V2X device reuse system and V2X device distribution and retrieval system for closed road sections

Abstract

This utility model provides a V2X device reuse system and a V2X device reuse, distribution, and retrieval system for closed road sections. The V2X device reuse system includes: a V2X vehicle-mounted terminal device, a robotic arm, and a robotic arm control system. The V2X vehicle-mounted terminal device includes a housing, a built-in V2X communication module, a built-in battery, and an antenna system. The bottom surface of the housing has an adsorption element. The end of the robotic arm has a robotic hand, which includes a telescopic mechanism and a gripping mechanism. The robotic arm control system is configured to control the robotic hand to pick up and grip the V2X vehicle-mounted terminal device and attach it to and / or remove the attached V2X vehicle-mounted terminal device from the target vehicle.

Description

Technical Field

[0001] This utility model relates to the field of V2X (Vehicle-to-Everything) technology, specifically to a V2X equipment reuse system and a V2X equipment distribution and retrieval system for closed road sections. Background Technology

[0002] V2X (Vehicle-to-Everything) technology is a wireless communication technology designed to enable real-time communication between vehicles and various entities in their surrounding environment, including other vehicles, infrastructure, pedestrians, and networks. This technology significantly improves road safety, traffic efficiency, and energy management by providing comprehensive environmental perception capabilities, making it a crucial support for intelligent transportation systems and autonomous driving technologies. However, as a relatively new technology, V2X currently has a low penetration rate in pre-installed mass production, failing to fully realize its value and benefits. Therefore, there is a need for a V2X device application solution with lower costs and higher efficiency to better leverage the technological advantages of V2X. Utility Model Content

[0003] In view of the above, embodiments of this utility model provide a V2X device reuse system and a V2X device distribution and retrieval system for closed road sections. Using this V2X device reuse system and the V2X device distribution and retrieval system for closed road sections, a robotic arm control system can control the robotic arm's end-effector to grasp V2X vehicle-mounted terminal devices with adsorption elements, thereby performing operations to adsorb the V2X vehicle-mounted terminal devices onto and / or remove the adsorbed V2X vehicle-mounted terminal devices from the target vehicle. This achieves automatic distribution and retrieval of aftermarket V2X devices, helping to increase the penetration rate of V2X technology in specified scenarios (such as closed roads, highways, etc.), thereby improving road safety.

[0004] According to one aspect of an embodiment of the present invention, a V2X device multiplexing system is provided, comprising: a V2X vehicle-mounted terminal device, a robotic arm, and a robotic arm control system. The V2X vehicle-mounted terminal device includes a housing, a built-in V2X communication module, a built-in battery, and an antenna system. The bottom surface of the housing has an adsorption element. The end of the robotic arm has a robotic hand, which includes a telescopic mechanism and a picking mechanism. The robotic arm control system is configured to control the robotic hand to pick up the V2X vehicle-mounted terminal device and adsorb the V2X vehicle-mounted terminal device onto a target vehicle via the adsorption element and / or remove the adsorbed V2X vehicle-mounted terminal device from the target vehicle.

[0005] In some examples, the pickup mechanism includes a contact element located in the vacuum adsorption circuit, the contact element being used to adsorb the V2X vehicle terminal device after the vacuum pump or vacuum generator is started.

[0006] In some examples, the top surface of the housing has a pickup portion that cooperates with the pickup mechanism.

[0007] In some examples, the pickup part includes a handle and / or a card slot.

[0008] In some examples, the robotic arm further includes an adsorption removal unit, and the robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle terminal device and control the adsorption removal unit to remove the adsorption element of the V2X vehicle terminal device from the target vehicle.

[0009] In some examples, the robotic arm is also equipped with a camera, and the robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle terminal device based on the image transmitted by the camera and attach the V2X vehicle terminal device to a designated position on the windshield of the target vehicle or remove the attached V2X vehicle terminal device from the target vehicle.

[0010] In some examples, the V2X vehicle terminal device further includes a positioning module, a motion measurement module, and warning lights mounted on the bottom and / or sides of the housing. The V2X vehicle terminal device is configured to control the activation and deactivation of the warning lights based on information received by the built-in V2X communication module, the positioning result of the positioning module, and / or the measurement result of the motion measurement module.

[0011] In some examples, the V2X device multiplexing system also includes a V2X vehicle terminal device storage cabinet with multiple compartments, each compartment being equipped with a charging device for charging the V2X vehicle terminal device.

