CN116935521A - Robot for automatically receiving and transmitting vehicle pass cards in high-speed toll station - Google Patents
Robot for automatically receiving and transmitting vehicle pass cards in high-speed toll station Download PDFInfo
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- CN116935521A CN116935521A CN202311097569.XA CN202311097569A CN116935521A CN 116935521 A CN116935521 A CN 116935521A CN 202311097569 A CN202311097569 A CN 202311097569A CN 116935521 A CN116935521 A CN 116935521A
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- vehicle
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- 230000007257 malfunction Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 238000010191 image analysis Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/22—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder
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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
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Finance (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
The application relates to a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station, which relates to the technical field of high-speed toll robots, and comprises a camera positioned at an entrance of the toll station, a control box and a control box, wherein the camera is used for collecting a license plate number and a vehicle stop position of a vehicle and transmitting the license plate number and the stop position to the control box; the control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; the space position of the front window is sent to the mechanical arm; the mechanical arm moves by taking the space position of the front car window as a destination, and the passing card is ejected out of the tail end of the mechanical arm; the mechanical arm is retracted to a set position; after the mechanical arm is retracted to the set position, the brake is opened for the vehicle to pass. According to the application, fewer cameras and a simple, convenient and quick vehicle window position recognition scheme are utilized, so that the notification card is rapidly and accurately submitted to the vehicle window, and a driver can conveniently pick up and withdraw the notification card.
Description
Technical Field
The application relates to the technical field of high-speed toll robots, in particular to a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station.
Background
When the vehicle drives to a high speed, the toll gate needs to pick up the toll card, and the toll gate withdraws the toll card when the vehicle is at the high speed, so that the high-speed fee is calculated.
At present, at high speed, the pass card is mostly submitted to the driver manually, and the efficiency is low. There are also tolls that use robots to manage the pass card storage boxes, and the driver needs to input personal information, such as swipes certificates, to pick up the pass card.
The present application has been made in view of the above, and it is not possible to efficiently and accurately deliver or retrieve a pass card directly to or from a driver's hand in either a manual or robotic scheme.
Disclosure of Invention
In order to solve the technical problems, the application provides the robot for automatically receiving and transmitting the vehicle pass card in the high-speed toll station, so that the notification card is rapidly and accurately submitted to the vehicle window by using fewer cameras and a simple, convenient and quick vehicle window position identification scheme, and a driver can conveniently pick up and withdraw the notification card.
The application provides a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station, which is characterized by comprising the following components:
the camera is positioned at the entrance of the toll gate and used for collecting the license plate number and the stopping position of the vehicle and sending the license plate number and the stopping position to the control box;
the control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; determining a spatial position of a front window according to the vehicle model, a front window arrangement position and a vehicle stopping position; the space position of the front car window is sent to a mechanical arm;
the mechanical arm is used for moving by taking the space position of the front car window as a destination and ejecting the pass card at the tail end of the mechanical arm; when the pass card is taken away, the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
Optionally, the camera is located in the middle of at least two roads, and is used for collecting license plate numbers and vehicle stopping positions of vehicles on at least two roads.
Optionally, after the mechanical arm does not move to the destination to stop, or moves to the destination for a set period of time, the pass card is not taken away, and the control box is notified of the fault;
the control box controls the camera to acquire an image of the position where the failed mechanical arm is located; analyzing fault reasons according to the images; and executing a solution according to the fault cause.
Optionally, the fault cause includes: the window is not opened;
executing a solution according to the failure cause, including: and the control box controls the mechanical arm with the fault to move to the outer side of the vehicle door, and informs a driver of opening the door to take the pass card through voice.
Optionally, the fault cause includes: the vehicle window is opened but the pass card is not taken away;
executing a solution according to the failure cause, including: the voice informs the driver to pick up the pass card as soon as possible.
