Method for accurately locating card issuing point

Abstract

The invention discloses a method for accurately locating a card issuing point. The method comprises the following steps: S01, enabling a camera to shoot the position of a card issuing point, and obtaining a card issuing point image; S02, acquiring coordinates of the card issuing point in an image two-dimensional coordinate system by a control center according to the card issuing point image; S03,converting card issuing point coordinates in the image two-dimensional coordinate system into card issuing point coordinates in the imaging coordinate system by the control center; S04, converting card issuing point coordinates in the imaging coordinate system into card issuing point coordinates in a camera coordinate system by the control center; S05, converting card issuing point coordinates inthe camera coordinate system into card issuing point coordinates in a world coordinate system by the control center; S06, measuring a distance between the card issuing point and the robot arm and transmitting the distance to the control center by a distance measuring instrument, and obtaining the coordinates of the card issuing point in the world coordinate system by the control center; and S07, transferring the card to a card issuing point by the arm of the robot. Accurate positioning of external three-dimensional space coordinates can be realized, and the most comfortable card issuing pointposition of a driver can be acquired so that user experience can be enhanced.

Description

technical field [0001] The invention relates to the field of automation equipment, in particular to a method for precisely locating card issuing points. Background technique [0002] At present, the windows of high-speed toll stations all adopt the mode of manually handing over the card, and the toll card is manually handed over to the driver; with the development of mechanical automation technology, automatic card issuing machines have also begun to be used in the prior art to issue cards, but the existing automatic card issuing machines The driver needs to use the card-taking button to take the card by himself. The parking distance is a little far away, and the arm can only reach the position where the card is taken, but the button on the card issuing machine cannot be pressed, so the driver has to stretch his arm as far as possible or get out of the car to take the card. This kind of non-smart The optimized operation makes it take longer for the driver to get the card, wh...

AI Technical Summary

Problems solved by technology

[0002] At present, the windows of high-speed toll stations all adopt the mode of manually handing over the card, and the toll card is manually handed over to the driver; with the development of mechanical automation technology, automatic card issuing machines have also begun to be used in the prior art to issue cards, but the existing automatic card issuing machines The driver needs to use the card-taking button to take the card by himself. The parking distance is a little far away, and the arm can only reach the position where the card is taken, but the button on the card issuing machine cannot be pressed, so the driver has to stretch his arm as far as possible or get out of the car to take the card. This kind of non-smart The optimized operation makes it take a long time for the driver to get the card, which is likely to cause traffic congestion at the toll booth

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