A road parking fee recovery system through intelligent linkage electric suction cup

Abstract

The present application relates to the technical field of parking fee recovery, in particular to a road parking fee recovery system through intelligent linkage of electric suction cups. A main controller controls the intelligent suction cup device to adhere to the glass surface of a target vehicle according to fee confirmation information, collects pressure data in the negative pressure establishment process and the negative pressure maintenance process, and generates baseline suction response data; first and second perturbation pressure forces are established, and positive and reverse sequence perturbation control processes are respectively performed to obtain pressure response sequences corresponding to different perturbation levels; by comparing the pressure recovery speed difference and pressure trend difference of the same perturbation level under different execution processes, a response path feature set and a path-dependent response quantity are generated, whether there is a path-dependent suction state at the suction interface is judged, and a suction cup device reinstallation prompt result is generated after verification. The present application can improve the accuracy of negative pressure suction cup suction state change detection and improve the stability of the device.

Description

Technical Field

[0001] This invention relates to the field of parking fee collection technology, specifically to a road parking fee collection system using an intelligent linkage electric suction cup. Background Technology

[0002] In road parking fee collection devices, to avoid damaging the vehicle structure, a negative pressure adsorption method can be used to fix the device to the vehicle's glass surface. By creating a negative pressure state inside the suction cup that is lower than the external environmental pressure, an adsorption force is formed between the sealed edge of the suction cup and the vehicle's glass surface, thereby achieving temporary fixation of the device on the vehicle. If the driver wants to remove the suction cup device from the vehicle, the outstanding road parking fees must be paid.

[0003] In real-world road environments, the adsorption interface on vehicle glass surfaces is not always fixed. Rainwater films, road dust, cleaning residue, and localized contamination may exist on the glass surface, causing varying degrees of contact changes between the suction cup's sealing edge and the glass surface. After the suction cup establishes negative pressure, the initial negative pressure amplitude may still be within the normal range. However, with changes in the external environment or adsorption pressure, the liquid film, contaminants, and the contact state of the sealing edge may redistribute, causing a slow change in the adsorption interface. Current technologies judge the adsorption state based solely on a single pressure value after negative pressure establishment or a pressure drop over a fixed time period, making it difficult to distinguish between continuous state changes caused by changes in the adsorption interface and instantaneous pressure changes caused by environmental pressure fluctuations, gas temperature variations, etc.

[0004] Existing methods for actively detecting the adsorption state of suction cups typically employ unidirectional pressure perturbation. This involves either opening the intake valve to reduce negative pressure or activating a negative pressure pump to restore it, and then assessing the adsorption capacity based on the pressure recovery process after the perturbation. However, the suction cup's sealing edge, liquid film, and contaminant distribution are influenced by previous pressure changes. After a pressure perturbation at the adsorption interface, subsequent pressure recovery may be affected by changes in the contact state caused by the previous perturbation, resulting in different responses to the same pressure perturbation under different historical execution conditions. Current technologies do not consider the impact of the pressure perturbation execution sequence on the adsorption interface state and cannot determine whether a state change has occurred at the adsorption interface based on response differences under different perturbation histories.

[0005] Therefore, to address the issue of changes in the adsorption interface state during the long-term retention of the negative pressure suction cup on the vehicle glass surface in road parking fee collection equipment, a road parking fee collection system is needed that can generate pressure disturbance parameters based on the current adsorption state and identify changes in the adsorption interface through the pressure response differences under different pressure disturbance execution processes. Summary of the Invention

[0006] To address the aforementioned shortcomings of existing technologies, this invention provides a road parking fee collection system using an intelligent linkage electric suction cup. This system effectively solves the problem in existing road parking fee collection devices where the negative pressure suction cup, relying solely on a single pressure change, struggles to identify historical pressure disturbances that cause changes in the adsorption interface state, thus hindering accurate assessment of adsorption stability.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a road parking fee collection system using an intelligent linkage electric suction cup, comprising at least: The system includes an intelligent suction cup device, a main controller, a pressure sensor, a micro-intake valve, and a negative pressure pump. The main controller controls the suction cup device to adhere to the target vehicle's glass surface based on the overdue payment confirmation information, and controls the negative pressure pump to establish a negative pressure adsorption state. The pressure sensor collects the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber. The main controller determines the negative pressure amplitude based on the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber, and generates benchmark adsorption response data based on the negative pressure establishment and maintenance process. The main controller generates the maximum permissible perturbation pressure based on the reference adsorption response data, and generates the first perturbation pressure and the second perturbation pressure based on the maximum permissible perturbation pressure. The main controller controls the micro-intake valve and the negative pressure pump to perform positive-sequence perturbation control process and negative-sequence perturbation control process. The positive-sequence perturbation control process is executed in sequence according to the first perturbation pressure and the second perturbation pressure, and the negative-sequence perturbation control process is executed in sequence according to the second perturbation pressure and the first perturbation pressure. The main controller generates a response path feature set based on the positive-sequence pressure response sequence corresponding to the first perturbation level, the positive-sequence pressure response sequence corresponding to the second perturbation level, the negative-sequence pressure response sequence corresponding to the first perturbation level, and the negative-sequence pressure response sequence corresponding to the second perturbation level, and determines the path-dependent adsorption state based on the response path feature set.

