.
Detailed Description
The charging system for the urban road parking ETC patrol vehicle is further described with reference to fig. 1 to 6.
The first embodiment is as follows: an ETC patrol car charging system for urban road parking is disclosed, as shown in figure 1, comprising a vehicle detector 1 arranged on a roadside parking space, a patrol robot 2 moving along the extending direction of a plurality of roadside parking spaces, a license plate recognition device 3 and an ETC recognition device 4 arranged on the patrol robot 2, an ETC system 5 connected with the ETC recognition device 4 and a parking management terminal 6 for managing the roadside parking spaces, wherein a plurality of parking spaces are sequentially arranged along the extending direction of the urban road, the vehicle detector 1 and the parking spaces are provided with a plurality of one-to-one correspondence, and each vehicle detector 1 is provided with different coding information and recorded on the parking management terminal 6 so as to utilize the parking spaces with different serial numbers corresponding to the vehicle detector 1, when the patrol robot 2 moves along each parking space, the license plate recognition device 3 and the ETC recognition device 4 are utilized to recognize the vehicle information, thereby manual recording is not needed, the labor cost is saved.
As shown in fig. 1, the vehicle detector 1, the inspection robot 2, the license plate recognition device 3 and the ETC recognition device 4 are all connected with the parking management terminal 6, and an independent controller is arranged in the inspection robot 2, so that other functions on the inspection robot 2 can be controlled independently, the inspection robot 2 can be moved automatically to recognize vehicle information conveniently, labor cost is saved, and parking lot management efficiency is improved. The vehicle detector 1 is used for detecting that a vehicle enters or exits a parking space, the parking management terminal 6 is used for receiving feedback information of the vehicle detector 1, the license plate recognition device 3 and the ETC recognition device 4 and sending parking space code information and corresponding position information of the vehicle entering the parking space to the patrol robot 2, the patrol robot 2 moves to the parking space corresponding to the code, the parking vehicle can conveniently and timely move to the parked vehicle, and vehicle management efficiency is improved. License plate recognition device 3 is used for discerning vehicle license plate information, the crossing interconnect of ETC system 5 and parking management terminal 6, ETC recognition device 4 is used for discerning the built-in OBU of vehicle, ETC system 5 is used for driving in and drives off the time automatic deduction according to the vehicle that parking management terminal 6 judged to utilize ETC system 5 to realize the automatic deduction of parking fee, need not the ETC owner and make payment for, improve the convenience. The vehicle detector 1 is arranged in a geomagnetic mode and is used for detecting vehicle driving-in and driving-out information.
As shown in fig. 1, the charging system further includes a mobile-end applet 10 and a background management system 11 connected to the mobile-end applet 10, the background management system 11 is connected to the parking management terminal 6, the background management system 11 is configured to receive license plate information and vehicle entrance and exit time fed back by the parking management terminal 6 and send corresponding information to the mobile-end applet 10, and when a vehicle leaves, the mobile-end applet 10 feeds back parking information and cost information for a non-ETC user to pay for the vehicle. For a user without ETC, the license plate information of the vehicle can only be recognized by the license plate recognition device 3 during parking, and automatic fee deduction operation of ETC cannot be performed, so that the small program and the background management system 11 are combined, a vehicle owner can conveniently enter the small program 10 of the mobile terminal to pay when driving away at a convenient time, and vehicle management efficiency is improved.
As shown in fig. 1, a track 7 is laid on one side of the extending direction of the parking spaces, and the inspection robot 2 moves on the track 7, so that guidance is provided according to the track 7, and the inspection robot 2 can conveniently and stably move. The position of the track 7 corresponding to the boundary of two adjacent parking spaces is provided with a sensor 71 used for sensing the passing of the inspection robot 2, the sensor 71 adopts an infrared sensor 71, whether the inspection robot 2 passes or not is conveniently monitored, a plurality of sensors 71 have coding information corresponding to the parking spaces, the sensors 71 are connected with the inspection robot 2, parking space information can be timely fed back according to the passing of the inspection robot 2, the inspection robot 2 determines entering parking space information according to feedback signals of the sensors 71, and therefore the inspection robot 2 can accurately identify the parking spaces of parking vehicles recorded by the parking management terminal 6, the accuracy of the movement of the inspection robot 2 is improved, error recording is avoided, and the vehicle management effect is improved.