Optionally, the fault cause includes: the failed robotic arm is stopped without moving to the destination;
executing a solution according to the failure cause, including: if the failed mechanical arm reaches the destination and then moves to the current position, the driver is informed by voice to open the door to pick up the pass card;
and if the failed mechanical arm does not move to the destination, controlling the mechanical arm to move to the destination from the current position again.
Optionally, the position of the control box and the position of the gate are smaller than a set value, or the control box is arranged at one end of the gate;
the control box is provided with a camera;
after the mechanical arm is retracted to a set position, the control box collects the license plate number of the vehicle through the camera on the control box, and if the license plate number is consistent with the license plate number collected by the camera at the entrance of the toll gate, the gate is informed to be opened.
Optionally, if the license plate number acquired by the camera at the entrance of the toll gate is inconsistent with the license plate number acquired by the camera at the entrance of the toll gate, the control box determines the arrangement positions of the vehicle type and the front window based on the corresponding relation between the license plate number acquired by the camera on the control box and the arrangement of the vehicle type and the front window; determining a spatial position of a front window according to the vehicle model, the front window arrangement and the vehicle stop position; transmitting the spatial position of the front window to the mechanical arm;
the mechanical arm is used for moving by taking the space position of the front car window as a destination and ejecting the pass card at the tail end of the mechanical arm; when the pass card is taken away, the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
Optionally, a plurality of sensors are located at the entrance of the toll gate for acquiring the spatial position of the front window after the vehicle has stopped.
The present application also provides a robot for automatically transceiving a vehicle pass card for a high-speed toll station, comprising:
the camera is positioned at the exit of the toll gate and used for collecting the license plate number of the vehicle and the stop position of the vehicle and sending the license plate number and the stop position to the control box;
the control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; determining the spatial position of the front window according to the vehicle type and the arrangement position of the front window; transmitting the spatial position of the front window to the mechanical arm;
the mechanical arm is used for moving by taking the space position of the front window as a destination, and the tail end of the mechanical arm is provided with a card reader for passing cards; when the passing card is placed on the card reader, the card reader sends the read information to a control box so as to perform high-speed charging; the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
The method provided by the application has the following technical effects:
1. the spatial position of the front window is determined through the corresponding relation and the stop position of the pre-stored license plate number, the vehicle type and the front window arrangement, a complex image recognition algorithm is not needed, the conversion precision of the corresponding relation and the spatial position is high, the calculation speed is high, and the position of the front window can be accurately and rapidly determined.
2. The mechanical arm can automatically eject the pass card and detect the removal state of the pass card, so that the pass card is triggered to return to the set position, and the intelligent card reader has higher intelligence.
3. After the mechanical arm returns to the set position, the gate is opened, so that the mechanical arm can be prevented from being scratched by a vehicle.
4. The camera is positioned in the middle of at least two roads, so that the license plate numbers and stop positions of vehicles on a plurality of roads are collected by one camera at the same time, and the cost is saved.
5. After a mechanical arm failure, a series of solutions were designed.
6. The camera at the entrance of the toll gate is compared with the license plate number acquired by the camera on the control box to judge whether the license plate number is consistent with the license plate number acquired by the camera on the control box, and the mechanical arm and the gate are controlled to execute corresponding operation, so that the vehicle is prevented from being plugged.
7. Based on the spatial position of the front window acquired by the multi-sensor fusion algorithm, the accuracy of the position acquisition of the front window can be improved, and the method is used as a supplementary scheme of the corresponding relation.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station according to an embodiment of the present application;
FIG. 2 is a schematic view of an inlet robot end provided by an embodiment of the present application;
fig. 3 is a schematic view of an outlet mechanical arm end according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the application, are within the scope of the application.