[0008] Furthermore, the benchmark adsorption response data includes the benchmark negative pressure establishment time, the benchmark holding pressure change rate, and the benchmark holding end negative pressure amplitude; The main controller closes the micro-intake valve and starts the negative pressure pump. The air pressure sensor collects the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber according to the preset pressure sampling cycle. The main controller subtracts the absolute pressure of the negative pressure chamber from the absolute pressure of the external environment at the same pressure sampling time to obtain the negative pressure amplitude. When the negative pressure amplitude reaches the target negative pressure amplitude after a preset number of consecutive samplings, the main controller records the time it takes to reach the target negative pressure amplitude and subtracts the negative pressure pump start-up time from the time it takes to reach the target negative pressure amplitude to obtain the reference negative pressure establishment time.

[0009] Furthermore, the method for determining the rate of change of the reference holding pressure is as follows: After the negative pressure pump stops, the main controller enters a reference holding period and keeps the micro-intake valve closed. The pressure sensor continuously collects the negative pressure amplitude during the reference holding period. The main controller obtains the negative pressure amplitude at the beginning and end of the reference holding period. It subtracts the negative pressure amplitude at the end of the reference holding period from the negative pressure amplitude at the beginning to obtain the pressure change. The main controller divides the pressure change by the length of the reference holding period to obtain the reference holding pressure change rate.

[0010] Furthermore, the maximum permissible perturbation pressure is obtained in the following way: The main controller acquires the target negative pressure amplitude and the safe maintenance negative pressure amplitude; The main controller subtracts the safe maintenance negative pressure amplitude from the target negative pressure amplitude to obtain the maximum allowable perturbation pressure. The negative pressure amplitude is maintained safely based on statistical data of historical successful adsorption. The main controller sets a first perturbation pressure and a second perturbation pressure based on the maximum permissible perturbation pressure, wherein the second perturbation pressure is greater than the first perturbation pressure.

[0011] Furthermore, the positive-sequence perturbation control process is as follows: The main controller opens the micro-intake valve, allowing outside air to enter the negative pressure chamber and reducing the negative pressure amplitude. When the current negative pressure reduction obtained by subtracting the negative pressure amplitude at the current pressure sampling time from the target negative pressure amplitude reaches the first perturbation pressure, the first perturbation level execution is completed. The main controller closes the micro-intake valve and starts the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude. After recovery, the main controller collects the positive-sequence pressure response sequence corresponding to the first perturbation level according to the duration of the perturbation hold phase.

[0012] Furthermore, the main controller continues to control the micro-intake valve to open, so that the negative pressure amplitude decreases to the second micro-perturbation pressure. After completing the second perturbation level, the main controller controls the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude; The main controller collects the positive-sequence pressure response sequence corresponding to the second perturbation level according to the duration of the perturbation hold phase.

[0013] Furthermore, the reverse perturbation control process includes: The main controller controls the micro-intake valve to open, so that the negative pressure amplitude decreases to the second micro-perturbation pressure. After completing the second perturbation level, the main controller controls the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude; The main controller collects the reverse-order pressure response sequence corresponding to the second perturbation level according to the duration of the perturbation holding phase. After completing the second perturbation level, the main controller continues to execute the first perturbation level and collects the reverse pressure response sequence corresponding to the first perturbation level.

[0014] Furthermore, the pressure recovery rate is obtained through the following methods: The main controller acquires the negative voltage amplitude at the start of the perturbation hold phase and the negative voltage amplitude at the end of the perturbation hold phase; The main controller compares the negative pressure amplitude at the beginning of the perturbation holding phase with the negative pressure amplitude at the end of the perturbation holding phase to obtain the pressure change. The main controller obtains the pressure recovery rate based on the pressure change and the duration of the perturbation holding phase.

[0015] Furthermore, the method for determining the response path feature set is as follows: The main controller compares the positive-sequence pressure recovery rate corresponding to the first perturbation level with the negative-sequence pressure recovery rate corresponding to the first perturbation level to obtain the sequential response difference of the first perturbation level. The main controller compares the positive-sequence pressure recovery rate corresponding to the second perturbation level with the negative-sequence pressure recovery rate corresponding to the second perturbation level to obtain the sequential response difference of the second perturbation level. The main controller compares the positive-sequence pressure response sequence corresponding to the first perturbation level and the negative-sequence pressure response sequence corresponding to the first perturbation level, as well as the positive-sequence pressure response sequence corresponding to the second perturbation level and the negative-sequence pressure response sequence corresponding to the second perturbation level, to obtain the pressure trend difference of the first perturbation level and the pressure trend difference of the second perturbation level. The main controller generates the response path feature set based on the sequential response differences of the first perturbation level, the sequential response differences of the second perturbation level, the pressure trend differences of the first perturbation level, and the pressure trend differences of the second perturbation level.

