KR100774726B1 - Method of adjusting tollgate charge and the device thereof - Google Patents

Abstract

A method of adjusting a tollgate charge and a device thereof are provided to pay automatically the tollgate charge by using a robot and a micom. A device for adjusting a tollgate charge a robot arm(10), a robot arm position adjusting part(20), a camera(40), a monitor(50), a sensor(60), and a micro computer(70). The robot arm is installed for picking up a pass or paying the charge. The robot arm position adjusting part controls the driving of the robot arm. The camera photographs a pass issuing machine or a toll receiving position. The monitor displays the image photographed by the camera, drives the robot arm position adjusting part according to the operation of a user, and sets the position of the robot arm. The sensor measures the moving distance of the robot arm. The micro computer controls the driving of the robot arm position adjusting part according to the moving position of the robot arm and the measured distance.

Description

Method of Adjusting Tollgate Charge and the Device Thereof}

1 is a schematic diagram of a state in which a conventional apparatus is installed

Figure 2 is a side view showing the main portion of the conventional device

3 is a block diagram showing a conventional device

4 is a flowchart showing a method for setting a fee of the present invention.

5 is a configuration diagram for explaining the present invention

Figure 6 is a perspective view showing the configuration of a robot applied to the present invention

FIG. 7 is a detailed view of part “A” of FIG. 6;

Explanation of symbols for the main parts of the drawings

A: Pass 10: Robotic Arm

11: robot hand 12: holder

13: fixed finger 14: movable finger

20: robot arm position adjusting unit 24: horizontal slider

25: vertical slider 30: pass ticket machine

40: camera 50: monitor

60: sensor 70: micom

The present invention relates to a fare settlement method and apparatus for paying a toll upon passage of a toll road, and more particularly, a toll gate that allows a driver to automatically make a withdrawal of a toll and toll by a robot without paying tolls. The present invention relates to a billing method and apparatus therefor.

In general, when driving a toll road such as a highway or a high speed road, the driver withdraws the right of the toll gate at the toll gate of the departure place, and passes through the toll gate at the destination at a predetermined cost according to the right of the toll and the operating distance.

At this time, when the driver looks at a series of processes for paying the toll, the driver first opens the window and then finds the right to withdraw and presents it to the cashier. The driver will pay a certain toll (cash or transportation card).

The conventional toll payment method is not only cumbersome and complicated, but also causes a collision with the vehicle in front of the driver in the process of finding a toll while driving, collecting a traffic card or cash, or driving a toll gate. There is a risk of a safety accident such as a collision of the vehicle body against the side wall.

Therefore, in order to solve the above problems, an apparatus for automatically paying a toll by an applicant has been developed and filed with a patent 2005-120254 (filed Dec. 09, 2005).

1 is a schematic view of a state in which a conventional device is installed, FIG. 2 is a side view showing the main part of a conventional device, and FIG. 3 is a block diagram showing a conventional device. The conventional toll automatic storage device is a device main body 110 mounted to an a-pillar of a vehicle body. And a turning device 120 for turning the device main body 110 in the transverse direction of the driver's front by the operation of the driving motor 121, and coupled to the front of the device main body 110 to receive a traffic card. A card holder 130, an operation arm 140 for drawing the card holder 130 to the front of the apparatus main body 110, and a driving device 150 for relaxing and contracting the length of the operation arm 140. ) And a control unit 160 for controlling the driving device 150 and the turning device 120.

As shown in FIG. 2, the driving device 150 includes a driving motor 151, a rotation shaft 153 for outputting rotational force of the driving motor 151, and a pinion gear that rotates in conjunction with the rotation shaft 153. 155 and a rack gear 157 which is interlocked with the pinion gear 155 to linearly move and to contract and relax the operating arm 140 in conjunction with the linear motion.

As shown in FIG. 3, the controller 160 includes an on / off signal switch 161, a CPU 163 receiving an on / off signal from the on / off signal switch 161, and the CPU 163. A motor controller 165 for receiving the control signal from the control unit 150 and the turning device 120 and a door controller 167 for receiving the control signal from the CPU 163 to control the driver's window. do.