Fig. 1 is a schematic structural diagram of a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station, which is suitable for a high-speed toll gate and comprises a camera, a control box, a mechanical arm and a gate, wherein the camera, the control box, the mechanical arm and the gate are positioned at the toll gate. When the wide angle of the camera is large enough, vehicle information of a plurality of roads can be collected simultaneously, and specifically, the camera is positioned in the middle of at least two roads and is used for collecting license plate numbers and vehicle stopping positions of vehicles on at least two roads. A mechanical arm and a gate are arranged on the road side of a road.
The camera is used for collecting the license plate number and the vehicle stop position of the vehicle and sending the license plate number and the vehicle stop position to the control box. The camera records the vehicle video and performs target tracking on each frame of image. The stop position and license plate number in the image are determined when the stop of the vehicle is recognized. If the cameras collect vehicles on at least two roads, the images can be divided according to road areas and then target tracking and license plate number recognition can be respectively carried out. For example, fig. 1 shows that a camera is located in the middle of a road 1 and a road 2, and information of vehicles of the road 1 and the road 2 can be collected.
The control box stores the correspondence of license plate numbers with the vehicle type and the front window arrangement position, which needs to be collected in advance. For example, the license plate number 123 corresponds to an a-type, and the arrangement position of the front window of the a-type on the a-type is B. Then, the vehicle model and the front window arrangement position are determined based on the correspondence of the pre-stored license plate number and the vehicle model and the front window arrangement position. And then determining the spatial position of the front window according to the vehicle type, the front window arrangement position and the vehicle stop position. And then mapping the position of the front window in the image into a real three-dimensional space according to the conversion relation between the camera coordinate system and the space coordinate, so as to obtain the space position of the front window. And finally, the spatial position of the front window is sent to the mechanical arm.
The mechanical arm can move in six degrees of freedom, and the specific structure of the mechanical arm is not limited in the patent. The mechanical arm moves by taking the space position of the front car window as a destination, and the passing card is ejected out of the tail end of the mechanical arm; when the access card is removed, the robotic arm retracts to a set position. Specifically, referring to fig. 2, the end of the mechanical arm has a storage space adapted to the size of a pass card. The lower end of the storage space is provided with a pressure sensor, when the pass card is taken away, the pressure sensor senses that the pressure is reduced, and the mechanical arm is triggered to retract to a set position, such as a position outside a lane line, so that scratch with a vehicle is avoided. Further, the bottom of the storage space also comprises a pass card storage box, when the pass card is taken away, the storage box is opened, the pass card in the storage box is ejected into the storage space under the action of a spring to be ready for a vehicle to take the card, and then the storage box is closed. When there is no pass card in the storage box, it can be manually added to the storage box.
And after the mechanical arm is retracted to the set position, informing the control box, and opening the gate by the control box so as to enable the vehicle to pass through.
In order to prevent the vehicle from being plugged, repeated verification of the license plate number is needed to be released. In some embodiments, the control box is provided with a camera, the position of the control box and the position of the gate are smaller than a set value, or the control box is arranged at one end of the gate; the set point may be 0.5 meters to bring the camera position of the control box close to the gate position.
After the mechanical arm is retracted to a set position, the control box collects the license plate number of the vehicle through a camera on the control box, and if the license plate number is consistent with the license plate number collected by a camera at the entrance of a toll gate, the gate is informed to be opened; if the license plate number acquired by the camera at the entrance of the toll gate is inconsistent, a pass card needs to be issued for the new vehicle: the control box acquires the corresponding relation between license plate numbers of the vehicles and the arrangement of the vehicle types and front windows based on cameras on the control box, and determines the arrangement positions of the vehicle types and the front windows; determining a spatial position of a front window according to the vehicle model, a front window arrangement position and a vehicle stopping position; and sending the spatial position of the front window to the mechanical arm. The mechanical arm moves by taking the space position of the front car window as a destination, and the passing card is ejected out of the tail end of the mechanical arm; when the access card is removed, the robotic arm retracts to a set position. And after the mechanical arm is retracted to the set position, the brake is opened so that the new vehicle can pass through.