[0016] The technical solution provided by this invention has the following advantages compared with the known prior art: By setting a baseline adsorption response data acquisition process, pressure change characteristics are collected during the negative pressure establishment and maintenance processes after the suction cup establishes a negative pressure adsorption state, providing an adsorption state reference for subsequent perturbation detection. Furthermore, based on the baseline adsorption response data, a first perturbation pressure quantity and a second perturbation pressure quantity are generated. A positive-sequence perturbation control process, varying from the first perturbation level to the second perturbation level, and a negative-sequence perturbation control process, varying from the second perturbation level to the first perturbation level, are executed respectively, so that the same perturbation level generates corresponding pressure response sequences under different pressure perturbation history conditions. By comparing the positive-sequence pressure response sequence and the negative-sequence pressure response sequence corresponding to the first perturbation level... The system obtains the response path feature set by combining the positive-sequence pressure response sequence and the negative-sequence pressure response sequence corresponding to the second perturbation level, and further generates path-dependent response quantities. This enables the identification of whether the pressure perturbation process changes the adsorption interface state. Compared with the method of only detecting a single negative pressure value or pressure drop rate, it improves the ability to identify the gradual change state of the adsorption interface, the change of the sealing edge state, and the decreasing trend of adsorption stability. When a path-dependent adsorption state is determined, the positive-sequence perturbation control process and the negative-sequence perturbation control process are re-executed for verification, reducing the possibility of misjudgment caused by accidental pressure fluctuations and improving the adsorption reliability and operational stability of the road parking fee collection equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a diagram of the overall system architecture of the present invention.

[0019] Figure 2 This is a line drawing of the suction cup device of the present invention and its adsorption on a vehicle.

[0020] Figure 3 This is a schematic diagram of the suction cup device of the present invention adsorbing onto a vehicle. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0022] Example 1 (see Figures 1-3 A road parking fee collection system using an intelligent linkage electric suction cup, comprising at least: Step 1: Based on the target vehicle identifier in the overdue payment confirmation information, the manager places the corresponding suction cup device (the suction cup has a sealed edge at the bottom that contacts the vehicle surface, and a negative pressure chamber is formed inside the suction cup to store air, creating a pressure difference with the external environment by changing the amount of air inside the negative pressure chamber) against the glass surface of the target vehicle, ensuring that the sealed edge of the suction cup is in contact with the glass surface of the target vehicle; the suction cup device is in the ready-to-adsorb state, and a micro-intake valve (located in the mounting cavity inside the suction cup body, the micro-intake valve includes: an external intake end; and an internal connecting end. The external intake end communicates with the external environment through an intake hole; the internal connecting end is connected to the negative pressure chamber through an intake channel) is in place. When the micro-intake valve is closed: the air path between the external environment and the negative pressure chamber is disconnected; the negative pressure chamber remains sealed. When the micro-intake valve is open: external air enters the negative pressure chamber; the internal pressure of the negative pressure chamber increases; the adsorption pressure decreases. Therefore, the micro-intake valve is used to perform active pressure perturbation and de-adsorption. The negative pressure pump (located in the mounting cavity inside the suction cup. The negative pressure pump includes: an air intake inlet; an exhaust outlet. The air intake inlet is connected to the negative pressure chamber through a negative pressure suction pipe; the exhaust outlet is connected to the external environment through an exhaust pipe. When the negative pressure pump starts, it discharges the air inside the negative pressure chamber, reducing the internal pressure of the negative pressure chamber. When the negative pressure pump stops, the negative pressure chamber maintains its current pressure state) remains stopped. The main controller verifies the device number, target vehicle identifier, and arrears status in the arrears confirmation information. After the arrears confirmation information is verified, the main controller closes the micro-intake valve and starts the negative pressure pump. The air pressure sensor collects the absolute pressure of the external environment according to the preset pressure sampling cycle. and the absolute pressure of the negative pressure chamber The absolute pressure of the external environment at the same pressure sampling time k is subtracted from the absolute pressure of the negative pressure chamber to obtain the negative pressure amplitude formed by the negative pressure chamber relative to the external environment. .

[0023] When the negative pressure amplitude reaches the target negative pressure amplitude after a preset number of consecutive samplings, the time to reach the target negative pressure amplitude is recorded and the negative pressure pump is stopped. The negative pressure establishment time is obtained by subtracting the negative pressure pump start time from the time to reach the target negative pressure amplitude.

[0024] After the negative pressure pump stops, the negative pressure amplitude is continuously collected during the baseline holding time period (when the number of consecutive preset confirmation samples of the negative pressure amplitude reaches the target negative pressure amplitude, the time for completing the confirmation of the target negative pressure amplitude is recorded, the negative pressure pump is stopped, and the micro-inlet valve remains closed. The preset time length starting after the negative pressure pump stops is set as the baseline holding time period. During this period, the negative pressure pump remains stopped, the micro-inlet valve remains closed, and the pressure sensor continuously collects the negative pressure amplitude according to the preset pressure sampling cycle to determine the negative pressure holding capacity of the negative pressure chamber under conditions of no active suction and no active intake). The negative pressure amplitude at the beginning of the baseline holding time period is recorded as... The negative pressure amplitude at the end of the reference holding period is recorded as The negative pressure amplitude at the beginning of the reference holding period is subtracted from the negative pressure amplitude at the end of the reference holding period, and then divided by the length of the reference holding period to obtain the rate of change of the reference holding pressure per unit time, which reflects the degree of negative pressure attenuation.

[0025] Simultaneously, the absolute value of negative pressure change at adjacent pressure sampling times is calculated to identify pressure jump events. If the absolute value of negative pressure change is not less than the pressure jump amplitude threshold, and the absolute values ​​of negative pressure change at several consecutive pressure sampling times prior to the current sampling time are all less than the pressure jump amplitude threshold, the current pressure sampling time is recorded as a new pressure jump event. The number of pressure jump events within the baseline maintenance period is then counted.