[0012] In some examples, the robotic arm control system is further configured to: control the robotic arm to remove the V2X vehicle terminal device from the slot of the V2X vehicle terminal device storage cabinet and attach the removed V2X vehicle terminal device to the target vehicle; and / or control the robotic arm to remove the attached V2X vehicle terminal device from the target vehicle and return the removed V2X vehicle terminal device to the slot of the V2X vehicle terminal device storage cabinet.

[0013] According to another aspect of the present invention, a V2X device distribution and retrieval system for closed road sections is provided, comprising: a cloud device, a vehicle access control system and a V2X device reuse system as described above, both installed at the entrance and exit of the closed road section. The vehicle access control system includes a vehicle identification system and a barrier gate system. The vehicle access control system is configured to control the barrier gate system to intercept or allow vehicles to pass based on vehicle information identified by the vehicle identification system. The cloud device is configured to send control commands to the robotic arm control system of the target V2X reuse system, so that when a target vehicle is intercepted by the corresponding barrier gate system, the robotic arm control system of the target V2X reuse system controls the robotic arm to pick up the target V2X vehicle-mounted terminal device according to the control commands and attach the target V2X vehicle-mounted terminal device to the target vehicle and / or remove the attached target V2X vehicle-mounted terminal device from the target vehicle.

[0014] It should be understood that one or more of the above aspects include the features specifically pointed out in the following detailed description and claims. Certain illustrative features of the one or more aspects are set forth in detail in the following specification and drawings. These features merely indicate various ways in which the principles of each aspect can be implemented, and this disclosure is intended to include all such aspects and their equivalents. Attached Figure Description

[0015] A further understanding of the nature and advantages of this specification can be achieved by referring to the following figures. In the figures, similar components or features may have the same reference numerals.

[0016] Figure 1 A schematic diagram of an example of a V2X device multiplexing system according to an embodiment of this specification is shown.

[0017] Figure 2 A schematic diagram of an example robotic arm in a V2X device multiplexing system according to an embodiment of this specification is shown.

[0018] Figure 3A , 3B Figure 3C shows a schematic diagram of an example of the top surface of the housing of a V2X vehicle terminal device in a V2X device multiplexing system according to an embodiment of this specification.

[0019] Figure 4 A schematic diagram of yet another example of a V2X device multiplexing system according to an embodiment of this specification is shown.

[0020] Figure 5 A schematic diagram of another example of a V2X device multiplexing system according to an embodiment of this specification is shown.

[0021] Figure 6 A schematic diagram of yet another example of a V2X vehicle-mounted terminal device in a V2X device multiplexing system according to an embodiment of this specification is shown.

[0022] Figure 7 A schematic diagram illustrating an example application scenario of a V2X device multiplexing system according to an embodiment of this specification is shown.

[0023] Figure 8 A schematic diagram of an example of a V2X device distribution and recovery system for a closed road section is shown according to an embodiment of this specification. Detailed Implementation

[0024] The subject matter described herein will be discussed below with reference to exemplary embodiments. It should be understood that these embodiments are discussed merely to enable those skilled in the art to better understand and implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. The function and arrangement of the elements discussed may be changed without departing from the scope of the embodiments described herein. Various processes or components may be omitted, substituted, or added as needed in the various examples. Furthermore, features described in some examples may be combined in other examples.

[0025] As used herein, the term "comprising" and its variations are open terms meaning "including but not limited to". The term "based on" means "at least partially based on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other definitions, whether explicit or implicit, may be included below. Unless explicitly indicated by the context, the definition of a term shall remain consistent throughout the specification.

[0026] The following description, in conjunction with the accompanying drawings, details a V2X device reuse system and a V2X device distribution and retrieval system for closed road sections according to embodiments of this specification.

[0027] Figure 1 A schematic diagram of an example of a V2X device multiplexing system 100 according to an embodiment of this specification is shown.