Therefore, when the driver operates the on / off signal switch 161 of the controller 160 to input a signal to the CPU 163, the CPU 163 opens a window by sending a control signal to the door controller 167. The control signal is sent to the motor controller 165 to supply power to the driving motor 121 of the turning device 120 and the driving motor 151 of the driving device 150 so that the two driving motors are operated at the same time.

Accordingly, the turning device 120 pivots the direction of the apparatus main body 110 toward the window side, and the driving device 150 extends the length by drawing out the working arm 140 folded in several words, thereby extending the length of the card holder. The traffic card and the pass card 131 inserted in the 130 will be presented to the receptionist.

In this way, when the traffic card and the pass card 131 are automatically presented to the cashier, the cashier calculates the toll according to the mileage, and then inserts the toll card 131 into the card holder 130. This is recognized as a return signal, and as a result, the operation arm 140 that has been unfolded by the reverse driving of the driving motor 151 is folded, so that the operation arm 140 and the turning device 120 return to their initial positions.

However, such a conventional device automatically prevents the driver from neglecting the forward circumstance of the driver because the toll is paid by presenting the toll and tolls to the cashier automatically while exiting the expressway. Could not be automatically withdrawn, the driver had to open the window and then pick up the pass.

Therefore, people with shorter arm lengths were inconvenient to reach their head out of the window because they couldn't pick up the ticket if they stopped far from the ticket issuer or, in severe cases, to open and lower the door.

In order to solve the inconvenience, it is often necessary to stop the car in close proximity to the pass issuer, and thus the car body often hits the side wall where the pass issue machine is installed.

The present invention has been made in order to solve such a conventional problem, and when entering the toll road automatically withdraws and stores the pass from the pass ticket issuer to exit the toll road to pay the toll and toll automatically Its purpose is to.

According to an aspect of the present invention for achieving the above object, the step of measuring the position information to move the robot arm and the distance to move the robot arm in a state in which the vehicle is stopped when entering the toll gate and storing in the micom, and "get the right to pass" to the monitor The window is opened automatically by touching ", the movable finger is stretched in the process of changing the direction of the robot arm from the pass issuer to the direction of the pass, and the measured distance between the pass issuer and the robot arm. The arm is unfolded and the movable finger grips the pass, the window is automatically closed as the unfolded robot arm is folded and returned to the initial position, and the toll is charged in the robot arm's storage box while the vehicle is stopped when entering the toll gate. And position information of the robot arm to move and distance to which the robot arm will move in the stopped state of the vehicle. Setting and storing it in the microcomputer, opening the window automatically by touching “Pay the toll” on the monitor, changing the direction of the robot arm to the position where the toll is to be stored, the measured storage position and the robot The robot arm is unfolded as far as the arm, and the receptionist takes out the toll and the toll and settles it, and then puts the change into the storage box. The robot arm is folded back to its initial position and the window is automatically closed. When passing through the toll gate, it is characterized in that the charge settlement method is provided.

According to another aspect of the present invention, a robot arm which is installed to be rotatable and foldable in a vehicle body adjacent to a window to pick up a toll or pay a toll, and a robot arm position adjusting unit for controlling driving of the robot arm, and a driver's seat A camera that is installed at a position close to and which photographs a toll issuer or a toll storage position, and displays an image photographed by the camera, drives a robot arm position adjusting unit according to a user's operation, and designates a position where the robot arm moves. And a toll gate mounted on the side of the vehicle and configured to measure a moving distance of the robot arm, and a micom to control driving of the robot arm position adjusting unit according to the moving position of the robot arm and the distance measurement by the sensor. A fare payment device is provided upon passing.

Hereinafter, the present invention will be described in more detail with reference to FIGS. 4 to 7 as an embodiment.

