Expressway CPC card automatic receiving and vehicle-following releasing system

Abstract

The invention relates to an expressway CPC card automatic receiving and vehicle-following putting system. The expressway CPC card automatic receiving and vehicle-following putting system comprises a basket-shaped receiver, a visual module, an edge calculation unit, a multi-degree-of-freedom execution mechanism, a non-contact IC card reading-writing and sorting module and a communication and power supply module. According to the system, lane videos are collected through the vision module, the positions of a vehicle and a driver side window are detected in real time, pose estimation and track prediction are conducted through the edge calculation unit, and the multi-degree-of-freedom execution mechanism is driven to enable the basket-shaped receiver to be aligned with and follow the vehicle window. The non-contact IC card read-write and sorting module completes read-write and classification of CPC cards, and the communication and power supply module achieves remote upgrading, state reporting and billing payment linkage with a lane industrial personal computer. Through the system provided by the invention, the CPC card can be automatically received and released without accurate parking alignment of a driver, the passing efficiency and the user experience of an MTC exit of a highway are remarkably improved, and the operation difficulty and the manual intervention cost are reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology for highways, and more specifically, to a system for automatic reception and on-vehicle deployment of CPC cards for highways. Background Technology

[0002] Highway MTC exits require efficient CPC card collection and payment processing. Existing self-service payment devices mostly rely on fixed card slots or manual assistance, which presents problems such as high parking location requirements, inconvenience for drivers, complex handling of faulty cards, and frequent equipment maintenance, impacting traffic efficiency and user experience. The industry has published group standards for self-service card issuance / payment devices, clarifying requirements for equipment composition, communication, functionality, security, and environmental adaptability, providing a technical and compliance reference framework for this solution.

[0003] The existing technology has the following shortcomings: 1. Fixed card slot type card receiving device: The driver needs to park the vehicle in a precise position and manually deliver the card. It is easily affected by vehicle type, window height and parking deviation, resulting in a high failure rate and low efficiency.

[0004] 2. Flip-out card reader and card compartment: Although it can achieve automatic card reading, foreign object discharge, and good / bad card compartment separation, it still relies on a fixed window and accurate card insertion, which requires the driver to have high precision in insertion.

[0005] 3. Intelligent card reader payment device: The introduction of robotic arms / guide rails enables the adjustment of the bearing notch position and electric pushing, improving adaptability. However, the structure is complex, the cost is high, and the maintenance is difficult, posing greater challenges to lane space and reliability. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automatic receiving and vehicle-following deployment system for highway CPC cards, which aims to solve at least one of the above-mentioned technical problems.

[0007] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problems is as follows: an automatic receiving and vehicle-following delivery system for highway CPC cards, the system including a basket-shaped receiver, the basket-shaped receiver including a guide horn for aligning with the driver's side window and a buffer basket; The vision module is used to acquire lane video and output the detection and tracking results of vehicles and the driver's side window; The edge computing unit, connected to the vision module, is used to perform pose estimation and trajectory prediction based on detection and tracking results, and generate the target pose of the basket receiver. A multi-degree-of-freedom actuator, connected to an edge computing unit, is used to drive a basket-shaped receiver to rotate horizontally, pitch, extend, and slide laterally according to the target pose, so that the guide horn mouth is aligned with and follows the driver's side window. The contactless IC card reading, writing and sorting module is located in the basket-shaped receiver and is used to read, write, authenticate and sort good / abnormal cards of the inserted CPC cards. The communication and power supply module is used to communicate with the lane industrial control computer / station-level server. Based on the card reading result of the CPC card, it performs billing and payment linkage through the lane industrial control computer / station-level server to complete the release of vehicles or abnormal handling.

[0008] The beneficial effects of this invention are as follows: By combining the guide horn and buffer basket design of the basket-shaped receiver with the detection and tracking of vehicles and driver's side windows by the vision module, and the pose estimation and trajectory prediction by the edge computing unit, the basket-shaped receiver achieves precise alignment and following of the driver's side window. Simultaneously, the multi-degree-of-freedom actuator can flexibly adjust the position and angle of the basket-shaped receiver according to the target pose, ensuring it is always aligned with the driver's side window. The contactless IC card reading, writing, and sorting module completes CPC card reading, writing, authentication, and sorting of good and abnormal cards within the basket-shaped receiver, improving the efficiency and accuracy of card processing. The communication and power supply module enables communication with the lane control computer or station-level server, allowing for billing and payment linkage based on card reading results, completing vehicle release or abnormal handling, thereby comprehensively improving the traffic efficiency and user experience of highway MTC exits, and reducing operational difficulty and manual intervention costs.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, the aforementioned system also includes: The status indication and human-computer interaction module is used to output guidance prompts, status information and alarm information; The guidance prompts provide drivers with real-time instructions on how to correctly insert the CPC card; the status information includes the CPC card's read / write status, the vehicle's detection and tracking status, and the basket receiver's pose adjustment status; the alarm information is the signal issued when the system detects an abnormal situation.