[0028] like Figure 1As shown, the V2X device multiplexing system 100 may include a V2X vehicle-mounted terminal device 110, a robotic arm 120, and a robotic arm control system 140. The V2X vehicle-mounted terminal device 110 may include a housing 111 and an adsorption element 112 mounted on the bottom surface of the housing 111. The built-in V2X communication module, built-in battery, and antenna system of the V2X vehicle-mounted terminal device may be encapsulated within the housing 111. In some examples, the built-in V2X communication module and antenna system may be used to implement V2X functionality, such as communicating with other vehicles, infrastructure, networks, etc. In some examples, the built-in V2X communication module may include a CPU (Central Processing Unit) and a DSP (Digital Signal Processor) module for real-time data processing. In some examples, the built-in V2X communication module may also integrate a programmable radio frequency front-end (RFFE) to support dynamic frequency selection (DFS) and beamforming technologies. In some examples, the antenna system may employ pluggable antenna modules, such as, but not limited to, at least one of the following: an omnidirectional communication antenna, or a dual-polarized GNSS (Global Navigation Satellite System) antenna. In some examples, the antenna system may also include an expansion port with reserved slots for 5G NR MIMO (Multiple Input Multiple Output) antennas, for example, through a PCIe (Peripheral Component Interconnect Express) Gen3 interface for flexible expansion. In some examples, the built-in battery may include a rechargeable battery. In some examples, the built-in battery may support wireless charging. In some examples, the built-in battery may also have a wired charging interface (e.g., USB Type-C).

[0029] The end effector of the robotic arm 120 may have a robotic hand 130. The robotic hand 130 may include a telescopic mechanism 131 and a picking mechanism 132. In some examples, the telescopic mechanism 131 may include various structures capable of telescoping to facilitate the picking mechanism 132's approach to the target object. In some examples, the telescopic mechanism 131 may be based on a lead screw or hydraulic mechanism, etc. In some examples, the picking mechanism 132 may include various structures capable of picking up the target object. In some examples, the picking mechanism 132 may be a gripping structure (e.g., various grippers), such as a three-finger or multi-finger electro-actuator. Optionally, the independent joints of the three-finger or multi-finger electro-actuator may be driven by a servo motor. Optionally, the fingertips of the three-finger or multi-finger electro-actuator may be equipped with silicone anti-slip pads. Optionally, the picking mechanism 132 may be equipped with a capacitive tactile sensor array to provide feedback to the controller 140. In some examples, the robotic arm 120 may also have a base. In some examples, the base may be placed on the ground. In some examples, the base can also be mounted on a designated fixed surface.

[0030] The robotic arm control system 140 can be configured to control the robotic arm 130 to pick up the V2X vehicle-to-everything (V2X) terminal device 110 and attach it to and / or remove it from the target vehicle. In some examples, the robotic arm control system 140 can generate corresponding control signals based on received data from sensors and external commands, combined with preset algorithms such as PID (proportional-integral-derivative) control, fuzzy control, neural network control, or internal model control (IMC), thereby driving the robotic arm's motor to move, enabling the robotic arm 130 to pick up the V2X terminal device 110 and attach it to and / or remove it from the target vehicle. In some examples, the robotic arm control system 140 may include a processor, a communication module, a sensor interface, and a drive module. The processor is used to receive input signals, process data, and generate corresponding control signals. The processor can include, for example, a high-performance microcontroller, a single-chip microcomputer, or an industrial-grade processor. The communication module is used for data exchange with sensors, drivers, and other external devices. For example, pulse width modulation (PWM) output can be used to control servos, and UART (universal asynchronous receiver-transmitter) or IIC (Inter-Integrated Circuit) interfaces can be used for Bluetooth communication. The sensor interface can be used to connect various sensors (such as position sensors, torque sensors, vision sensors, etc.) to monitor the robotic arm's status in real time. The drive module can be used to convert control signals into actual movements of the robotic arm joints, such as driving joint movement through servo motors or stepper motors.

[0031] In this way, the robotic arm control system can control the robotic arm's end cap to grasp the V2X vehicle-mounted terminal device with adsorption elements, and then perform operations to adsorb the V2X vehicle-mounted terminal device onto the target vehicle and / or remove the adsorbed V2X vehicle-mounted terminal device from the target vehicle. This realizes the automatic distribution and retrieval of aftermarket V2X devices, which helps to increase the penetration rate of V2X technology in specified scenarios (such as closed roads, highways, etc.) and thus improve road safety.

[0032] Figure 2 A schematic diagram of an example of a robotic arm 120 in a V2X device multiplexing system according to an embodiment of this specification is shown.