Figure 5 is a schematic view illustrating the present invention, Figure 6 is a perspective view showing the configuration of the robot applied to the present invention, Figure 7 is a detailed view "A" of Figure 6, the present invention is rotated to the vehicle body close to the window And a robot arm 10 that is installed to be foldable and picks up a pass A, or pays a toll, a robot arm position adjusting unit 20 that controls driving of the robot arm, and is installed at a position close to the driver's seat. And the camera 40 photographing the toll issuer 30 or the toll storage position, and displaying the image photographed by the camera, driving the robot arm position adjusting unit 20 according to the user's operation, and moving the robot arm. A sensor (50) provided on the side of the vehicle, the sensor (60) comprising an ultrasonic sensor for measuring the movement distance of the toll issuer (30) or the robot arm (10) toward the toll storage position; Arm According to the distance measured by the pupil position and the sensor consists of a microcomputer 70 for controlling the drive of the robot arm position adjusting unit 20. The

The robot arm 10 applied to the present invention uses a telescopic arm formed of a plurality of divided inner diameters gradually and is widely applied to an antenna or a folding telescope.

More preferably, the robot arm 11 further includes a robot hand 11 for holding the right of travel A shown in FIG. 7 and a holder 12 for introducing a toll or change.

The robot hand 11 includes a fixed finger 13 fixed to a bottom surface of the holder 12, a movable finger 14 installed on one side of the holder so as to be rotatable, and a movable finger installed in the holder to rotate the movable finger. When the drive motor is composed of the drive motor 15 and the drive motor is operated, the rotation speed thereof is decelerated by the speed reducer (not shown), and the movable finger 14 is rotated. The right of passage between the movable finger 14 and the fixed finger 13 is achieved. It is supposed to hold (A).

However, instead of directly fixing the movable finger 14 to the output shaft of the drive motor 15, as shown in FIG. 7, the pulley 16 is fixed to the drive motor 15, and one end of the movable finger 14 is fixed to the pulley. The fixed wire 17 may be wound so that the movable finger 14 is rotated in accordance with the forward and reverse rotation of the driving motor 15 to hold the passage A.

As shown in FIG. 6, the robot arm position adjusting unit 20 includes a case 21 in which one end of the robot arm 10 is rotatably installed, and first and second drive motors 22a and 22b embedded in the case. ), First and second pinions 23a and 23b fixed to the output shafts of the first and second drive motors, and racks 24a and 25a meshing with the first and second pinions. The insertion holes 24b and 25b through which the arm 10 penetrates are formed, respectively, and consist of the vertical and horizontal sliders 24 and 25 provided so as to have a 90 degree phase difference.

At this time, in one embodiment of the present invention, the stoppers 26a and 26b for restricting the movement of the vertical and horizontal sliders on both sides of the racks 24a and 25a formed on the vertical and horizontal sliders 24 and 25 are fixed. It is.

Referring to the operation of the present invention configured as described above is as follows.

4 is a flowchart illustrating a fare settlement method according to the present invention, in which a robot arm 10 entering a toll gate to pass through a passageway (highway, a car-only road, etc.) and withdrawing a pass A when a vehicle stops. The position information to be moved and the distance to which the robot arm 10 moves are measured and stored in the microcomputer 70. (S101)

That is, when the vehicle enters the toll gate, the ticket issuer 30 detects the entry of the vehicle and issues a ticket A. At this time, the camera 40 installed in the vicinity of the driver's seat photographs the ticket issuer 30. 5 is displayed on the monitor 50 as shown in FIG.

As such, after the pass issuer 30 having issued the pass A is displayed on the monitor 50, the user (usually the driver) touches the pass issuer 30 displayed on the screen, and the robot arm 10 moves. Location information is automatically entered into the microcomputer 70.

As described above, in the process of inputting the position information to which the robot arm 10 moves by the camera 40 to the microcomputer 70, the sensor 60 made of an ultrasonic sensor or the like installed on the side of the vehicle is the robot arm 10. ) And the distance to the right of travel (A) is input to the microcomputer 70.

