CN-122024344-A - Highway CPC card automatic receiving and vehicle-mounted following delivery system

CN122024344ACN 122024344 ACN122024344 ACN 122024344ACN-122024344-A

Abstract

The invention relates to an automatic receiving and vehicle-mounted following throwing system for a highway CPC card, which comprises a basket-shaped receiver, a vision module, an edge computing unit, a multi-degree-of-freedom executing mechanism, a non-contact IC card reading-writing and sorting module and a communication and power supply module. The system collects lane videos through a vision module, detects the positions of a vehicle and a driver side window in real time, performs pose estimation and track prediction by utilizing an edge computing unit, and drives a multi-degree-of-freedom actuating mechanism to align and follow a basket-shaped receiver to the vehicle window. The non-contact IC card reading-writing and sorting module is used for finishing reading-writing and sorting of the CPC card, and the communication and power supply module is used for realizing remote upgrading, state reporting and charging payment linkage with the lane industrial personal computer. Through the system provided by the invention, the automatic receiving and throwing of the CPC card can be completed without accurate parking alignment of a driver, the passing efficiency and user experience of the MTC exit of the expressway are obviously improved, and the operation difficulty and the manual intervention cost are reduced.

Inventors

GUO YANG
WU KEWEI
HE XIAOGANG

Assignees

北京卓视智通科技有限责任公司

Dates

Publication Date: 20260512
Application Date: 20251222

Claims (10)

1. The automatic receiving and vehicle-mounted following throwing system for the highway CPC card is characterized by comprising a basket-shaped receiver, wherein the basket-shaped receiver comprises a guide horn mouth and a buffering basket which are used for aligning a driver side window; The visual module is used for acquiring lane videos and outputting detection results and tracking results of vehicles and side windows of drivers; The edge computing unit is connected with the vision module and used for carrying out pose estimation and track prediction according to the detection result and the tracking result to generate a target pose of the basket-shaped receiver; The multi-degree-of-freedom executing mechanism is connected with the edge computing unit and used for driving the basket-shaped receiver to horizontally rotate, pitch, stretch and transversely slide according to the target pose so that the guide bell mouth is aligned with and follows a driver side window; the non-contact IC card reading-writing and sorting module is arranged in the basket-shaped receiver and is used for reading-writing, authenticating and sorting good cards/abnormal cards of the input CPC card; And the communication and power supply module is used for communicating with the lane industrial personal computer/station level server, and according to the card reading result of the CPC card, charging and payment linkage is carried out through the communication of the lane industrial personal computer/station level server so as to finish the release or exception handling of the vehicle.
2. The system of claim 1, wherein the system further comprises: the state indication and man-machine interaction module is used for outputting a guide prompt, state information and alarm information; The guiding prompt provides real-time guiding information about how to correctly put the CPC card to a driver, the state information comprises a read-write state of the CPC card, a detection state and a tracking state of a vehicle and a position and posture adjustment state of a basket-shaped receiver, and the warning information is a signal sent when the system detects an abnormal condition.
3. The system of claim 1, wherein the communication and power module is further configured to implement remote upgrades and status information reporting of the system.
4. The system of claim 1, wherein the vision module comprises a video acquisition unit for acquiring the lane video, a vehicle detector for outputting a detection result of a vehicle according to the lane video, a window detector for outputting a detection result of a driver side window according to the lane video, and a multi-target tracker for outputting a tracking result of the vehicle and the driver side window according to the lane video.
5. The system of claim 1, wherein the multiple degree of freedom actuator comprises: a horizontal rotary table for controlling rotation of the basket-like receiver in a horizontal direction so as to align the basket-like receiver with vehicles in different lane positions; The pitching mechanism is used for adjusting the pitching angle of the basket-shaped receiver and ensuring that the guide bell mouth is aligned with the driver side windows with different heights; The telescopic sliding table is used for controlling telescopic movement of the basket-shaped receiver and adjusting the distance between the basket-shaped receiver and the vehicle; and the transverse sliding mechanism is used for adjusting the transverse position of the basket-shaped receiver in the lane to ensure that the basket-shaped receiver is aligned with a target.
6. The system of claim 5, wherein the multiple degree of freedom actuator further comprises: The absolute value encoder is arranged on mechanical shafts used for realizing various movements of the basket-shaped receiver in the multi-degree-of-freedom actuating mechanism, and each mechanical shaft comprises a horizontal rotating shaft, a pitching shaft, a telescopic shaft and a transverse sliding shaft; The multi-degree-of-freedom actuating mechanism is specifically used for driving the basket-shaped receiver to horizontally rotate, pitch, stretch and slide transversely according to the target pose and the position information of each mechanical shaft.
7. The system of claim 1, further comprising a ground sensing module, an ultrasonic/laser ranging module, and a scram module for enabling in-place detection, collision avoidance, and emergency shutdown of the vehicle.
8. A CPC card automatic receiving and on-vehicle following delivery method, characterized in that an expressway CPC card automatic receiving and on-vehicle following delivery system according to claim 1 is adopted, the method comprising: the method comprises the steps that a lane video is obtained through a vision module, a vehicle and a driver side window are detected and tracked according to the lane video, and a detection result and a tracking result of the vehicle and the driver side window are obtained; Performing pose estimation and track prediction according to the detection result and the tracking result by the edge calculation unit to generate a target pose of the basket-shaped receiver; Driving a multi-degree-of-freedom actuating mechanism according to the target pose, so that the basket-shaped receiver is aligned with and follows the side window of the driver; Non-contact reading, writing and authentication are carried out on the CPC card in the input basket-shaped receiver, and good card/abnormal card sorting is carried out according to the card reading result; And according to the card reading result of the CPC card, charging and payment linkage are carried out through the communication of the lane industrial personal computer/station server, and the release or exception handling of the vehicle is completed.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of claim 8 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of claim 8.