[0033] like Figure 2 As shown, the picking mechanism of the robotic arm 120 in the V2X device reuse system may include a contact element 132 located in the vacuum adsorption loop. The contact element 132 can be used to adsorb the V2X vehicle-mounted terminal device 110 after the vacuum pump or vacuum generator is started. The vacuum adsorption loop is a system that uses vacuum technology to adsorb and release target objects. Its core principle is to create a pressure difference between the contact element and the target object by using a device capable of generating negative pressure, such as a vacuum pump or vacuum generator, thereby adsorbing and fixing the target object in a designated position. When it is necessary to release the target object, the adsorption state can be released by shutting down the vacuum system or adjusting the vacuum level, allowing the target object to detach. In some examples, a vent pipe can connect the vacuum pump or vacuum generator and the contact element, thereby creating negative pressure at the contact element after the vacuum pump or vacuum generator is started. In some examples, the contact element 132 can be a suction cup or suction cup array connected to the vacuum generator via a vent pipe. Optionally, the suction cup can be made of flexible silicone. Optionally, a piezoelectric sensor can be integrated into the bottom of the suction cup to monitor the vacuum level in real time, thereby controlling the vacuum pump or vacuum generator to adjust the vacuum level in a timely manner to compensate for changes in adsorption force caused by leakage or changes in surface roughness.

[0034] The above methods enable the robotic arm's picking mechanism to have wider adaptability and better economy, and can significantly reduce damage to V2X vehicle-mounted terminal equipment during operation.

[0035] Figure 3A , 3B Figure 3C shows a schematic diagram of an example of the top surface of the housing of a V2X vehicle terminal device in a V2X device multiplexing system according to an embodiment of this specification.

[0036] The top surface of the housing 111 of the V2X vehicle-mounted terminal device 110 in the V2X device multiplexing system may have a pickup portion 113 that cooperates with the pickup mechanism 132. In this embodiment, the structures of the pickup portion 113 and the pickup mechanism 132 can cooperate with each other, thereby facilitating the pickup portion 113 to be picked up by the pickup mechanism 132. In some examples, the pickup portion 113 may include a handle and / or a slot. In some examples, the pickup portion 113 may have a specific shape to facilitate pickup by the pickup mechanism 132. For example, when the pickup mechanism 132 is a finger clip type, the handle may be an "I"-shaped handle that is wider at the top and bottom and narrower in the middle (e.g., ...). Figure 3A As shown), ring handle (such as) Figure 3B (as shown). For example, when the pickup mechanism 132 is a contact element (e.g., a cylinder) located in the vacuum adsorption circuit, the handle can be a cylinder whose diameter matches the inner diameter of the cylinder (e.g., ...). Figure 3C(As shown), so that the cylinder can fit snugly onto the barrel. In some examples, when the pickup mechanism 132 is a clamping type, the pickup portion 113 can be a slot. The opening size and internal structural shape of the slot (such as grooves or protrusions for positioning) match the end of the clamping pickup mechanism 132. In some examples, the slot may also have an anti-drop design.

[0037] It is understandable that the specific structure of the pickup unit 113 is not limited to... Figure 3A , 3B 3C

[0038] The above methods can improve the efficiency and stability of V2X vehicle-mounted terminal equipment being picked up.

[0039] Figure 4 A schematic diagram of the structure of yet another example of a V2X device multiplexing system 100 according to an embodiment of this specification is shown.

[0040] like Figure 4 As shown, the robotic arm 130 in the V2X device reuse system 100 may also include a suction removal unit 133. The suction removal unit 133 can be used to directly remove or assist in removing the suction element of the V2X vehicle terminal device from the target vehicle. In some examples, the suction removal unit 133 may include a pry bar, a flat shovel, etc.

[0041] The robotic arm control system 140 can be further configured to control the robotic arm 130 to pick up the V2X vehicle-mounted terminal device 110 and control the adsorption removal unit 133 to remove the adsorption element 112 of the V2X vehicle-mounted terminal device 110 from the target vehicle. In some examples, the robotic arm control system 140 can control the robotic arm 130 to pick up the V2X vehicle-mounted terminal device 110 and control the adsorption removal unit 133 to pry open the edge of the adsorption element 112 of the V2X vehicle-mounted terminal device 110, thereby releasing the adsorption element 112 from the target vehicle.

[0042] It should be noted that the specific structures of the V2X vehicle-mounted terminal device 110, robotic arm 120, robotic hand 130, and robotic arm control system 140 can be referred to the aforementioned [reference needed]. Figures 1-3C The corresponding descriptions in the embodiments will not be repeated here.

[0043] The above methods can improve the efficiency and success rate of removing V2X vehicle-mounted terminal equipment from the target vehicle.

[0044] Figure 5 A schematic diagram of another example of a V2X device multiplexing system 100 according to an embodiment of this specification is shown.