In the state where the position information to be moved by the robot arm 10 and the distance to which the robot arm 10 is to be moved are stored in the micom 70, when the user touches the “get right of passage” 51 displayed on the monitor 50, the window is displayed. It is automatically opened. (S102)

After the window is automatically opened according to the touch of the monitor 50, the moving direction and the distance of the robot arm 10 are input to the microcomputer 70 in the above-described step, so that the robot arm position adjusting unit 20 of the first, 2 Since the driving motors 22a and 22b are driven simultaneously, the driving motors 22a and 22b are simultaneously inserted into the insertion holes 24b and 25b formed in the vertical and horizontal sliders 24 and 25, and at the same time, one end of the driving motor 22a and 22b is rotatably installed. The direction of the robot arm 10 is switched, and the folded robot arm 10 is unfolded toward the pass issuer 30. At this time, the movable finger of the robot hand 11 positioned at the tip of the robot arm 10 is opened. 14 is opened from the fixed finger 13 as shown in Figure 7 by the drive motor (S103).

That is, when the pulley 16 fixed to the output shaft rotates counterclockwise by the operation of the drive motor 15, the wire 17 wound around the pulley is released, and as shown in FIG. Finger 14 is opened.

The vertical and horizontal sliders 24 and 25 are moved by the first and second pinions 23a and 23b fixed to the output shafts of the first and second drive motors 22a and 22b. It becomes possible by meshing with the rack 24a (25a) formed in the (25).

However, when the robot arm 10 moves in the horizontal direction according to the stop position of the vehicle, only one of the two driving motors may be driven.

By the above operation, the robot arm 10 is extended by the distance between the pass issuer 30 and the robot arm 10 input to the microcomputer 70 so that the pass A is between the fixed finger 13 and the movable finger 14. After the position is located, as described above, the driving motor 15 installed on one side of the storage box 12 rotates the pulley 16 in a clockwise direction so as to wind up the loosened wire 17. Will hold the right of passage A. (S104)

The re-drive of the drive motor 15 can be controlled by installing a sensing means (not shown) such as a sensor so as to be located between the fixed finger 13 and the movable finger 14 to detect the passage A.

In one embodiment of the present invention, the direction and folding operation of the robot arm 10 is described to be performed sequentially, but is not necessarily limited thereto.

This is because, in order to shorten the time according to the operation of the robot arm 10, the direction change and folding operation of the robot arm 10 can be made at the same time.

After the robot arm 10 moves to the pass issuer 30 and the robot hand 11 grasps the pass A, the robot arm 10 is re-opened in the process of folding the robot arm 10 that is unfolded. The robot arm 10 is reduced to an initial position by driving, and the window is automatically closed after the robot arm 10 is reduced to an initial position.

As a result, driving of the toll road becomes possible.

After entering the toll gate of the desired destination by driving on the toll road and stopping the vehicle, the driver inserts a traffic card or cash into the storage box 12 located at the tip of the robot arm 10 to pay the toll (S106).

Thereafter, in order to automatically pay the toll together with the toll (A), the microcomputer 70 measures the position information to which the robot arm 10 moves and the distance to which the robot arm 10 moves, as with the toll ticket withdrawal. The above operation has already been described in detail and will be omitted. (S107)

In this state, when the user touches the "pay toll" 52 displayed on the monitor 50 and the closed window is automatically opened (S108), the robot arm 10 is moved to a position to store the toll by the microcomputer 70. At the same time, the robot arm 10 is unfolded to the toll storage position. (S109, S110)

At this time, after the robot arm 10 is fully extended to the toll storage position, the movable finger 14 is opened from the fixed finger 13 so that the receptionist can receive the toll A.

After the robot arm 10 is opened by the operation as described above and the cashier receives the pass A, the toll (transport card or cash) is taken out of the storage box 12 and settled, and then the traffic card or cash is stored in the box 12. Put the traffic card or change in the storage box 12 is settled in this way, the robot arm position adjusting unit 20 is re-driven by folding the extended robot arm 10 to reduce to the initial position and At the same time, the window is automatically closed. (S111)

Through the technical contents of the present invention having the above configuration, those skilled in the art can recognize that various changes and modifications can be made without departing from the technical spirit of the present invention.

Therefore, the true technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

As described above, the present invention has the following advantages over the prior art.

First, when the toll road passes, the automatic withdrawal of the right of toll as well as the payment of the toll is made automatically, thus preventing collisions due to negligence in front of the toll gate.