[0026] After the suction cup device is attached to the vehicle surface, the liquid film, dust, or localized adhesion differences on the vehicle's glass surface may cause the negative pressure chamber to reach the target negative pressure amplitude for a short period of time. The completion of negative pressure establishment alone is insufficient to determine whether the adsorption state can be maintained. Therefore, it is necessary to acquire response data during the negative pressure establishment and maintenance processes. Thus, step one will output baseline adsorption response data, including the baseline negative pressure establishment time, the baseline holding pressure change rate, and the baseline holding end negative pressure amplitude.

[0027] Furthermore, the initial sealing capacity varies depending on the surface condition of the vehicle glass. Using a fixed-amplitude pressure disturbance might cause excessive disturbance to smart suction cup devices with good adsorption properties, leading to a risk of detachment, or it might prevent smart suction cup devices with poor adsorption properties from generating an effective response. Therefore, it is necessary to determine the safe disturbance range corresponding to the current adsorption state based on benchmark adsorption response data and generate coded perturbation parameters that reflect the changing characteristics of the adsorption interface. This results in: Step 2: Determine the leakage trend of the current adsorption state based on the rate of change of the reference holding pressure. When the rate of change of the reference holding pressure is small, it indicates that the pressure change of the negative pressure chamber is small after the active pumping stops, and the suction cup device has a high holding capacity. When the rate of change of the reference holding pressure is large (exceeding the corresponding preset threshold), it indicates that there is a significant pressure recovery trend in the negative pressure chamber, and the subsequent micro-perturbation amplitude needs to be reduced.

[0028] The maximum permissible perturbation pressure is generated based on the baseline holding pressure change rate: by subtracting the safe holding negative pressure amplitude from the target negative pressure amplitude (based on historical successful adsorption data, the lowest negative pressure amplitude corresponding to the adsorption holding time reaching the preset requirement is used as the safe holding negative pressure amplitude), the maximum negative pressure amplitude that the suction cup device can reduce without detaching from the vehicle surface is obtained.

[0029] The first perturbation pressure (the negative pressure amplitude that needs to be reduced in the negative pressure chamber during the first pressure perturbation) and the second perturbation pressure (the negative pressure amplitude that needs to be reduced in the negative pressure chamber during the second pressure perturbation) are generated based on the maximum permissible perturbation pressure. Determine the maximum permissible perturbation range that will not affect the safe adsorption of the suction cup device. Then, within this maximum permissible perturbation range, set two different levels of perturbation pressure. These two perturbation levels should produce different degrees of adsorption interface response, namely, a second perturbation pressure and a first perturbation pressure, with the former being greater than the latter. Simultaneously, the first perturbation pressure must be greater than 0, and the second perturbation pressure must be less than or equal to the maximum perturbation pressure.

[0030] A) Based on the first perturbation pressure quantity Second perturbation pressure quantity Generate the first perturbation execution order (ascending perturbation control sequence): The positive-sequence perturbation control sequence controls the micro-intake valve and negative pressure pump to execute the positive-sequence pressure perturbation process. Specifically: When the positive-sequence perturbation control sequence is active, the micro-intake valve is opened, allowing external air to enter the negative pressure chamber through the micro-intake valve. This increases the absolute pressure inside the negative pressure chamber and decreases the negative pressure amplitude. Specifically: When the negative pressure amplitude satisfies: , This represents the target negative pressure amplitude. That is, subtracting the current negative pressure amplitude at the current pressure sampling moment from the target negative pressure amplitude yields the current negative pressure reduction. When the current negative pressure reduction is greater than or equal to the first perturbation pressure, the first perturbation level is considered complete. At this time, the micro-intake valve is closed, and the negative pressure pump is started to expel air from the negative pressure chamber, restoring it to the target negative pressure amplitude. When the differential pressure sensor (located between the negative pressure chamber and the external environment; the differential pressure sensor includes: a first pressure acquisition interface; a second pressure acquisition interface. The first pressure acquisition interface is connected to the negative pressure chamber; the second pressure acquisition interface is connected to the external environment) detects: When the negative pressure pump stops, the perturbation hold time (duration of the perturbation hold phase) process is started. During the time, the differential pressure sensor continuously collects the negative pressure amplitude according to the preset pressure sampling cycle to form the first perturbation hold pressure sequence, which is also the positive sequence pressure response sequence corresponding to the first perturbation level.

[0031] After completing the first perturbation maintenance phase, proceed to the second perturbation level: Open the micro-intake valve to allow ambient air to enter the negative pressure chamber. When the negative pressure amplitude meets the following conditions: At this time, close the micro-intake valve. The second perturbation level execution is complete. Similarly, after completing the second perturbation level, restart the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude. After restoration, stop the negative pressure pump and collect pressure response data for the second perturbation holding phase according to the perturbation holding time, forming the positive sequence pressure response sequence corresponding to the second perturbation level. Therefore, calculate the corresponding pressure recovery rate based on the positive sequence pressure response sequence: The pressure recovery rate corresponding to the first perturbation level is obtained by subtracting the negative pressure amplitude at the end of the first perturbation holding phase from the negative pressure amplitude at the beginning of the first perturbation holding phase. The pressure change during the first perturbation phase is then divided by the duration of the first perturbation holding phase (usually a fixed preset holding time) to obtain the positive sequence pressure recovery rate corresponding to the first perturbation level. .