[0045] like Figure 5As shown, a camera 134 can also be installed on the robotic arm 130 in the V2X device multiplexing system 100. In this embodiment, the camera 134 can form an "eye-on-hand" configuration with the robotic arm. In some examples, the robotic arm control system 140 can determine the location of the V2X vehicle terminal device 110 based on the image transmitted by the camera 134 and control the robotic arm 130 to pick up the V2X vehicle terminal device 110. It can also identify the windshield of the target vehicle based on the image transmitted by the camera 134, and then determine the device adsorption position (e.g., a position on the windshield on the driver's side that does not obstruct the driver's view), and adsorb the V2X vehicle terminal device 110 onto the designated position on the windshield of the target vehicle; or it can determine the position of the V2X vehicle terminal device adsorbed on the target vehicle based on the image transmitted by the camera 134 and control the robotic arm 130 to remove the adsorbed V2X vehicle terminal device.

[0046] In some examples, the V2X vehicle terminal device 110 may have more than one pick-up unit 113, such as two handles. Correspondingly, the number of telescopic mechanisms 131 and pick-up mechanisms 132 of the robotic arm 130 may match the number of pick-up units 113, for example, two sets of telescopic mechanisms 131 and pick-up mechanisms 132. In some examples, there may also be more than one adsorption removal unit 133, for example, they may be arranged opposite each other to facilitate prying up the adsorption element 112 of the V2X vehicle terminal device 110 from different directions. In some examples, the robotic arm 100 may also have other auxiliary structures, such as connection structures for connecting multiple telescopic mechanisms 131 and adsorption removal units 133.

[0047] It should be noted that the specific structures of the V2X vehicle-mounted terminal device 110, robotic arm 120, robotic hand 130, and robotic arm control system 140 can be referred to the aforementioned [reference needed]. Figures 1-4 The corresponding descriptions in the embodiments will not be repeated here.

[0048] The above methods enable more accurate and efficient automatic distribution and retrieval of V2X vehicle-mounted terminal equipment.

[0049] Figure 6 A schematic diagram of yet another example of a V2X vehicle-mounted terminal device in a V2X device multiplexing system according to an embodiment of this specification is shown.

[0050] like Figure 6As shown, the V2X vehicle-mounted terminal device 110 in the V2X device multiplexing system 100 may further include a positioning module, a motion measurement module, and warning lights mounted on the bottom and / or sides of the housing. In some examples, the positioning module can be used to achieve high-precision vehicle positioning. In some examples, the motion measurement module can be used to collect vehicle dynamic data such as vehicle speed and acceleration. For example, the motion measurement module may include a three-axis (XYZ) accelerometer, a three-axis (XYZ) gyroscope, and an IMU (Inertial Measurement Unit) module. In some examples, the warning lights 114 may be mounted on the bottom and / or sides of the housing 111 of the V2X vehicle-mounted terminal device 110 so that after the V2X vehicle-mounted terminal device 110 is attached to the target vehicle, the warning lights can alert the driver of the target vehicle to road conditions. In some examples, warning lights can be positioned on the bottom surface of the housing 111 of the V2X vehicle terminal device 110, for example, they can be arranged in the form of an LED array on both sides of the adsorption element 112 (e.g., a suction cup). Figure 6 (As shown). In some examples, the two light arrays can each use different colors. It is understood that the arrangement and color settings of the warning lights can also be other ways. In some examples, the top surface of the housing 111 of the V2X vehicle terminal device 110 can be provided with a slot. It is understood that the slot can also be other shapes or can be replaced with a handle.

[0051] The V2X vehicle-mounted terminal device 110 can be configured to control the activation and deactivation of warning lights based on information received by the built-in V2X communication module, the positioning results of the positioning module, and / or the measurement results of the motion measurement module. In some examples, when other vehicles equipped with V2X functionality exhibit dangerous behaviors such as emergency braking, abnormal vehicle trajectory, vehicle skidding, loss of control, slow driving, vehicle malfunction, accident vehicles, special vehicle construction, or parking in blind spots, information can be broadcast based on V2X technology to alert other vehicles. The V2X vehicle-mounted terminal device 110 can receive the aforementioned information from V2X devices or roadside facilities on other vehicles through its built-in V2X communication module. It can then determine the urgency of the adverse impact of the dangerous behavior indicated by the information on its own vehicle based on the positioning results determined by the positioning module and / or the measurement results determined by the motion measurement module. If an urgency is determined, it can control the warning lights to activate or flash; if the danger is determined to be over, it can deactivate the warning lights.

[0052] By using the above methods, warning lights can be used to remind drivers to take measures in advance when necessary, thereby better leveraging the role of V2X vehicle terminal equipment and improving driving safety.