[0011] Furthermore, the aforementioned communication and power supply modules are also used to enable remote system upgrades and the reporting of status information.

[0012] Furthermore, the aforementioned vision module includes a video acquisition unit, a vehicle detector, a window detector, and a multi-target tracker. The video acquisition unit is used to acquire lane video; the vehicle detector is used to output vehicle detection results based on the lane video; the window detector is used to output driver's side window detection results based on the lane video; and the multi-target tracker is used to output vehicle and driver's side window tracking results based on the lane video.

[0013] Furthermore, the aforementioned multi-degree-of-freedom actuators include: A horizontal rotary table is used to control the horizontal rotation of the basket receiver so that the basket receiver is aligned with vehicles in different lane positions; The pitch mechanism is used to adjust the pitch angle of the basket receiver to ensure that the guide horn is aligned with the driver's side window at different heights; The telescopic slide is used to control the telescopic movement of the basket receiver and adjust the distance between the basket receiver and the vehicle. The lateral sliding mechanism is used to adjust the lateral position of the basket receiver within the lane to ensure that the basket receiver is aligned with the target.

[0014] Furthermore, the aforementioned multi-degree-of-freedom actuators also include: An absolute encoder is installed on the mechanical axes of a multi-degree-of-freedom actuator to achieve various movements of the basket receiver. These mechanical axes include horizontal rotation axis, pitch axis, telescopic axis, and lateral sliding axis. The absolute encoder is used to acquire the position information of each mechanical axis.

[0015] The multi-degree-of-freedom actuator is specifically used to drive the basket-shaped receiver to perform horizontal rotation, pitch, extension, and lateral sliding based on the target pose and the position information of each mechanical axis.

[0016] Furthermore, the system also includes a ground sensor module, an ultrasonic / laser ranging module, and an emergency stop module, which are used to realize vehicle arrival detection, collision avoidance, and emergency stopping.

[0017] Secondly, to solve the above-mentioned technical problems, the present invention also provides a method for automatic reception and on-vehicle deployment of CPC cards for highways, employing the automatic reception and on-vehicle deployment system for CPC cards at highway MTC exits described in the first aspect. The method includes: The lane video is acquired through the vision module, and the vehicle and driver's side window are detected and tracked based on the lane video to obtain the detection and tracking results of the vehicle and driver's side window. The edge computing unit performs pose estimation and trajectory prediction based on the detection and tracking results to generate the target pose of the basket receiver. Based on the target pose, drive the multi-degree-of-freedom actuator to align the basket receiver with and follow the driver's side window; The system performs contactless reading, writing, and authentication of CPC cards in the basket-shaped receiver, and sorts good / abnormal cards based on the reading results. Based on the reading results of the CPC card, the billing and payment are linked through communication between the lane industrial control computer / station-level server to complete the release of vehicles or the handling of abnormalities.

[0018] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method of automatic reception and vehicle-following deployment of highway CPC cards of the present application.

[0019] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for automatic reception and vehicle-following deployment of highway CPC cards of the present application.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0022] Figure 1 This is a schematic diagram of a highway CPC card automatic receiving and vehicle-following deployment system according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for automatic reception and on-vehicle deployment of a highway CPC card according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0023] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0024] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0025] The solution provided in this invention can be applied to any application scenario requiring automatic CPC card reception and vehicle-mounted deployment. This invention provides a possible implementation method, such as... Figure 1 The diagram shows an automatic receiving and vehicle-following deployment system for CPC cards on highways. The system may include a basket-shaped receiver, which includes a guide horn for aligning with the driver's side window and a buffer basket. The vision module is used to acquire lane video and output the detection and tracking results of vehicles and the driver's side window; The edge computing unit, connected to the vision module, is used to perform pose estimation and trajectory prediction based on detection and tracking results, and generate the target pose of the basket receiver. A multi-degree-of-freedom actuator, connected to an edge computing unit, is used to drive a basket-shaped receiver to rotate horizontally, pitch, extend, and slide laterally according to the target pose, so that the guide horn mouth is aligned with and follows the driver's side window. The contactless IC card reading, writing and sorting module is located in the basket-shaped receiver and is used to read, write, authenticate and sort good / abnormal cards of the inserted CPC cards. The communication and power supply module is used to communicate with the lane industrial control computer / station-level server. Based on the card reading result of the CPC card, it performs billing and payment linkage through the lane industrial control computer / station-level server to complete the release of vehicles or abnormal handling.

[0026] The system of this invention, through the guide horn and buffer basket design of the basket-shaped receiver, combined with the detection and tracking of vehicles and driver's side windows by the vision module, and the pose estimation and trajectory prediction by the edge computing unit, achieves precise alignment and following of the basket-shaped receiver to the driver's side window. Simultaneously, the multi-degree-of-freedom actuator can flexibly adjust the position and angle of the basket-shaped receiver according to the target pose, ensuring it is always aligned with the driver's side window. The contactless IC card reading, writing, and sorting module completes CPC card reading, writing, authentication, and sorting of good and abnormal cards within the basket-shaped receiver, improving the efficiency and accuracy of card processing. The communication and power supply module enables communication with the lane control computer or station-level server, allowing for billing and payment linkage based on card reading results, completing vehicle release or abnormal handling, thereby comprehensively improving the traffic efficiency and user experience of highway MTC exits, and reducing operational difficulty and manual intervention costs.