As shown in fig. 1, 2 and 3, a vehicle distance measuring device 12 for detecting a distance between two adjacent vehicles is arranged on one side of the patrol robot 2 close to a parking space, an auxiliary moving device 13 which reciprocates back and forth along a single parking space is arranged on the patrol robot 2, the vehicle distance measuring device 12 and the auxiliary moving device 13 are both connected and controlled by the parking management terminal 6, when the patrol robot 2 reaches the parking space which needs to be identified, the auxiliary moving device 13 and the vehicle distance measuring device 12 are started, the patrol robot 2 measures the distance between a vehicle in the parking space and two adjacent vehicles in the front and back according to the vehicle distance measuring device 12, the maximum distance is taken, the patrol robot 2 is transferred to the position of the maximum distance, and the license plate recognition device 3 is started for recognition. Because the distances between the front and the rear are different in size when each vehicle is parked, the inspection robot 2 is controlled by the auxiliary moving device 13 to reciprocate in the parking space of the vehicle, the distance between the parked vehicles is measured by the vehicle distance measurer 12, and the vehicle license plate recognition device 3 is selected at a position with a larger distance, so that the vehicle license plate recognition device 3 can conveniently and accurately recognize the vehicle license plate, the accuracy of the vehicle license plate recognition is improved, and errors are avoided. Wherein, vice mobile device 13 includes the motor and locates the auxiliary wheel of inspection robot 2 bottoms, and the motor passes through gear 147 cooperation with the auxiliary wheel to be connected, conveniently drives the auxiliary wheel and removes, and the rotation cycle of motor and switching-over time all set for with in the inspection robot 2 to be convenient for inspection robot 2 reciprocating motion in the parking stall.
As shown in fig. 1, 2 and 3, further, a telescopic arm 14 is provided on the inspection robot 2, an installation base 148 is provided at an end of the telescopic arm 14 away from the inspection robot 2, a reversing base 149 and a reversing mechanism 15 connected to the reversing base 149 are rotatably provided on the installation base 148, the license plate recognition device 3 and the ETC recognition device 4 are both provided on the reversing base 149, and the reversing mechanism 15 is connected to and controlled by the telescopic arm 14. Reversing mechanism 15 adopts the switching-over motor drive switching-over seat 149 to overturn, can switch license plate recognition device 3 and ETC recognition device 4's identification angle to be convenient for according to the front and back angle that the vehicle parked, the angle that switches and corresponds discerns, improves license plate discernment and ETC discernment's convenience, improves vehicle management efficiency. The license plate recognition device 3 adopts a camera to collect images of the vehicle and the license plate for recognition, and the ETC recognition device 4 adopts an RSU antenna for recognition, so that OBU information installed in the vehicle can be conveniently recognized.
As shown in fig. 2, 3 and 4, specifically, the telescopic arm 14 includes a rotating base 141 installed on the inspection robot 2, an installation arm 143 provided on the rotating base 141 and connecting the manipulator 142 with a grasping end of the manipulator 142, and an extension arm 144 slidably sleeved on the installation arm 143, a rotation motor for driving the rotating base 141 to rotate is provided in the inspection robot 2, a rack 145 is provided on the installation arm 143 in an extending direction, a linear motor 146 is provided on the extension arm 144, a gear 147 is connected to an output shaft of the linear motor 146, the gear 147 is engaged with the rack 145, and the installation base 148 is provided on an end of the extension arm 144 away from the installation arm 143. Rotate through rotating motor control roating seat 141, can drive manipulator 142 and rotate to the position of end is snatched in the adjustment, then drives gear 147 pivoted form through linear electric motor 146, drives extension arm 144 straight line and extends, conveniently drives mount pad 148 and removes, thereby makes ETC recognition device 4 and license plate recognition device 3 can be to discerning before lieing in the vehicle, makes things convenient for effective discernment of ETC information and license plate information, improves the rate of accuracy of discernment. Furthermore, the reversing seat 149 is provided with two deflection motors 16 for adjusting the alignment angle between the license plate recognition device 3 and the ETC recognition device 4, and the two deflection motors 16 are respectively connected with the ticket recognition device and the ETC recognition device 4, so that the license plate recognition angle and the ETC recognition angle can be conveniently adjusted, and the recognition accuracy is improved.