[0053] Figure 7A schematic diagram illustrating an example of an application scenario 700 of a V2X device multiplexing system according to an embodiment of this specification is shown.

[0054] like Figure 7 As shown, the V2X device multiplexing system 100 may further include a V2X vehicle-mounted terminal device storage cabinet 150. The V2X vehicle-mounted terminal device storage cabinet 150 may have multiple compartments. Each compartment may be equipped with a charging device for charging the V2X vehicle-mounted terminal device 110. In some examples, the charging device for charging the V2X vehicle-mounted terminal device 110 may be a wired charging device with a socket or a wireless charging device. In some examples, the V2X vehicle-mounted terminal device storage cabinet 150 may also be equipped with a storage cabinet management device, which can be used to control the opening and closing of each compartment and monitor the status of each compartment (e.g., whether a particular compartment contains a V2X vehicle-mounted terminal device).

[0055] It should be noted that the specific structures of the V2X vehicle-mounted terminal device 110, robotic arm 120, robotic hand 130, and robotic arm control system 140 can be referred to the aforementioned [reference needed]. Figures 1-6 The corresponding descriptions in the embodiments will not be repeated here.

[0056] In some implementations, the robotic arm control system 140 may be further configured to: control the robotic arm 130 to remove the V2X vehicle-mounted terminal device 110 from the slot of the V2X vehicle-mounted terminal device storage cabinet 150 and attach the removed V2X vehicle-mounted terminal device 110 to the target vehicle 200; and / or control the robotic arm 130 to remove the attached V2X vehicle-mounted terminal device 110 from the target vehicle 200 and return the removed V2X vehicle-mounted terminal device 110 to the slot of the V2X vehicle-mounted terminal device storage cabinet 150.

[0057] In some examples, the robotic arm control system 140 can interact with the storage cabinet management device to determine the first target slot where the V2X vehicle terminal device 110 to be retrieved is located. Then, through a control algorithm, it controls the robotic arm 130 to retrieve the V2X vehicle terminal device 110 from the first target slot of the V2X vehicle terminal device storage cabinet 150. The retrieved V2X vehicle terminal device 110 is then attached to a designated location on the target vehicle 200. In some examples, the designated location can be a position on the windshield that does not obstruct the driver's view. For example, near the upper side of the windshield, above the passenger's eye level. In some examples, the robotic arm control system 140 can use a control algorithm to control the robotic arm 130 to remove the adsorbed V2X vehicle terminal device 110 from the target vehicle 200, and determine the second target slot to which the removed V2X vehicle terminal device 110 should be placed by interacting with the storage cabinet management device. Then, the control algorithm can control the robotic arm 130 to place the removed V2X vehicle terminal device 110 back into the second target slot of the V2X vehicle terminal device storage cabinet 150.

[0058] The above methods have enabled full automation of the storage, distribution, installation / unloading and recycling of V2X vehicle-mounted terminal equipment, significantly improving the utilization rate of aftermarket V2X equipment and giving fuller play to the advantages of V2X technology to enhance road safety.

[0059] Figure 8 A schematic diagram of an example of a V2X device distribution and recovery system 800 for a closed road section, according to an embodiment of this specification, is shown.

[0060] like Figure 8 As shown, the V2X device distribution and retrieval system 800 for closed road sections may include: a V2X device reuse system 100 and a vehicle access control system 300 installed at the entrances and exits of the closed road section, as well as a cloud device 400. In some examples, the closed road section may include highways, urban expressways, etc.

[0061] The vehicle access control system 300 can be configured to control a barrier gate system to intercept or allow vehicle 200 to pass based on vehicle information identified by a vehicle identification system. The vehicle access control system 300 may include a license plate recognition system and a barrier gate system. In some examples, the vehicle identification system may be a license plate recognition system based on camera and / or RFID (Radio Frequency Identification) technology. In some examples, the vehicle access control system 300 may also include an Electronic Toll Collection (ETC) system.

[0062] The cloud device 400 can be configured to send control commands to the robotic arm control system of the target V2X device multiplexing system, so that when the target vehicle is intercepted by the corresponding barrier system, the robotic arm control system of the target V2X device multiplexing system controls the robotic arm to pick up the target V2X vehicle terminal device according to the control commands and attach the target V2X vehicle terminal device to the target vehicle and / or remove the attached target V2X vehicle terminal device from the target vehicle.