[0027] The following specific embodiments further illustrate the solution of the present invention. In these embodiments, without requiring the driver to park and align precisely, the system automatically identifies the driver's side window and follows and aligns the basket receiver with the vehicle's angle during driving, guiding the driver to accurately insert the CPC card into the basket and completing reliable recycling, reading, writing, sorting, and settlement.

[0028] Based on this, the automatic receiving and vehicle-following delivery system for highway CPC cards provided in this embodiment may include a basket-shaped receiver, which includes a guide horn for aligning with the driver's side window and a buffer basket. The vision module is used to acquire lane video and output the detection and tracking results of vehicles and the driver's side window; The edge computing unit, connected to the vision module, is used to perform pose estimation and trajectory prediction based on detection and tracking results, and generate the target pose of the basket receiver. A multi-degree-of-freedom actuator, connected to an edge computing unit, is used to drive a basket-shaped receiver to rotate horizontally, pitch, extend, and slide laterally according to the target pose, so that the guide horn mouth is aligned with and follows the driver's side window. The contactless IC card reading, writing and sorting module is located in the basket-shaped receiver and is used to read, write, authenticate and sort good / abnormal cards of the inserted CPC cards. The communication and power supply module is used to communicate with the lane industrial control computer / station-level server. Based on the card reading result of the CPC card, it performs billing and payment linkage through the lane industrial control computer / station-level server to complete the release of vehicles or abnormal handling.

[0029] Lane video refers to the video stream of the lane scene captured in real time by the camera in the vision module. It includes information such as vehicle movement, driver's side window position and surrounding environment, and is used for vehicle detection, window detection and tracking operations.

[0030] The card reading result refers to the information obtained by the contactless IC card reader / writer module after performing read / write operations on the CPC card inserted into the basket receiver. This includes key data such as card validity verification, billing data stored in the card, entry information, and license plate number, which are used in subsequent billing, payment, and card sorting processes.

[0031] Optionally, the system also includes: The status indication and human-computer interaction module is used to output guidance prompts, status information and alarm information; The guidance prompts provide drivers with real-time instructions on how to correctly insert the CPC card; the status information includes the CPC card's read / write status, the vehicle's detection and tracking status, and the basket receiver's pose adjustment status; the alarm information is the signal issued when the system detects an abnormal situation.

[0032] The guidance prompts refer to providing drivers with real-time instructions on how to correctly insert CPC cards through industrial touch screens, voice broadcasts, and sound and light indicators. For example, when the basket receiver is aligned with the driver's side window and in the correct position, the driver will be prompted "Please insert CPC card"; if the driver makes a mistake, prompts will be given such as "Please insert again" or "Please put the card into the basket".

[0033] Status information refers to various information during system operation, including but not limited to the read / write status of CPC cards (such as "card reading successful" or "card reading failed"), vehicle detection and tracking status (such as "vehicle identified" or "vehicle window tracking"), and the pose adjustment status of the basket receiver (such as "basket aligned"), which are used to inform drivers and on-site personnel about the current working status of the system.

[0034] Alarms refer to warning signals issued when the system detects abnormal situations. For example, when CPC card delivery is abnormal (such as the card not being correctly placed into the basket or card reading / writing failure), the vehicle is parked in an improper position, or the system hardware fails, the alarm will remind the driver or staff to handle the situation in a timely manner through sound and light alarms, screen prompts, etc.

[0035] Optionally, the aforementioned communication and power supply modules are also used to enable remote system upgrades and the reporting of status information.

[0036] Optionally, the aforementioned communication and power supply module adopts RJ45 Ethernet (TCP / IP), supports remote upgrades, log and status reporting, and integrates with the lane industrial control computer / station-level server for billing and payment. Specifically, the communication and power supply module uses an RJ45 Ethernet interface, implements data transmission based on the TCP / IP protocol, supports remote upgrades, can receive update files from a remote server and automatically complete system or software upgrades, and is responsible for uploading equipment operation logs and status information to the lane industrial control computer or station-level server for real-time monitoring and fault diagnosis. In addition, this module also integrates with the lane industrial control computer and station-level server for billing and payment, transmitting billing information read from the CPC card to the billing system to complete cost calculation, and working in conjunction with the payment system during the payment process to ensure smooth transaction completion, achieving full-process automation and information management from CPC card reception and billing to payment.

[0037] Optionally, the aforementioned vision module includes a video acquisition unit, a vehicle detector, a window detector, and a multi-target tracker. The video acquisition unit is used to acquire lane video; the vehicle detector is used to output vehicle detection results based on the lane video; the window detector is used to output driver's side window detection results based on the lane video; and the multi-target tracker is used to output tracking results between the vehicle and the driver's side window based on the lane video.