[0032] The pressure recovery rate corresponding to the second perturbation level is obtained by subtracting the negative pressure amplitude at the end of the second perturbation holding phase from the negative pressure amplitude at the beginning of the second perturbation holding phase. The pressure change in the second perturbation phase is then divided by the duration of the second perturbation holding phase to obtain the positive sequence pressure recovery rate corresponding to the second perturbation level.

[0033] B) The execution order of the second perturbation (reverse perturbation control sequence) is as follows: After completing the acquisition of S3 positive-sequence perturbation response data, the negative pressure chamber is restored to the target negative pressure amplitude, and the micro-intake valve and negative pressure pump are controlled according to the reverse-sequence perturbation control sequence to execute the reverse-sequence pressure perturbation process. Specifically: Keep the negative pressure pump stopped and open the micro-intake valve to allow ambient air to enter the negative pressure chamber. The absolute pressure inside the negative pressure chamber increases, and the negative pressure amplitude decreases. When the negative pressure amplitude meets the following conditions: The current negative pressure reduction is obtained; when the current negative pressure reduction reaches the second perturbation pressure, the second perturbation level is considered to have been completed. After the second perturbation level is completed, the negative pressure pump is started to restore the negative pressure chamber to the target negative pressure amplitude. When the differential pressure sensor detects: When the perturbation is in effect, the negative pressure pump is stopped, and the reverse-order pressure response acquisition window corresponding to the second perturbation level is opened according to the perturbation holding time. During the perturbation holding time, the differential pressure sensor acquires the negative pressure amplitude according to the preset pressure sampling period, forming the reverse-order pressure response sequence corresponding to the second perturbation level.

[0034] After completing the second perturbation level detection, the main controller continues to execute the first perturbation level. The main controller reopens the micro-intake valve, reducing the negative pressure amplitude to decrease the first perturbation pressure. When the conditions are met... When the negative pressure reduction reaches the first perturbation pressure, the first perturbation level is completed, and the micro-intake valve is closed. After completing the first perturbation level, the main controller starts the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude. After restoration, the negative pressure pump is stopped, and the reverse-sequence pressure response data corresponding to the first perturbation level is collected according to the perturbation holding time. This forms the reverse-sequence pressure response sequence corresponding to the first perturbation level.

[0035] The main controller calculates the reverse pressure recovery rate based on the reverse pressure response sequence corresponding to the second perturbation level and the reverse pressure response sequence corresponding to the first perturbation level.

[0036] The reverse-order pressure recovery rate corresponding to the second perturbation level is obtained by subtracting the negative pressure amplitude at the end of the second perturbation holding phase from the negative pressure amplitude at the beginning of the second perturbation holding phase. The pressure change during the reverse-order execution of the second perturbation level is then divided by the duration of the second perturbation holding phase to obtain the reverse-order pressure recovery rate corresponding to the second perturbation level. .

[0037] It should be noted that when the suction cup device is stably attached to the vehicle surface, pressure disturbances of the same amplitude are generally only affected by the elastic recovery of the suction cup material and changes in the gas state of the negative pressure chamber. Therefore, the pressure recovery results produced by the same perturbation level under different execution sequences should be consistent. However, when there is liquid film migration, contaminant movement, or local changes in the attachment state on the vehicle surface, the previous pressure disturbance will change the adsorption interface state, causing different pressure recovery processes to occur under the same perturbation level under different execution sequences. Therefore, it is necessary to compare the forward-sequence perturbation response data and the reverse-sequence perturbation response data at the same level, extract the response difference features under different execution paths, and use them to subsequently determine whether there is a path-dependent state at the adsorption interface. Specifically: Since the forward-sequence perturbation process and the reverse-sequence perturbation process use the same first and second perturbation pressure values, only changing the execution order of the pressure perturbation, the main controller compares the differences in pressure recovery speed under different execution orders for the same perturbation level: The difference in pressure recovery rate of the first perturbation level under different execution sequences is obtained by subtracting the pressure recovery rate of the first perturbation level in the forward sequence from the pressure recovery rate of the first perturbation level in the reverse sequence, and taking the absolute value of the result.

[0038] The difference in pressure recovery rate of the second perturbation level under different execution sequences is obtained by subtracting the pressure recovery rate of the second perturbation level in the forward sequence from the pressure recovery rate of the second perturbation level, and taking the absolute value of the result.

[0039] To avoid losing some pressure curve change characteristics due to comparing pressure recovery rates alone, the main controller calculates the pressure change trend difference based on the positive-sequence pressure response sequence and the negative-sequence pressure response sequence: the difference in negative pressure amplitude at the corresponding sampling time points in the positive-sequence pressure response sequence and the negative-sequence pressure response sequence of the first perturbation level are obtained respectively, the absolute value of the difference of all sampling points is accumulated, and then divided by the number of sampling points to obtain the average pressure trend difference corresponding to the first perturbation level.

[0040] The difference in negative pressure amplitude at the corresponding sampling time points in the positive and negative pressure response sequences of the second perturbation level is obtained respectively. The absolute values ​​of the differences at all sampling points are accumulated and then divided by the number of sampling points to obtain the average pressure trend difference corresponding to the second perturbation level.