In some embodiments, the control box has a display screen thereon to display the number of the current vehicle and whether the pass card is to be picked up.
In some embodiments, the control box is notified of a failure when the robotic arm is stopped without moving to the destination, or the pass card is not removed after moving to the destination for a set period of time; the control box controls the camera at the inlet to acquire images of the position where the failed mechanical arm is located; analyzing fault reasons according to the images; and executing a solution according to the fault cause. The fault camera sends the position of the fault camera to the control box, so that the camera can rotate to a corresponding direction, and an image of the fault camera is acquired.
And if the image analysis shows that the vehicle window is not opened, the control box controls the mechanical arm with the fault to move to the outer side of the vehicle door, and the driver is informed of opening the door to take the pass card through voice. Wherein the outboard position of the door is generally located on the lower right side of the window position.
If the image analysis shows that the vehicle window is opened but the access card is not sensed to be taken away, the driver is informed by voice to take the access card as soon as possible.
If the robot arm whose image analysis has failed is stopped without moving to the destination, there are the following two cases. 1) If the failed mechanical arm moves to the current position after reaching the destination, and the mechanical arm is possibly touched manually, the driver is informed of opening the door to pick up the pass card through voice; 2) If the failed mechanical arm does not move to the destination, wind interference is possibly received, and the mechanical arm is controlled to move from the current position to the destination again. Whether the mechanical arm reaches the destination or not can be known through the historical motion trail recorded by the mechanical arm.
In some cases, if the control box does not store the correspondence between license plate numbers and the arrangement positions of the vehicle types and front windows, the control box can request to the cloud; if not, a multi-sensor (including a radar and a camera) at the entrance of the toll gate is started for acquiring the spatial position of the front window based on a multi-sensor fusion algorithm after the vehicle stops.
The embodiment of the application also provides a robot for automatically receiving and transmitting a vehicle pass card in a high-speed toll station, which is suitable for a high-speed toll gate and comprises the following components:
and the camera is positioned at the exit of the toll gate and used for collecting the license plate number of the vehicle and the stop position of the vehicle and sending the license plate number and the stop position to the control box.
The control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; determining the spatial position of the front window according to the vehicle type and the arrangement position of the front window; and sending the spatial position of the front window to the mechanical arm.
The mechanical arm is used for moving by taking the space position of the front window as a destination, and the tail end of the mechanical arm is provided with a card reader for passing cards; when the passing card is placed on the card reader, the card reader sends the read information to a control box so as to perform high-speed charging; the mechanical arm is retracted to a set position. Further, referring to fig. 3, the control box controls the card reader bottom plate to be opened, and the pass card automatically falls to the pass card storage box at the bottom end of the card reader. The base plate is then controlled to close, which may be a horizontal movement or a rotational movement.
And the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in this specification, the terms "a," "an," "the," and/or "the" are not intended to be limiting, but rather are to be construed as covering the singular and the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.
It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application.
Claims (10)
1. A robot for automatically transceiving a vehicle pass card for a high-speed toll station, comprising:
the camera is positioned at the entrance of the toll gate and used for collecting the license plate number and the stopping position of the vehicle and sending the license plate number and the stopping position to the control box;
the control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; determining a spatial position of a front window according to the vehicle model, a front window arrangement position and a vehicle stopping position; the space position of the front car window is sent to a mechanical arm;
the mechanical arm is used for moving by taking the space position of the front car window as a destination and ejecting the pass card at the tail end of the mechanical arm; when the pass card is taken away, the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
2. The robot of claim 1, wherein the camera is positioned in the middle of at least two roads for acquiring a license plate number and a vehicle stop position of a vehicle on the at least two roads.
3. The robot of claim 1, wherein the control box is notified of a malfunction when the robot arm stops without moving to the destination or the pass card is not removed after moving to the destination for a set period of time;
the control box controls the camera to acquire an image of the position where the failed mechanical arm is located; analyzing fault reasons according to the images; and executing a solution according to the fault cause.