[0038] Optionally, the aforementioned multi-degree-of-freedom actuator includes: A horizontal rotary table is used to control the horizontal rotation of the basket receiver so that the basket receiver is aligned with vehicles in different lane positions; The pitch mechanism is used to adjust the pitch angle of the basket receiver to ensure that the guide horn is aligned with the driver's side window at different heights; The telescopic slide is used to control the telescopic movement of the basket receiver and adjust the distance between the basket receiver and the vehicle. The lateral sliding mechanism is used to adjust the lateral position of the basket receiver within the lane to ensure that the basket receiver is aligned with the target.

[0039] Optionally, the aforementioned multi-degree-of-freedom actuator also includes: An absolute encoder is installed on the mechanical axes of a multi-degree-of-freedom actuator to achieve various movements of the basket receiver. These mechanical axes include horizontal rotation axis, pitch axis, telescopic axis, and lateral sliding axis. The absolute encoder is used to acquire the position information of each mechanical axis.

[0040] The multi-degree-of-freedom actuator is specifically used to drive the basket-shaped receiver to perform horizontal rotation, pitch, extension, and lateral sliding based on the target pose and the position information of each mechanical axis.

[0041] Optionally, the system also includes a ground sensor module, an ultrasonic / laser ranging module, and an emergency stop module to enable vehicle arrival detection, collision avoidance, and emergency stopping.

[0042] Multi-degree-of-freedom actuators also include: The limit protection unit is used to ensure that each motion axis of a multi-degree-of-freedom actuator operates within a safe mechanical travel range by setting physical limit switches or software limit logic. When the multi-degree-of-freedom actuator approaches or reaches the set limit position, the limit protection unit will immediately trigger the protection mechanism to stop the movement of the relevant motor and prevent mechanical parts from being damaged due to exceeding the travel range.

[0043] The torque protection unit is used to monitor the resistance and load experienced by the multi-degree-of-freedom actuator in real time during the movement of the motor through a torque sensor installed on the motor. When the torque exceeds the set safety threshold, the torque protection unit will immediately trigger the protection mechanism to stop the movement of the relevant motor and prevent the motor from being overloaded and damaged.

[0044] Optionally, when the aforementioned vision module outputs the detection and tracking results of the vehicle and driver's side window based on the lane video, it is specifically used for: Based on lane video, combined with lane lines, area ROI, license plate and vehicle type, the system outputs the detection and tracking results of the vehicle and driver's side window to reduce false detections and missed detections.

[0045] Optionally, based on lane video, combined with lane lines, region of interest (ROI), license plate, and vehicle model, the above-mentioned detection and tracking results of the vehicle and driver's side window are output. This includes: using lane lines to determine the vehicle's driving trajectory and position range; using region of interest (ROI) to limit the specific area for vehicle detection to improve detection efficiency and accuracy; using license plate recognition to obtain the vehicle's unique identification information and assist in vehicle identity verification; and further refining the vehicle's size and shape information based on vehicle model characteristics. By integrating these data, accurate detection and continuous tracking of the vehicle and its driver's side window are achieved, and detection and tracking results including vehicle position, window position, and movement trajectory are output, providing key data support for subsequent basket receiver alignment and CPC card receiving operations.

[0046] Optionally, the aforementioned edge computing unit adopts a closed-loop architecture of detection-tracking-pose estimation-control, wherein the control adopts a PID or MPC strategy to converge the center position and orientation of the guide horn to the target pose.

[0047] Optionally, the edge computing unit performs pose estimation and trajectory prediction based on the detection and tracking results to generate the target pose of the basket receiver as follows: First, based on the vehicle's current position and the coordinates of the window center point in the detection results, combined with the vehicle's driving direction and speed information, the azimuth and pitch angles of the window relative to the basket receiver are calculated using a geometric model and kinematic equations to achieve preliminary pose estimation; Second, based on the vehicle's historical trajectory and motion trend in the tracking results, a trajectory prediction algorithm (such as Kalman filtering or a deep learning prediction model) is used to predict the vehicle's instantaneous stopping position and the precise position of the window at future moments, further optimizing the pose estimation results; Finally, considering the vehicle's motion characteristics and the mechanical constraints of the basket receiver, a control algorithm (such as PID control or model predictive control) is used to calculate the target pose that the basket receiver needs to adjust to, including the horizontal rotation angle, pitch angle, telescopic distance, and lateral sliding position, to ensure that the guide horn can accurately align with and follow the driver's side window, providing accurate mechanical position support for the automatic reception of the CPC card.

[0048] Optionally, the aforementioned contactless IC card reading, writing, and sorting module includes a card reading antenna, a flip-board / rotor sorting mechanism, a good card bin, and a faulty card bin, and supports secondary card reading and foreign object removal. Specifically, the card reading antenna is used to perform contactless reading and writing operations on CPC cards placed into the basket-shaped receiver, completing the rapid acquisition and authentication of card information; the flip-board / rotor sorting mechanism sorts the cards to different areas according to the reading results, realizing the physical separation of good cards and faulty cards; the good card bin is used to store CPC cards that have been successfully read / written and are in normal condition for subsequent billing and release operations; the faulty card bin is used to collect CPC cards that have failed to be read / written or have faults, facilitating subsequent manual processing or secondary card reading attempts, ensuring that the system efficiently and accurately completes the processing and classification of CPC cards.