[0041] The main controller then generates a set of response path features describing the degree of adsorption response change under different execution paths, based on the sequential response differences at the first perturbation level, the sequential response differences at the second perturbation level, the pressure trend differences at the first perturbation level, and the pressure trend differences at the second perturbation level. The adsorption interface state is then determined using these response path features. When the pressure recovery rate difference (forward and reverse pressure recovery rates) and the average pressure trend difference corresponding to the same perturbation level are both within the preset range (neither exceeding the corresponding threshold) during the execution of the forward perturbation control sequence and the reverse perturbation control sequence, a stable adsorption state is generated, indicating that the previous pressure perturbation did not change the adsorption interface state and the adsorption interface remains stable.

[0042] When the difference in pressure recovery rate or pressure response sequence corresponding to the same perturbation level exceeds a preset range, it indicates that the previous pressure perturbation changed the adsorption interface state, requiring further determination of the path-dependent adsorption state. The process involves: averaging the pressure recovery rate differences corresponding to the first and second perturbation levels, averaging the average pressure trend differences corresponding to the first and second perturbation levels, normalizing the two averages (which can be done by selecting preset thresholds), and then summing them to obtain a response quantity reflecting the overall path dependence. If this response quantity is not less than the corresponding threshold, a path-dependent adsorption state is generated, describing how the pressure perturbation execution sequence changed the adsorption response process, causing a state change in the adsorption interface during the perturbation, requiring adsorption state adjustment. If it is less than the corresponding threshold, a persistent low-sealing adsorption state is generated.

[0043] If the adsorption state is stable, maintain the current adsorption state: keep the micro-inlet valve closed; keep the negative pressure pump stopped; collect the negative pressure amplitude according to the preset sampling period; use the current negative pressure response data as subsequent continuous monitoring data. Maintain the current pressure change rate.

[0044] If the adsorption state is path-dependent, the micro-inlet valve remains closed; forced pressurization is prohibited immediately; a re-verification waiting period begins; after the re-verification waiting period, the main controller re-executes the positive-sequence perturbation control process and the negative-sequence perturbation control process based on the original encoded perturbation parameters, re-acquires the positive-sequence perturbation response data and the negative-sequence perturbation response data, and recalculates the path-dependent response quantity based on the re-acquired positive-sequence perturbation response data to determine whether the adsorption interface continues to exhibit path-dependent changes. If the response quantity is still greater than the corresponding threshold, it can accurately indicate that the issue is not caused by a single fluctuation, but rather by a persistent path dependency at the adsorption interface. This results in a prompt to reinstall the suction cup device, which is then sent to the backend management system to remind personnel to reinstall the suction cup device.

[0045] The re-verification waiting time refers to a preset period of time during which, after detecting a path-dependent adsorption state at the adsorption interface, the main controller closes the micro-inlet valve and stops the negative pressure pump, maintaining the current negative pressure state in the negative pressure chamber and continuously collecting data on the changes in the negative pressure amplitude. During the re-verification waiting time, the main controller determines whether the current adsorption state has stabilized based on the rate of change of the negative pressure amplitude; when the rate of change of the negative pressure amplitude is lower than a preset threshold, it indicates that the pressure at the adsorption interface has stabilized.

[0046] If the suction cup remains in a low-seal adsorption state, the main controller generates a low-seal adsorption adjustment result: close the micro-intake valve; start the negative pressure pump; restore the negative pressure chamber to the target negative pressure amplitude; stop the negative pressure pump; and re-execute the baseline holding pressure detection. The negative pressure compensation recovery time is obtained by subtracting the negative pressure pump start time from the time it takes for the negative pressure amplitude to recover to the target negative pressure amplitude. If this recovery time is not greater than the threshold time, it indicates that the negative pressure compensation can restore the adsorption state and continue adsorption. Conversely, if it is greater, it indicates that the negative pressure compensation cannot quickly restore the negative pressure state, and there is continuous leakage at the adsorption interface. The main controller then generates a reinstallation prompt. The suction cup device then maintains its current adsorption state and waits for the driver to pay the outstanding fees. The driver scans the QR code on the suction cup device to access the payment page provided by the road parking management platform. The road parking management platform queries the outstanding fee record based on the target vehicle identifier corresponding to the suction cup device and displays the outstanding amount, outstanding time, and outstanding fee record information. After the driver completes the payment, the road parking management platform verifies the payment order and generates payment verification information. The road parking management platform sends the payment verification information to the corresponding suction cup device. The main controller receives the payment verification information and verifies it. Once the verification is successful, the main controller controls the micro-intake valve to open, allowing outside air to enter the negative pressure chamber. The pressure inside the negative pressure chamber gradually recovers, and the pressure difference between the suction cup body and the vehicle glass surface decreases. When the negative pressure amplitude decreases to the unlocking threshold, the suction cup device releases its adsorption state.

[0047] This invention acquires pressure change data during the negative pressure establishment and maintenance processes, generating benchmark adsorption response data including the benchmark negative pressure establishment time, benchmark maintenance pressure change rate, and benchmark maintenance end negative pressure amplitude. This allows the main controller to obtain the pressure change characteristics corresponding to the current suction cup adsorption state before performing pressure disturbance detection, avoiding the use of fixed pressure disturbance parameters for detection without considering the current adsorption state, thereby improving the matching between the subsequent pressure disturbance process and the current adsorption state. Based on the benchmark adsorption response data, a maximum permissible micro-disturbance pressure is generated, and a first micro-disturbance pressure and a second micro-disturbance pressure are generated based on the maximum permissible micro-disturbance pressure. By limiting the micro-disturbance pressure to not exceed the maximum permissible micro-disturbance pressure, excessive negative pressure changes during pressure disturbance are avoided, preventing further damage to the adsorption state. Simultaneously, the first and second micro-disturbance pressures are used to form different levels of pressure disturbance, enabling the pressure response process to include adsorption interface change information under different levels of disturbance.