4. A robot according to claim 3, wherein the cause of the fault comprises: the window is not opened;
executing a solution according to the failure cause, including: and the control box controls the mechanical arm with the fault to move to the outer side of the vehicle door, and informs a driver of opening the door to take the pass card through voice.
5. A robot according to claim 3, wherein the cause of the fault comprises: the vehicle window is opened but the pass card is not taken away;
executing a solution according to the failure cause, including: the voice informs the driver to pick up the pass card as soon as possible.
6. A robot according to claim 3, wherein the cause of the fault comprises: the failed robotic arm is stopped without moving to the destination;
executing a solution according to the failure cause, including: if the failed mechanical arm reaches the destination and then moves to the current position, the driver is informed by voice to open the door to pick up the pass card;
and if the failed mechanical arm does not move to the destination, controlling the mechanical arm to move to the destination from the current position again.
7. The robot of claim 1, wherein the position of the control box and the position of the gate are less than a set value, or the control box is at one end of the gate;
the control box is provided with a camera;
after the mechanical arm is retracted to a set position, the control box collects the license plate number of the vehicle through the camera on the control box, and if the license plate number is consistent with the license plate number collected by the camera at the entrance of the toll gate, the gate is informed to be opened.
8. The robot of claim 7, wherein the robot is configured to move the robot arm,
if the license plate number acquired by the camera at the entrance of the toll gate is inconsistent with the license plate number acquired by the camera at the entrance of the toll gate, the control box determines the arrangement positions of the vehicle type and the front window based on the corresponding relation between the license plate number acquired by the camera on the control box and the arrangement of the vehicle type and the front window; determining a spatial position of a front window according to the vehicle model, a front window arrangement position and a vehicle stopping position; transmitting the spatial position of the front window to the mechanical arm;
the mechanical arm is used for moving by taking the space position of the front car window as a destination and ejecting the pass card at the tail end of the mechanical arm; when the pass card is taken away, the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
9. The robot of claim 1, wherein the multisensor at the toll gate entrance is configured to collect the spatial position of the front window based on a multisensor fusion algorithm after the vehicle is stopped.
10. A robot for automatically transceiving a vehicle pass card for a high-speed toll station, comprising:
the camera is positioned at the exit of the toll gate and used for collecting the license plate number of the vehicle and the stop position of the vehicle and sending the license plate number and the stop position to the control box;
the control box is used for determining the arrangement positions of the vehicle type and the front window based on the corresponding relation between the prestored license plate number and the arrangement positions of the vehicle type and the front window; determining the spatial position of the front window according to the vehicle type and the arrangement position of the front window; transmitting the spatial position of the front window to the mechanical arm;
the mechanical arm is used for moving by taking the space position of the front window as a destination, and the tail end of the mechanical arm is provided with a card reader for passing cards; when the passing card is placed on the card reader, the card reader sends the read information to a control box so as to perform high-speed charging; the mechanical arm is retracted to a set position;
and the brake is used for opening the brake after the mechanical arm is retracted to the set position so as to facilitate the passing of the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311097569.XA CN116935521A (en) | 2023-08-29 | 2023-08-29 | Robot for automatically receiving and transmitting vehicle pass cards in high-speed toll station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311097569.XA CN116935521A (en) | 2023-08-29 | 2023-08-29 | Robot for automatically receiving and transmitting vehicle pass cards in high-speed toll station |
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| CN209216163U (en) * | 2019-01-30 | 2019-08-06 | 上海福赛特自动化系统有限公司 | Card charging system is received by high speed charge station |
| CN113319844A (en) * | 2020-02-28 | 2021-08-31 | 东莞市李群自动化技术有限公司 | Mechanical arm control method, control equipment and robot |
| CN112248837A (en) * | 2020-10-21 | 2021-01-22 | 北京理工大学 | Electric automobile charge arm and automatic intelligent charging device |
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