[0049] Optionally, the system also includes a ground sensor module, an ultrasonic / laser ranging module, and an emergency stop module to achieve vehicle arrival detection, collision avoidance, and emergency shutdown. Specifically, the ground sensor module detects whether a vehicle has arrived at the designated location by sensing changes in the vehicle's magnetic field to determine whether the vehicle has entered or left the detection area, ensuring that the system initiates relevant operations when the vehicle arrives. The ultrasonic / laser ranging module measures the distance between the vehicle and the basket receiver in real time, providing accurate distance data to prevent collisions between the vehicle and the equipment and ensure operational safety. The emergency stop module quickly cuts off the power or triggers the braking mechanism when a potential hazard or abnormal situation is detected, causing the system to stop immediately to prevent accidents and protect the safety of personnel and equipment.

[0050] Optionally, the aforementioned status indication and human-machine interaction module includes an industrial touch screen, a voice broadcasting device, and an audio-visual indication device, used to guide the driver in placing the card and to provide processing results. Specifically, the industrial touch screen displays the operating interface and guidance information, allowing the driver to obtain placement prompts and processing results through touch operation; the voice broadcasting device issues voice commands and prompts to the driver, such as "Please place the CPC card" or "Card reading successful," ensuring that the driver receives clear operational guidance without directly observing the screen; the audio-visual indication device alerts the driver to the operating status through flashing lights and sound signals, such as emitting a flashing green light and a prompt sound when placement is successful, or emitting a flashing red light and an alarm sound in abnormal situations, to enhance the intuitiveness and alertness of the interaction.

[0051] Optionally, the buffer basket can adopt an elastic buffer and guide rib design to reduce bouncing and jamming caused by placement deviation; the flared edge is rounded and wear-resistant; the base of the multi-degree-of-freedom actuator is rigidly fixed to the lane, reserving space for maintenance and calibration.

[0052] It should be noted that before implementing the system, the camera-vehicle coordinate system and actuator zero-position calibration can be completed first; a priori library of vehicle size / window height can be established; and online adaptive and multi-model fusion can be used to improve robustness in complex lighting and occlusion scenarios.

[0053] This application solution meets the requirements for electromechanical and electrical safety, electromagnetic compatibility, environmental adaptability and reliability; it is equipped with multiple anti-collision and emergency stop, power failure self-locking, over-limit return to zero and overload protection; the interactive interface provides clear guidance and alarms.

[0054] The solution proposed in this application can be used to test the following different scenarios: Scene coverage: daytime / nighttime, rain / fog / backlight, different car models and window heights, single car / multiple cars driving side by side; Indicator verification: Alignment success rate, first-time delivery success rate, card reading success rate, abnormal sorting accuracy, improvement in passage efficiency, false detection / missed detection rate, MTBF / MTTR, and user satisfaction. Integration with station-level systems: end-to-end stability testing of billing, payment, invoicing, reconciliation, logging, and remote upgrades.

[0055] Furthermore, the present application can be extended to the above-mentioned solution in the following ways: Multi-basket parallel and redundancy: Set dual-basket / multi-basket configurations and automatic switching to improve peak traffic capacity and fault tolerance.

[0056] Integrated billing and payment: Integrates bill printing / recycling and mobile payment modules to provide one-stop export services.

[0057] Card cleaning and disinfection: Add a cleaning / disinfection / drying module to the recycling chain to improve card hygiene and reuse quality.

[0058] Enhanced vehicle-road cooperation: By combining V2X and roadside perception, the vehicle's parking intention and window status can be obtained in advance, further optimizing alignment and guidance strategies.

[0059] The proposed solution has the following beneficial effects: 1. The introduction of a basket-shaped receiver that follows the vehicle and is aligned at an angle significantly reduces the driver's requirements for parking and alignment, and improves the success rate of single deployment and traffic efficiency.

[0060] 2. Deeply integrate wide-angle vision, edge computing, multi-degree-of-freedom actuators with contactless IC card reading and writing sorting to form a closed-loop system of detection, tracking, alignment, guidance, card reading, sorting, and settlement.

[0061] 3. Based on the fixed window / carrying unit solution, dynamic pose adjustment and safe guidance are achieved, taking into account reliability, maintainability and user experience.

[0062] 4. Deeply integrated with station-level systems, supporting billing, payment, invoicing, remote upgrades and status monitoring to meet engineering implementation and operation and maintenance needs.

[0063] To better illustrate and understand the principle of the method provided by this invention, the following description uses an optional specific embodiment to illustrate the solution of this invention. It should be noted that the specific implementation of each step in this specific embodiment should not be construed as a limitation of the solution of this invention. Other implementations that can be conceived by those skilled in the art based on the principle of the solution provided by this invention should also be considered within the scope of protection of this invention.