As shown in fig. 3, a storage battery 17 is further arranged in the inspection robot 2, the storage battery 17 is used for the movement of the inspection robot 2 and the electric energy of each part for use, a solar charging module 18 is arranged outside the inspection robot 2, and the solar charging module 18 is connected with the storage battery 17, so that the storage battery 17 can be charged by using solar energy, the inspection robot 2 convenient for outdoor use has electric energy supply, and the solar energy-saving and environment-friendly effects are achieved.
As shown in fig. 1, fig. 3 and fig. 5, there are impurities on the side of the urban road from time to time, and the impurities easily fall on the rail 7 to affect the movement of the inspection robot 2, therefore, in this scheme, both sides all are equipped with the obstacle clearing device 8 used for clearing the obstacles in the extending direction of the rail 7 around the inspection robot 2, the obstacle clearing device 8 is equipped with the radar 9 used for detecting the obstacles, the radar 9 and the obstacle clearing device 8 are both connected to the inspection robot 2, and the inspection robot 2 controls the obstacle clearing device 8 to open and close, so that in the process of the movement of the inspection robot 2, the obstacles are monitored by the radar 9, the obstacle clearing device 8 can be automatically started to clear the impurities, and the movement of the inspection robot 2 is ensured.
As shown in fig. 3 and 5, specifically, the obstacle clearing device 8 includes a push block 81 disposed at the bottom of the inspection robot 2, a push rod 82 connected to the push block 81, and a linear electric cylinder 83 connected to the push rod 82, the push block 81 is disposed on a side wall of the track 7, the push block 81 is disposed in a direction inclined outward from the side wall of the track 7 in a direction away from the track 7, the push rod 82 moves in a direction perpendicular to the side wall of the track 7 and can reciprocate under the driving of the linear electric cylinder 83, so that an obstacle approaching the end of the push block 81 passes through, and after contact, the push block 81 is driven to move by the movement of the push rod 82, that is, the obstacle can be pushed away from the track 7 by the push block 81. The side wall of the bottom of the inspection robot 2 is provided with a guide groove 21 for guiding the push rod 82 to move in the direction perpendicular to the rail 7, and the push rod 82 is slidably arranged in the guide groove 21 to provide movement guidance for the push rod 82 and improve the movement stability of the push rod 82. A cleaning brush 19 and a blower 20 are further arranged on one side of the bottom of the inspection robot 2, so that impurities can be cleaned in the moving process of the inspection robot 2, and the blower 20 is used for blowing the impurities to the outside of the track 7, so that the inspection robot 2 can normally move.
Through the scheme, the patrol robot 2 can be used for patrol and can be conveniently moved to the parking space of the vehicle, so that ETC information and license plate information can be collected, the patrol robot can automatically clear obstacles in the patrol process, the moving convenience of the patrol robot is ensured, the ETC information collection of the vehicle on each parking space of a road parking space can be controlled by one ETC recognition device 4 on the patrol robot 2, a plurality of ETC recognition devices 4 do not need to be installed, the use cost is saved, the ETC vehicle can be conveniently and automatically charged, and the patrol robot has the effect of improving the use convenience.