[0048] The main controller executes both forward-sequence perturbation control and reverse-sequence perturbation control processes. The forward-sequence perturbation control process is executed sequentially according to the first and second perturbation pressure values, while the reverse-sequence perturbation control process is executed sequentially according to the second and first perturbation pressure values. This ensures that the first and second perturbation levels are under different historical pressure perturbation conditions. By collecting the forward-sequence pressure response sequences corresponding to the first and second perturbation levels, the forward-sequence pressure response sequences corresponding to the second and third perturbation levels, the reverse-sequence pressure response sequences corresponding to the first and second perturbation levels, and the reverse-sequence pressure response sequences corresponding to the second perturbation level, the pressure response changes of the same perturbation level in different execution processes can be obtained, rather than judging the adsorption state solely based on a single pressure change result. Based on the positive-order and negative-order pressure response sequences corresponding to different perturbation levels, a set of response path features is generated, including the sequential response difference of the first perturbation level, the sequential response difference of the second perturbation level, the pressure trend difference of the first perturbation level, and the pressure trend difference of the second perturbation level. A path-dependent response quantity is then generated based on the set of response path features. Since the path-dependent response quantity considers both the pressure recovery speed change and the pressure response trend change under different execution processes, it can identify the response differences under different pressure perturbation paths caused by changes in the adsorption interface state. This avoids the problem in existing technologies where the adsorption state cannot be distinguished between instantaneous pressure fluctuations and changes in the adsorption interface state when judging the adsorption state based solely on changes in negative pressure amplitude or the rate of a single pressure drop.

[0049] After confirming the existence of a path-dependent adsorption state, a re-verification waiting period is initiated, and the positive-sequence perturbation control process and the negative-sequence perturbation control process are executed again. The path-dependent response quantity is recalculated based on the newly obtained pressure response sequence, allowing the detection process to further confirm the initial detection results. This reduces the possibility of misjudgments caused by changes in external environmental pressure, instantaneous disturbances, or sampling fluctuations, thereby improving the accuracy of the suction cup device's state judgment. In summary, this invention achieves proactive detection of changes in the suction cup adsorption interface state by acquiring baseline adsorption response data, generating perturbation parameters of different levels, combining positive-sequence and negative-sequence perturbation control processes, generating response path feature sets, and judging path-dependent response quantities. Compared to methods that only detect the negative pressure holding state, this invention can more accurately identify the trend of adsorption state changes, improving the adsorption stability and operational reliability of intelligent suction cup devices in the process of collecting overdue parking fees.

[0050] Furthermore, if the aforementioned function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0051] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0052] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, computer-readable media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0053] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0054] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention; those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions described in the foregoing embodiments without causing the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A road parking fee collection system using an intelligent linkage electric suction cup, characterized in that, It includes an intelligent suction cup device, a main controller, an air pressure sensor, a micro-intake valve, and a negative pressure pump. The main controller controls the suction cup device to adhere to the glass surface of the target vehicle based on the overdue payment confirmation information, and controls the negative pressure pump to establish a negative pressure adsorption state. The air pressure sensor collects the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber. The main controller determines the negative pressure amplitude based on the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber, and generates benchmark adsorption response data based on the negative pressure establishment process and the negative pressure maintenance process. The main controller generates the maximum permissible perturbation pressure based on the reference adsorption response data, and generates the first perturbation pressure and the second perturbation pressure based on the maximum permissible perturbation pressure. The main controller controls the micro-intake valve and the negative pressure pump to perform positive-sequence perturbation control process and negative-sequence perturbation control process. The positive-sequence perturbation control process is executed in sequence according to the first perturbation pressure and the second perturbation pressure, and the negative-sequence perturbation control process is executed in sequence according to the second perturbation pressure and the first perturbation pressure. The main controller generates a response path feature set based on the positive-sequence pressure response sequence corresponding to the first perturbation level, the positive-sequence pressure response sequence corresponding to the second perturbation level, the negative-sequence pressure response sequence corresponding to the first perturbation level, and the negative-sequence pressure response sequence corresponding to the second perturbation level, and determines the path-dependent adsorption state based on the response path feature set.

2. The system according to claim 1, characterized in that, The benchmark adsorption response data includes the benchmark negative pressure establishment time, the benchmark holding pressure change rate, and the benchmark holding end negative pressure amplitude. The main controller closes the micro-intake valve and starts the negative pressure pump. The air pressure sensor collects the absolute pressure of the external environment and the absolute pressure of the negative pressure chamber according to the preset pressure sampling cycle. The main controller subtracts the absolute pressure of the negative pressure chamber from the absolute pressure of the external environment at the same pressure sampling time to obtain the negative pressure amplitude. When the negative pressure amplitude reaches the target negative pressure amplitude after a preset number of consecutive samplings, the main controller records the time it takes to reach the target negative pressure amplitude and subtracts the negative pressure pump start-up time from the time it takes to reach the target negative pressure amplitude to obtain the reference negative pressure establishment time.