[0064] Example 1: This embodiment 1 provides an automatic receiving and vehicle-following deployment system for CPC cards at highway MTC exits, which consists of a basket-shaped receiver (including a guide horn and a buffer basket), a wide-angle camera (visual module), an edge computing unit (including target detection / tracking, attitude estimation and control), a multi-degree-of-freedom actuator (horizontal rotation / pitch / telescopic / lateral sliding), a contactless IC card reading and writing and sorting module, a status indication and human-machine interaction module, and a communication and power supply module.

[0065] The specific work process is as follows: When a vehicle enters the detection area, a wide-angle camera captures a video stream (lane video). The edge computing unit detects the vehicle and the driver's side window in real time based on the video stream and outputs the vehicle ID, window center, and relative lane coordinates. The multi-target tracker in the edge computing unit performs cross-frame correlation on the vehicle windows to predict the vehicle's trajectory and instantaneous stopping position; The controller drives the multi-degree-of-freedom actuator to align the center of the basket receiver's horn with the center of the car window and maintain a safe height and horizontal distance. The status indicator and human-machine interaction module (screen / voice / light) guides the driver to place the CPC card; after the card enters the basket, the read / write module performs contactless reading, writing and authentication. Based on the read / write results, good / abnormal cards are sorted into bins, linked to the billing and payment process, and status prompts and release are provided.

[0066] Compared to existing technologies, the advantages of this solution are: 1. No need for precise parking and alignment: Following the vehicle and aligning significantly reduces the difficulty of deployment, improving the success rate of deployment and traffic efficiency.

[0067] 2. High robustness: It has strong adaptability to vehicle type, window height, parking offset, and changes in lighting.

[0068] 3. Safety and User-Friendliness: Maintains a safe distance from vehicles, with multiple guidance and anti-misplacement designs to reduce misoperation and safety risks.

[0069] 4. Maintainable and scalable: Modular design supports remote upgrades, status monitoring, and anomaly alarms, facilitating operation and maintenance and functional expansion (such as invoice printing and mobile payment integration).

[0070] Example 2: The structure of the automatic reception and on-vehicle deployment system for CPC cards at highway MTC exits provided in Example 2 specifically includes: Perception module (vision module): wide-angle / fisheye camera (covering multiple lanes and near and far views), supplementary lighting (optional infrared / white light), and necessary ground sensor / laser ranging for vehicle positioning and collision avoidance.

[0071] Computing and Control Module (Edge Computing Unit): Edge computing devices (such as Jetson / Ascend / Rockchip, etc.) run algorithms for vehicle detection / segmentation, window detection / tracking, attitude estimation, trajectory prediction, servo control, etc.; lane industrial control computers / station-level servers are used for billing, payment, reconciliation and linkage.

[0072] Multi-degree-of-freedom actuators: horizontal rotary table (azimuth), pitch mechanism, telescopic slide (far and near), lateral sliding (fine-tuning within the lane), equipped with absolute encoders and limit / torque protection to ensure positioning accuracy and safety.

[0073] Card processing module (contactless IC card reading, writing and sorting module): The basket integrates a contactless IC reading and writing antenna, a positioning / flipping / sorting mechanism, a good card box / abnormal card box, counting and full box detection, and supports secondary card reading and foreign object discharge.

[0074] Interaction and communication module (status indication and human-machine interaction module and communication and power supply module): industrial touch screen, voice broadcast, sound and light indication, RJ45 Ethernet (TCP / IP), supporting remote upgrade, log and status reporting.

[0075] The following functions can be achieved based on this system: Vehicle and window detection: YOLOv8+DeepSORT or ByteTrack is used to detect and track vehicles and windows; lane lines / region ROI and license plate / vehicle type priors are combined to reduce false detections.

[0076] Pose estimation and alignment: Using the vehicle's forward direction as a reference, estimate the azimuth and pitch angles of the center of the window relative to the basket opening; design PID / model predictive control (MPC) to converge the center of the basket opening to the target pose while maintaining a safe height and distance.

[0077] Guidance and Deployment: When the pose error and lateral offset fall within the threshold, a "Please Deploy" prompt is triggered; after the card is detected to have entered the basket, the read / write module performs contactless communication and authentication.

[0078] Sorting and Exception Handling: Card reading successful: The card enters the card storage box, triggering billing / payment. Once completed, a notification will appear indicating that the card has been released. Card reading failure / timeout: Trigger a second card reading; if it still fails, the card will be moved to the abnormal card box and prompted to retrieve it or handle it manually. Foreign object / multiple cards: Identified by weight / infrared beam / capacitive sensing, triggering card ejection / rejection and alarm.

[0079] Safety and fault tolerance: Equipped with multi-level anti-collision (ground sensor + ultrasonic / laser + vision), emergency stop, power failure self-locking, boundary crossing return to zero, and overload protection; in case of abnormality, the basket opening automatically returns to the center position and prompts manual intervention.