The second embodiment: an ETC patrol charging method for urban road parking is shown in FIG. 6 and is used by using the charging system of the embodiment, and comprises the following steps:
s1, the vehicle drives into the road parking space to park, and the vehicle detector 1 feeds back the vehicle to the parking management terminal 6 after detecting that the vehicle is parked at the parking position;
s2, the parking management terminal 6 determines parking space information according to the feedback information of the vehicle detector 1, determines specific parking space code information, and formulates a moving route to feed back to the inspection robot 2;
s3, the patrol robot 2 receives the information of the parking management terminal 6 and moves towards the parking space until the patrol robot is positioned at one side of the parking space;
S4, starting a license plate recognition device 3 on the inspection robot 2 to recognize vehicle license plate information, and recognizing an OBU in a vehicle by an ETC recognition device 4 to acquire parking vehicle identity information and feed the parking vehicle identity information back to the parking management terminal 6;
s5, the parking management terminal 6 determines vehicle information according to the license plate recognition device 3 and the ETC recognition device 4, and records vehicle parking time;
s6, the vehicle leaves the parking space, the vehicle detector 1 at the corresponding position senses that the vehicle leaves the parking space, and feeds back information to the parking management terminal 6;
and S7, the parking management terminal 6 determines the vehicle driving-away time of the corresponding code parking space, performs fee settlement, and reports the fee to the ETC system 5 for automatic settlement.
In step S3, when the inspection robot 2 moves, the sensor 71 on the track 7 senses the position of the inspection robot 2 every time the inspection robot passes through a parking space, so as to feed the position back to the inspection robot 2, ensure that the inspection robot 2 accurately arrives at the parking space corresponding to the code of the parked vehicle, and improve the moving accuracy. After the inspection robot 2 is in place, the auxiliary moving device 13 drives the inspection robot 2 to reciprocate in the corresponding parking space, the distance between the vehicle in the parking space and the two adjacent vehicles in the front and the rear is measured by using the vehicle distance measurer 12, the maximum distance is taken, the inspection robot 2 is transferred to the position of the maximum distance, and the license plate recognition device 3 is started to recognize, so that the license plate recognition device 3 can conveniently recognize the alignment, and the recognition accuracy is improved.
In step S4, the license plate recognition device 3 records image information of the vehicle by shooting and recognizes license plate information of the vehicle, the inspection robot 2 recognizes whether an OBU module is installed in the vehicle according to the image information of the vehicle, scans and recognizes the vehicle through the ETC recognition device 4, feeds back the vehicle to the parking management terminal 6 and automatically settles the fee through the ETC system 5 if the OBU module is installed in the vehicle, feeds back license plate information to the parking management terminal 6 if the OBU module is not installed in the vehicle, feeds back parking time and parking information of the vehicle to the background management system 11 when the vehicle leaves a parking space through the parking management terminal 6, inputs the information to the mobile terminal applet 10 through the background management system 11, and allows the non-ETC user to pay himself/herself at the mobile terminal applet 10.