Description

Highway CPC card automatic receiving and vehicle-mounted following delivery system Technical Field The invention relates to the technical field of expressway intelligent traffic, in particular to an expressway CPC card automatic receiving and vehicle-mounted following delivery system. Background The highway MTC outlet needs to efficiently recycle CPC cards and complete billing payment. The existing self-service payment equipment depends on fixed card throwing ports or manual assistance, and has the problems of high parking position requirement, inconvenient driver operation, complex abnormal card processing, frequent equipment maintenance and the like, so that the passing efficiency and the user experience are affected. Industry has issued group standard to self-service card issuing/paying equipment, has made clear the equipment constitution, communication, function, safety and environmental suitability etc. requirements, has provided technology and compliance reference frame for this scheme. The prior art has the following defects: 1. The fixed card-receiving device for the card throwing port needs to stop the car to an accurate position and manually deliver the car, is easily influenced by the height of the car model and the car window and has high failure rate and low efficiency. 2. The card reading board can be turned over and the card can be separated into a bin, and the automatic card reading, the foreign matter discharging and the good card/bad card separation can be realized, but the card still depends on a fixed window and accurate card throwing, and the requirement on the throwing precision of a driver is met. 3. The intelligent card reading charging device is characterized in that a mechanical arm/guide rail is introduced to realize the pose adjustment and electric pushing of the bearing notch, so that the adaptability is improved, but the intelligent card reading charging device has a complex structure, high cost and high maintenance difficulty, and provides higher challenges for the space and reliability of a lane. Disclosure of Invention The invention aims to solve at least one technical problem by providing an automatic receiving and vehicle-mounted following delivery system for a highway CPC card. In a first aspect, the present invention solves the above technical problems by providing an automatic highway CPC card receiving and following delivery system, comprising a basket receiver comprising a guide flare and a buffer basket for aligning a driver side window; The visual module is used for acquiring lane videos and outputting detection results and tracking results of vehicles and side windows of drivers; the edge computing unit is connected with the vision module and used for carrying out pose estimation and track prediction according to the detection result and the tracking result to generate a target pose of the basket-shaped receiver; The multi-degree-of-freedom actuating mechanism is connected with the edge computing unit and used for driving the basket-shaped receiver to horizontally rotate, pitch, stretch and transversely slide according to the target pose so as to enable the guide bell mouth to be aligned with and follow the side window of a driver; The non-contact IC card reading-writing and sorting module is arranged in the basket-shaped receiver and is used for reading-writing, authenticating and sorting good cards/abnormal cards of the input CPC card; And the communication and power supply module is used for communicating with the lane industrial personal computer/station level server, and according to the card reading result of the CPC card, charging and payment linkage is carried out through the lane industrial personal computer/station level server communication, so that the release or exception handling of the vehicle is completed. The invention has the beneficial effects that through the design of the guide bell mouth and the buffer basket of the basket-shaped receiver, the detection and tracking of the vehicle and the driver side window and the pose estimation and track prediction of the edge computing unit are combined by the vision module, so that the accurate alignment and following of the basket-shaped receiver to the driver side window are realized. Meanwhile, the multi-degree-of-freedom actuating mechanism can flexibly adjust the position and the angle of the basket-shaped receiver according to the target pose, and the basket-shaped receiver is ensured to be always aligned to the side window of a driver. The non-contact IC card reading-writing and sorting module completes reading-writing and authentication of CPC cards and sorting of good cards and abnormal cards in the basket-shaped receiver, and card processing efficiency and accuracy are improved. The communication and power supply module realizes communication with the lane industrial personal computer or the station-level server, and can carry out charging and payment linkage according to a card reading result t