[0063] In this embodiment, the cloud device 400 can interact with the robotic arm control system of the V2X device multiplexing system via a network. The vehicle access control system 300 can also interact with the robotic arm control system of the V2X device multiplexing system via a network. In some examples, the cloud device 400 can also interact with the vehicle access control system 300 via a network. In some examples, the V2X device distribution and retrieval system 800 for closed road sections may include multiple V2X multiplexing systems. For example, one or more V2X device multiplexing systems 100 and vehicle access control systems 300 can be set at the entrance and exit of the closed road section, respectively. In some examples, the cloud device can issue control commands to the robotic arm control system of a designated V2X device multiplexing system. For example, the control commands can be used to instruct the installation of V2X on-board terminal equipment in a designated vehicle or to instruct the retrieval of V2X on-board terminal equipment from a designated vehicle. In some examples, the cloud device 400 can obtain license plate information and service area information of vehicles subscribed to V2X services from a client. Subsequently, the cloud device 400 can send a control command to the robotic arm control system of the V2X device multiplexing system located at the beginning of the service area (e.g., the entrance to a closed section) to instruct the installation of a V2X vehicle-mounted terminal device on the vehicle indicated by the license plate information. The robotic arm control system of the V2X device multiplexing system at the beginning of the service area can determine whether a vehicle intercepted by the barrier system is the target vehicle through information interaction with the vehicle access control system 300. When it is determined to be the target vehicle, the robotic arm control system can control the robotic arm to pick up the target V2X vehicle-mounted terminal device from the V2X vehicle-mounted terminal device storage cabinet and attach the target V2X vehicle-mounted terminal device to the target vehicle. Similarly, the cloud device 400 can send a control command to the robotic arm control system of the V2X device multiplexing system located at the end of the service area (e.g., the exit of a closed section) to instruct the retrieval of the V2X vehicle-mounted terminal device from the vehicle indicated by the license plate information. The robotic arm control system of the V2X equipment reuse system located at the end of the service section can determine whether a vehicle intercepted by the barrier system is a target vehicle through information interaction with the vehicle access control system 300. When it is determined to be a target vehicle, the robotic arm control system can control the robotic arm to remove the target V2X vehicle-mounted terminal equipment adsorbed from the target vehicle and place it back into the compartment of the V2X vehicle-mounted terminal equipment storage cabinet.

[0064] It should be noted that a detailed description of the V2X device multiplexing system 100 can be found in the aforementioned documentation. Figures 1-7 The relevant descriptions in the embodiments will not be repeated here.

[0065] The above method provides a way for vehicles to temporarily obtain V2X communication capabilities in closed road sections such as highways and urban expressways, thereby giving full play to and demonstrating the advantages of V2X technology and greatly helping to avoid major traffic accidents.

[0066] Embodiments of this disclosure provide a V2X device reuse system and a V2X device distribution and retrieval system for closed road sections. The V2X device reuse system includes: a V2X vehicle-mounted terminal device, a robotic arm, and a robotic arm control system. The V2X vehicle-mounted terminal device includes a housing, a built-in V2X communication module, a built-in battery, and an antenna system. The bottom surface of the housing has an adsorption element. The end of the robotic arm has a robotic hand, which includes a telescopic mechanism and a picking mechanism. The robotic arm control system is configured to control the robotic hand to pick up the V2X vehicle-mounted terminal device and adsorb it onto a target vehicle and / or remove the adsorbed V2X vehicle-mounted terminal device from the target vehicle.

[0067] In one implementation, the pickup mechanism includes a contact element located in the vacuum adsorption circuit, the contact element being used to adsorb the V2X vehicle terminal device after the vacuum pump or vacuum generator is started.

[0068] In one implementation, the top surface of the housing has a pickup portion that cooperates with the pickup mechanism.

[0069] In one implementation, the pickup part includes a handle and / or a slot.

[0070] In one implementation, the robotic arm further includes an adsorption removal unit, and the robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle-mounted terminal device and control the adsorption removal unit to remove the adsorption element of the V2X vehicle-mounted terminal device from the target vehicle.

[0071] In one implementation, the robotic arm is also equipped with a camera, and the robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle terminal device based on the image transmitted by the camera and attach the V2X vehicle terminal device to a designated position on the windshield of the target vehicle or remove the attached V2X vehicle terminal device from the target vehicle.

[0072] In one implementation, the V2X vehicle terminal device further includes a positioning module, a motion measurement module, and an alarm light mounted on the bottom and / or side of the housing. The V2X vehicle terminal device is configured to control the alarm light to turn on and off based on information received by the built-in V2X communication module, the positioning result of the positioning module, and / or the measurement result of the motion measurement module.