Through the scheme, the vehicle license plate automatic identification system can automatically inspect by using the inspection robot 2, automatically identifies license plate information and ETC information, reduces use cost, facilitates automatic fee deduction of ETC vehicles, and has the effect of improving use convenience.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. The ETC patrol vehicle charging system for urban road parking is characterized by comprising a track (7) laid along the extending direction of a plurality of parking spaces, a vehicle detector (1) arranged on the roadside parking spaces, a patrol robot (2) moving along the extending direction of the roadside parking spaces, a license plate recognition device (3) and an ETC recognition device (4) which are arranged on the patrol robot (2), an ETC system (5) connected with the ETC recognition device (4) and a parking management terminal (6) used for managing the roadside parking spaces, wherein the patrol robot (2) moves on the track (7), a sensor (71) used for sensing the passage of the patrol robot (2) is arranged at the position of the track (7) corresponding to the boundary of two adjacent parking spaces, the sensors (71) have coding information corresponding to the parking spaces, and the sensors (71) are connected with the patrol robot (2), the parking stall information that patrol robot (2) got into is confirmed according to sensor (71) feedback signal, vehicle detector (1) is provided with a plurality of with the parking stall one-to-one, and a plurality of vehicle detector (1) is equipped with different code information and takes notes in parking management terminal (6), vehicle detector (1), patrol robot (2), license plate recognition device (3) all are connected with parking management terminal (6) with ETC recognition device (4), ETC system (5) and the crossing interconnect of parking management terminal (6), vehicle detector (1) are used for detecting the vehicle and drive into or drive out the parking stall, parking management terminal (6) are used for receiving vehicle detector (1), license plate recognition device (3) and ETC recognition device (4) feedback information to parking stall code information and the corresponding positional information that the vehicle was driven into are sent to patrol robot (2), patrol robot (2) and remove to the parking stall that corresponds the sign, license plate recognition device (3) are used for discerning vehicle license plate information, ETC recognition device (4) are used for discerning the built-in OBU of vehicle, ETC system (5) are used for driving into according to the vehicle that parking management terminal (6) were decided and are deducted fee with the time of driveing, one side that patrol robot (2) are close to the parking stall is provided with vehicle distance caliber (12) that is used for detecting adjacent two car intervals, be equipped with on patrol robot (2) along single parking stall reciprocating motion's vice mobile device (13), vehicle distance caliber (12) all are connected and are controlled by parking management terminal (6) with vice mobile device (13), when patrol robot (2) reachs the parking stall that needs the discernment, vice mobile device (13) and vehicle distance caliber (12) start, patrol robot (2) record vehicle and adjacent two cars around with in the parking stall according to vehicle distance caliber (12), and patrol robot (2) measure The distance between vehicles is obtained, the inspection robot (2) is transferred to the position of the maximum distance after the maximum distance is obtained, and the license plate recognition device (3) is started to recognize the distance; be equipped with flexible arm (14) on inspection robot (2), the one end that inspection robot (2) were kept away from in flexible arm (14) is equipped with mount pad (148), rotate reversing mechanism (15) that are equipped with switching-over seat (149) and are connected with switching-over seat (149) on mount pad (148), license plate recognition device (3) all locate on switching-over seat (149) with ETC recognition device (4), reversing mechanism (15) are connected and are controlled by flexible arm (14).
2. The ETC patrol vehicle charging system for urban road parking according to claim 1, wherein obstacle clearing devices (8) for clearing obstacles in the extending direction of the track (7) are arranged on the front side and the rear side of the patrol robot (2), a radar (9) for detecting the obstacles is mounted on the obstacle clearing devices (8), the radar (9) and the obstacle clearing devices (8) are connected to the patrol robot (2), and the patrol robot (2) controls the obstacle clearing devices (8) to be opened and closed.
3. The ETC patrol vehicle charging system for urban road parking according to claim 2, it is characterized in that the obstacle clearing device (8) comprises a push block (81) arranged at the bottom of the inspection robot (2), a push rod (82) connected with the push block (81) and a linear electric cylinder (83) connected with the push rod (82), the push block (81) is arranged on the side wall of the track (7), and the push block (81) is obliquely arranged outwards from the side wall of the track (7) to the direction far away from the track (7), the push rod (82) moves along the direction vertical to the side wall of the track (7), the linear electric cylinder (83) is arranged at the bottom of the inspection robot (2), the side wall of the bottom of the inspection robot (2) is provided with a guide groove (21) for guiding a push rod (82) to move in the direction perpendicular to the track (7), and the push rod (82) is arranged in the guide groove (21) in a sliding manner.
4. The ETC patrol vehicle charging system for urban road parking according to claim 1, further comprising a mobile terminal applet (10) and a background management system (11) connected with the mobile terminal applet (10), wherein the background management system (11) is connected with the parking management terminal (6), the background management system (11) is configured to receive license plate information and vehicle entrance and exit times fed back by the parking management terminal (6) and send corresponding information to the mobile terminal applet (10), and when the vehicle leaves, the mobile terminal applet (10) feeds back parking information and cost information for a non-ETC user to pay by himself.