Second, since the image captured by the camera is displayed on the monitor and the ultrasonic sensor accurately detects the moving distance of the robot arm, the microcomputer can accurately determine the location information and the distance the robot arm will move, and thus, withdraw the right of passage. And the payment of the toll is done automatically and correctly.

Third, the robot arm and the storage box is provided at the tip of the robot arm so that the change can be automatically received even if the cash is paid as well as the transportation card.

Fourth, it will be able to be applied to an unmanned vehicle system that is being actively developed.

Claims (12)

Measuring the location information of the robot arm and the distance that the robot arm will move while entering the toll gate and storing it in the microcomputer, and opening the window automatically by touching the “get pass” on the monitor; A step in which the movable finger is unfolded in the process of changing the direction of the robot arm from the pass issuer to the direction of the pass, the robot arm is stretched by the distance between the measured pass issue machine and the robot arm, and the movable finger grips the pass; The window is automatically closed as the robot arm is unfolded and returned to the initial position, and the toll charge is put in the box of the robot arm while the vehicle is stopped when entering the toll gate, and the robot arm is in the stopped state of the vehicle. Measuring the location information to move and the distance to move the robot arm to store in the microcomputer, and the monitor "Toll The window is opened automatically according to the "Payment", the robot arm turns to the position to store the toll, the robot arm is unfolded by the distance between the measured storage position and the robot arm, The method of calculating a fare when passing through a toll gate, characterized in that the robot arm is folded and returned to its initial position and the window is automatically closed as the cashier removes the toll and the toll and then puts the change into the storage box. The method of claim 1, The position information of the robot arm to move when entering and exiting the toll gate is input to the microcomputer as the user touches the displayed image while the camera installed near the driver's seat photographs the ticket issuer or the toll storage position and displays it on the monitor. How to settle the fare when passing through the toll gate, characterized in that. The method of claim 1, The moving distance of the robot arm is detected by the ultrasonic sensor installed on the side of the vehicle and input to the micom, characterized in that the charge settlement method when passing through the toll gate. The method of claim 1, Billing method when passing through the toll gate, characterized in that the direction of the robot arm and the folding operation is made at the same time. A robot arm that can be pivoted and folded on a vehicle body adjacent to a window to pick up a pass or pay a toll, a robot arm position control unit that controls the driving of the robot arm, and is installed in a position close to the driver's seat A camera for photographing an issuing machine or toll storage location, a monitor for displaying an image photographed by the camera, driving a robot arm position adjusting unit according to a user's operation, and designating a position for the robot arm to be moved, And a sensor for measuring the moving distance of the robot arm, and a microcomputer for controlling the driving of the robot arm position adjusting unit according to the moving position of the robot arm and the distance measurement by the sensor. The method of claim 5, The robot arm is a fare settlement device when passing through the toll gate, characterized in that the inner diameter is gradually increased and using a telescopic arm formed into a plurality. The method of claim 6, Toll gate passing rate settlement device characterized in that the front end of the robot arm is further provided with a robot hand for holding the pass and a deposit box for the toll or change. The method of claim 7, wherein The robot hand comprises a fixed finger fixed to the bottom surface of the holder, a movable finger rotatably installed on one side of the holder, and a driving motor installed in the holder to rotate the movable finger. Settlement device. The method of claim 8, Fixing the pulley to the drive motor and the wire to one end fixed to the movable finger is wound on the pulley to move the moving finger according to the forward and reverse rotation of the drive motor, characterized in that the toll gate pass rate settlement device. The method of claim 5, The robot arm position adjusting unit includes a case in which one end of the robot arm is rotatably installed, first and second drive motors embedded in the case, and first and second pinions fixed to output shafts of the first and second drive motors. And vertical and horizontal sliders formed with racks that engage with the first and second pinions, and insertion holes through which the robot arms penetrate, respectively, to have a 90 ° phase difference. The method of claim 10, A stopper for passing through the toll gate, characterized in that a stopper for limiting movement of the vertical and horizontal sliders is fixed to both sides of the rack formed on the vertical and horizontal sliders. The method of claim 5, Toll gate payment device, characterized in that the sensor for detecting the movement distance of the robot arm is an ultrasonic sensor.

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