[0080] As an example, vehicle-following alignment: When a vehicle passes through the detection zone at a speed of ≤15 km / h, the system completes window locking and basket alignment within T+0.3~0.8 s, maintaining a horizontal distance of approximately 0.8~1.2 m and a height slightly below the bottom edge of the window, guiding the deployment with a success rate of ≥98% (target value).

[0081] In another embodiment, abnormal card secondary reading and sorting: if the first card reading fails, the basket is slightly tilted and a second card reading is performed (delay 0.5~1 s); if it still fails, the flip plate will import the card into the abnormal card box, and the screen will display "Card abnormal, please retrieve", while the license plate / time / image is recorded for auditing.

[0082] In another embodiment, after a successful read / write operation, the edge device uploads the card number, license plate, entrance information, and transaction log to the station-level / lane industrial control computer to complete billing and payment. If the payment is successful, the barrier will be raised to allow passage; if the payment is abnormal, it will guide the user to mobile payment / manual processing.

[0083] The following effects can be achieved through this system: 1. Detection and Tracking: Vehicle false detection rate ≤1%, window false detection rate ≤2%, ID switching ≤1 time / 100 frames; 2. Alignment and guidance: Pose convergence ≤ 1.5 s, steady-state alignment error ≤ 5° / ±5 cm, guidance trigger accuracy ≥ 99%; 3. Card reading and sorting: First-time card reading success rate ≥99.5%, second-time card reading improvement ≥95%, and abnormal sorting accuracy rate ≥99%; 4. Reliability: MTBF≥10,000 h, mean time to repair≤30 min, protection rating IP54 (outdoor).

[0084] Based on and Figure 1 Using the same principle as the method shown, this embodiment of the invention also provides a method for automatic reception and vehicle-following deployment of highway CPC cards, such as... Figure 2 As shown, the automatic reception and on-vehicle deployment method 20 for highway CPC cards may include: S10: Obtain lane video through the vision module, detect and track vehicles and driver's side window based on lane video, and obtain detection and tracking results of vehicles and driver's side window; S20, the edge computing unit performs pose estimation and trajectory prediction based on the detection and tracking results to generate the target pose of the basket receiver; S30, based on the target pose, drives the multi-degree-of-freedom actuator to align the basket receiver with and follow the driver's side window; S40 performs contactless reading, writing, and authentication of CPC cards in the inserted basket receiver, and sorts good / abnormal cards based on the reading results; Based on the card reading results of the CPC card, the S50 communicates with the lane control computer / station-level server to link billing and payment, and complete the release of vehicles or handling of abnormalities.

[0085] Optionally, based on the CPC card reading result, billing and payment are linked through communication between the lane industrial control computer and the station-level server to complete vehicle release or abnormal handling. Specifically, this includes: transmitting the CPC card reading information to the lane industrial control computer or station-level server for billing calculation; interacting with the payment system during the payment process to support multiple payment methods such as mobile payment and cash payment to ensure smooth transaction completion; receiving the release instruction and controlling the barrier to release the vehicle after successful payment; and triggering an abnormal handling process if payment is abnormal or card reading fails, prompting the driver to perform manual processing or secondary operation through status indicators and the human-machine interaction module, while recording abnormal information for subsequent auditing and processing.

[0086] Optionally, the method further includes: Using the vehicle's forward direction as a reference, the azimuth and pitch angles of the window center relative to the opening of the buffer basket are estimated, and PID or MPC control strategies are employed to converge the pose error to a set threshold. Specifically, firstly, using the vehicle's forward direction as a reference, the azimuth angle (horizontal angular deviation) and pitch angle (vertical angular deviation) of the window center relative to the opening of the buffer basket are calculated using the vehicle and window detection results and tracking data provided by the vision module. Then, based on these angular deviations, combined with preset control strategies, such as PID (proportional-integral-derivative) control or MPC (model predictive control) strategies, the motion parameters of the multi-degree-of-freedom actuator are dynamically adjusted. Through real-time feedback and adjustment, the pose error of the basket receiver gradually decreases and eventually converges to the set threshold range, ensuring that the basket receiver can accurately align with and follow the driver's side window, providing accurate guidance for the deployment of the CPC card.

[0087] Optionally, a second card reading is triggered if the card reading fails; if it still fails, the flip panel / dial is controlled to import the card into the abnormal card box and prompts the user to retrieve it or handle it manually.

[0088] The highway CPC card automatic reception and vehicle-following deployment system of this invention can execute the highway CPC card automatic reception and vehicle-following deployment method provided in this invention. The implementation principle is similar. The actions performed by each module and unit in the highway CPC card automatic reception and vehicle-following deployment system of this invention correspond to the steps in the highway CPC card automatic reception and vehicle-following deployment method of this invention. For detailed functional descriptions of each module of the highway CPC card automatic reception and vehicle-following deployment system, please refer to the descriptions of the corresponding highway CPC card automatic reception and vehicle-following deployment methods shown above, which will not be repeated here.