5. The ETC patrol vehicle charging system for urban road parking according to claim 1, wherein the telescopic arm (14) comprises a rotating seat (141) mounted on the patrol robot (2), a mechanical arm (142) arranged on the rotating seat (141), a mounting arm (143) connected with a grabbing end of the mechanical arm (142), and an extension arm (144) slidably sleeved on the mounting arm (143), wherein a rotating motor for driving the rotating seat (141) to rotate is arranged in the patrol robot (2), a rack (145) is arranged in the extension direction of the mounting arm (143), a linear motor (146) is arranged on the extension arm (144), a gear (147) is connected to an output shaft of the linear motor (146), the gear (147) is meshed with the rack (145), the mounting seat (148) is arranged at one end of the mounting arm (144) far away from the mounting arm (143), and a deflection motor (16) for adjusting the alignment angle of the license plate recognition device (3) and the ETC recognition device (4) is arranged on the reversing seat (149).
6. An ETC patrol charging method for urban road parking, which is used by using the charging system of any one of claims 1 to 5, comprising the steps of:
s1, the vehicle enters a road parking space to park, and the vehicle detector (1) feeds back the parking position to the parking management terminal (6) after detecting that the vehicle is parked;
s2, the parking management terminal (6) determines parking space information according to the feedback information of the vehicle detector (1), determines specific parking space code information, and formulates a moving route to feed back to the inspection robot (2);
s3, the patrol robot (2) receives the information of the parking management terminal (6) and moves towards the parking space until the patrol robot is positioned at one side of the parking space;
s4, starting a license plate recognition device (3) on the inspection robot (2) to recognize vehicle license plate information, and recognizing an OBU in a vehicle by an ETC recognition device (4) to acquire parking vehicle identity information and feed the parking vehicle identity information back to a parking management terminal (6);
s5, the parking management terminal (6) determines vehicle information according to the license plate recognition device (3) and the ETC recognition device (4), and records vehicle parking time;
s6, the vehicle leaves the parking space, the vehicle detector (1) at the corresponding position senses that the vehicle leaves the parking space, and feeds back information to the parking management terminal (6);
S7, the parking management terminal (6) determines the vehicle driving-away time of the corresponding coded parking space, and carries out fee settlement, and the fee is reported to the ETC system (5) for automatic settlement.
7. The ETC patrol charging method for urban road parking according to claim 6, in step S4, the license plate recognition device (3) records the vehicle image information by photographing, and identifies the license plate number information of the vehicle, the patrol robot (2) identifies whether the OBU module is arranged in the vehicle according to the image information of the vehicle, and scanning and recognizing through an ETC recognition device (4), if so, feeding back to a parking management terminal (6) and automatically settling the fee through an ETC system (5), if not, feeding back license plate information to the parking management terminal (6), and feeding back the parking time and parking information of the vehicle to a background management system (11) through the parking management terminal (6) when the vehicle leaves the parking space, information is input into the mobile terminal small program (10) through the background management system (11), and non-ETC users pay independently in the mobile terminal small program (10).
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| CN202011158855.9A CN112242010B (en) | 2020-10-26 | 2020-10-26 | Urban road parking ETC patrol vehicle charging system and charging method |
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| CN113284262A (en) * | 2021-05-15 | 2021-08-20 | 北京筑梦园科技有限公司 | Vehicle information acquisition method and device and parking management system |
| CN113593247B (en) * | 2021-06-25 | 2022-10-21 | 北京云星宇交通科技股份有限公司 | Parking management system |
| CN113593245B (en) * | 2021-06-25 | 2022-10-21 | 北京云星宇交通科技股份有限公司 | Electronic patrol device for parking vehicle |
| CN114202810A (en) * | 2021-08-25 | 2022-03-18 | 浙江泊客电子科技股份有限公司 | ETC-based roadside parking space management method and system |
| CN113920776B (en) * | 2021-10-21 | 2023-08-15 | 北京无线电计量测试研究所 | Intelligent parking control guardrail system |
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