3. The system according to claim 2, characterized in that, The method for determining the rate of change of the reference holding pressure is as follows: After the negative pressure pump stops, the main controller enters a reference holding period and keeps the micro-intake valve closed. The pressure sensor continuously collects the negative pressure amplitude during the reference holding period. The main controller obtains the negative pressure amplitude at the beginning and end of the reference holding period. It subtracts the negative pressure amplitude at the end of the reference holding period from the negative pressure amplitude at the beginning to obtain the pressure change. The main controller divides the pressure change by the length of the reference holding period to obtain the reference holding pressure change rate.

4. The system according to claim 1, characterized in that, The maximum permissible perturbation pressure is obtained in the following way: The main controller acquires the target negative pressure amplitude and the safe maintenance negative pressure amplitude; The main controller subtracts the safe maintenance negative pressure amplitude from the target negative pressure amplitude to obtain the maximum allowable perturbation pressure. The negative pressure amplitude is maintained safely based on statistical data of historical successful adsorption. The main controller sets a first perturbation pressure and a second perturbation pressure based on the maximum permissible perturbation pressure, wherein the second perturbation pressure is greater than the first perturbation pressure.

5. The system according to claim 1, characterized in that, The positive-sequence perturbation control process is as follows: The main controller opens the micro-intake valve, allowing outside air to enter the negative pressure chamber and reducing the negative pressure amplitude. When the current negative pressure reduction obtained by subtracting the negative pressure amplitude at the current pressure sampling time from the target negative pressure amplitude reaches the first perturbation pressure, the first perturbation level execution is completed. The main controller closes the micro-intake valve and starts the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude. After recovery, the main controller collects the positive-sequence pressure response sequence corresponding to the first perturbation level according to the duration of the perturbation hold phase.

6. The system according to claim 5, characterized in that, It also includes the main controller continuing to control the micro-intake valve to open, so that the negative pressure amplitude decreases to the second micro-perturbation pressure. After completing the second perturbation level, the main controller controls the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude; The main controller collects the positive-sequence pressure response sequence corresponding to the second perturbation level according to the duration of the perturbation hold phase.

7. The system according to claim 1, characterized in that, The reverse perturbation control process includes: The main controller controls the micro-intake valve to open, so that the negative pressure amplitude decreases to the second micro-perturbation pressure. After completing the second perturbation level, the main controller controls the negative pressure pump to restore the negative pressure chamber to the target negative pressure amplitude; The main controller collects the reverse-order pressure response sequence corresponding to the second perturbation level according to the duration of the perturbation holding phase. After completing the second perturbation level, the main controller continues to execute the first perturbation level and collects the reverse pressure response sequence corresponding to the first perturbation level.

8. The system according to claim 5, characterized in that, This also includes calculating the corresponding pressure recovery rate based on the positive-sequence pressure response sequence: The main controller acquires the negative voltage amplitude at the start of the perturbation hold phase and the negative voltage amplitude at the end of the perturbation hold phase; The main controller compares the negative pressure amplitude at the beginning of the perturbation holding phase with the negative pressure amplitude at the end of the perturbation holding phase to obtain the pressure change. The main controller obtains the pressure recovery rate based on the pressure change and the duration of the perturbation holding phase.

9. The system according to claim 1, characterized in that, The method for determining the response path feature set is as follows: The main controller compares the positive-sequence pressure recovery rate corresponding to the first perturbation level with the negative-sequence pressure recovery rate corresponding to the first perturbation level to obtain the sequential response difference of the first perturbation level. The main controller compares the positive-sequence pressure recovery rate corresponding to the second perturbation level with the negative-sequence pressure recovery rate corresponding to the second perturbation level to obtain the sequential response difference of the second perturbation level. The main controller compares the positive-sequence pressure response sequence corresponding to the first perturbation level and the negative-sequence pressure response sequence corresponding to the first perturbation level, as well as the positive-sequence pressure response sequence corresponding to the second perturbation level and the negative-sequence pressure response sequence corresponding to the second perturbation level, to obtain the pressure trend difference of the first perturbation level and the pressure trend difference of the second perturbation level. The main controller generates the response path feature set based on the sequential response differences of the first perturbation level, the sequential response differences of the second perturbation level, the pressure trend differences of the first perturbation level, and the pressure trend differences of the second perturbation level.

10. The system according to claim 1, characterized in that, The method for determining path-dependent response quantities is as follows: The average pressure recovery rate difference is obtained by averaging the sequential response differences of the first perturbation level and the sequential response differences of the second perturbation level. The average pressure trend difference is obtained by averaging the pressure trend differences of the first perturbation level and the pressure trend differences of the second perturbation level. The differences in mean pressure recovery rate and mean pressure trend were normalized separately, and the normalized results were summed to obtain the path-dependent response. When the path-dependent response quantity reaches a preset threshold, it is determined that a path-dependent adsorption state exists, and a re-verification waiting time is initiated. After the re-verification waiting time ends, the main controller re-executes the positive-sequence perturbation control process and the negative-sequence perturbation control process, recalculates the path-dependent response quantity based on the newly obtained pressure response sequence, and generates a suction cup device installation prompt based on the verification results.

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