[0089] The aforementioned highway CPC card automatic reception and vehicle-following deployment system can be a computer program (including program code) running on a computer device. For example, the highway CPC card automatic reception and vehicle-following deployment system is an application software. The system can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0090] In some embodiments, the automatic reception and vehicle-following deployment system for highway CPC cards provided in this invention can be implemented using a combination of hardware and software. As an example, the automatic reception and vehicle-following deployment system for highway CPC cards provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the automatic reception and vehicle-following deployment method for highway CPC cards provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0091] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0092] In one alternative embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0093] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0094] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0095] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0096] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0097] Among these, electronic devices can also be terminal devices. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0098] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0099] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0100] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0101] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0102] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0103] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0104] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A highway CPC card automatic receiving and on-vehicle deployment system, characterized in that, Includes a basket-shaped receiver, the basket-shaped receiver comprising a guide horn for aligning with the driver's side window and a buffer basket; The vision module is used to acquire lane video and output the detection and tracking results of vehicles and the driver's side window; An edge computing unit, connected to the vision module, is used to perform pose estimation and trajectory prediction based on the detection results and the tracking results, and to generate the target pose of the basket receiver. A multi-degree-of-freedom actuator, connected to the edge computing unit, is used to drive the basket-shaped receiver to rotate horizontally, pitch, extend and retract, and slide laterally according to the target pose, so that the guide horn mouth is aligned with and follows the driver's side window; A contactless IC card reading, writing and sorting module is set inside the basket-shaped receiver and is used to read, write, authenticate and sort good / abnormal cards of the inserted CPC cards. The communication and power supply module is used to communicate with the lane industrial control computer / station-level server. Based on the card reading result of the CPC card, it performs billing and payment linkage through the lane industrial control computer / station-level server to complete the release of vehicles or abnormal handling.

2. The system according to claim 1, characterized in that, The system also includes: The status indication and human-computer interaction module is used to output guidance prompts, status information and alarm information; The guidance prompts provide drivers with real-time instructions on how to correctly insert CPC cards; the status information includes the CPC card's read / write status, the vehicle's detection and tracking status, and the basket receiver's pose adjustment status; the alarm information is a signal issued when the system detects an abnormal situation.

3. The system according to claim 1, characterized in that, The communication and power supply module is also used to enable remote upgrades and status information reporting of the system.

4. The system according to claim 1, characterized in that, The vision module includes a video acquisition unit, a vehicle detector, a window detector, and a multi-target tracker. The video acquisition unit is used to acquire lane video, and the vehicle detector is used to output vehicle detection results based on the lane video. The window detector is used to output the detection result of the driver's side window based on the lane video; The multi-target tracker is used to output the tracking results of the vehicle and the driver's side window based on the lane video.

5. The system according to claim 1, characterized in that, The multi-degree-of-freedom actuator includes: A horizontal rotary table is used to control the horizontal rotation of the basket-shaped receiver so that the basket-shaped receiver is aligned with vehicles in different lane positions; A pitch mechanism is used to adjust the pitch angle of the basket-shaped receiver to ensure that the guide horn is aligned with the driver's side window at different heights; A telescopic slide is used to control the telescopic movement of the basket-shaped receiver and adjust the distance between the basket-shaped receiver and the vehicle; A lateral sliding mechanism is used to adjust the lateral position of the basket receiver within the lane to ensure that the basket receiver is aligned with the target.

6. The system according to claim 5, characterized in that, The multi-degree-of-freedom actuator also includes: An absolute encoder is installed in the multi-degree-of-freedom actuator on the mechanical axes used to realize various movements of the basket-shaped receiver. Each of the mechanical axes includes a horizontal rotation axis, a pitch axis, a telescopic axis, and a lateral sliding axis. The absolute encoder is used to acquire the position information of each of the mechanical axes. The multi-degree-of-freedom actuator is specifically used to drive the basket-shaped receiver to perform horizontal rotation, pitch, extension and retraction, and lateral sliding based on the target pose and the position information of each of the mechanical axes.

7. The system according to claim 1, characterized in that, The system also includes a ground sensor module, an ultrasonic / laser ranging module, and an emergency stop module, which are used to realize vehicle arrival detection, collision avoidance, and emergency stop.

8. A method for automatic reception and on-vehicle deployment of CPC cards, characterized in that, The method of the automatic reception and on-vehicle deployment system for highway CPC cards as described in claim 1 includes: Lane video is acquired through a vision module, and vehicles and driver's side windows are detected and tracked based on the lane video to obtain detection and tracking results for vehicles and driver's side windows. The edge computing unit performs pose estimation and trajectory prediction based on the detection results and the tracking results to generate the target pose of the basket receiver. Based on the target pose, drive the multi-degree-of-freedom actuator to align the basket receiver with and follow the driver's side window; The system performs contactless reading, writing, and authentication of CPC cards in the basket-shaped receiver, and sorts good / abnormal cards based on the reading results. Based on the card reading result of the CPC card, the billing and payment are linked through the communication between the lane industrial control computer / station-level server to complete the release of vehicles or the handling of abnormalities.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of claim 8.

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