[0073] In one implementation, the V2X device multiplexing system further includes a V2X vehicle-mounted terminal equipment storage cabinet, which has multiple compartments, each of which is equipped with a charging device for charging the V2X vehicle-mounted terminal equipment.

[0074] In one implementation, the robotic arm control system is further configured to: control the robotic arm to remove the V2X vehicle-mounted terminal device from the slot of the V2X vehicle-mounted terminal device storage cabinet and attach the removed V2X vehicle-mounted terminal device to the target vehicle; and / or control the robotic arm to remove the attached V2X vehicle-mounted terminal device from the target vehicle and return the removed V2X vehicle-mounted terminal device to the slot of the V2X vehicle-mounted terminal device storage cabinet.

[0075] The embodiments of this disclosure provide a V2X device distribution and retrieval system for closed road sections, comprising: a cloud device, a vehicle access control system installed at the entrance and exit of the closed road section, and a V2X device reuse system as described above. The vehicle access control system includes a vehicle identification system and a barrier gate system. The vehicle access control system is configured to control the barrier gate system to intercept or allow vehicles to pass based on vehicle information identified by the vehicle identification system. The cloud device is configured to send control commands to the robotic arm control system of the target V2X reuse system, so that when the target vehicle is intercepted by the corresponding barrier gate system, the robotic arm control system of the target V2X reuse system controls the robotic arm to pick up the target V2X vehicle-mounted terminal device according to the control commands and attach the target V2X vehicle-mounted terminal device to the target vehicle and / or remove the attached target V2X vehicle-mounted terminal device from the target vehicle.

[0076] The foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. Not all units in the above structural diagrams are necessary; some units may be omitted as needed. The structures described in the above embodiments can be physical or logical structures; that is, some units may be implemented by the same physical entity, or some units may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0077] The term "exemplary" as used throughout this specification means "serving as an example, instance, or illustration" and does not imply that it is "preferred" or "advantageous" over other embodiments. Detailed descriptions are included for the purpose of providing an understanding of the described techniques. However, these techniques may be practiced without these detailed descriptions. In some instances, well-known structures and apparatuses are shown in block diagram form to avoid obscuring the concepts of the described embodiments.

[0078] The optional embodiments of the present specification have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present specification are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present specification, various simple modifications can be made to the technical solutions of the embodiments of the present specification, and these simple modifications all fall within the protection scope of the embodiments of the present specification.

[0079] The foregoing description of this specification is provided to enable any person skilled in the art to implement or use the content of this specification. Various modifications to the content of this specification will be apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of protection of this specification. Therefore, this specification is not limited to the examples and designs described herein, but is consistent with the widest scope of the principles and novel features disclosed herein.

Claims

1. A V2X device multiplexing system, characterized in that, include: V2X vehicle-mounted terminal equipment, robotic arm, and robotic arm control system The V2X vehicle-mounted terminal device includes a housing, a built-in V2X communication module, a built-in battery, and an antenna system. The bottom surface of the housing has an adsorption element. The robotic arm has a robotic hand at its end, which includes a telescopic mechanism and a picking mechanism; The robotic arm control system is configured to control the robotic arm to pick up the V2X vehicle terminal device and attach the V2X vehicle terminal device to the target vehicle via the adsorption element and / or remove the adsorbed V2X vehicle terminal device from the target vehicle.

2. The V2X device multiplexing system as described in claim 1, characterized in that, The pickup mechanism includes a contact element located in the vacuum adsorption circuit, which is used to adsorb the V2X vehicle terminal device after the vacuum pump or vacuum generator is started.

3. The V2X device multiplexing system as described in claim 1, characterized in that, The top surface of the housing has a pickup portion that cooperates with the pickup mechanism.

4. The V2X device multiplexing system as described in claim 3, characterized in that, The pickup part includes a handle and / or a card slot.

5. The V2X device multiplexing system as described in claim 1, characterized in that, The robotic arm also includes an adsorption and removal unit. The robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle-mounted terminal device and control the adsorption removal unit to remove the adsorption element of the V2X vehicle-mounted terminal device from the target vehicle.

6. The V2X device multiplexing system as described in claim 1, characterized in that, The robotic arm is also equipped with a camera. The robotic arm control system is further configured to control the robotic arm to pick up the V2X vehicle terminal device based on the image transmitted by the camera and attach the V2X vehicle terminal device to a designated position on the windshield of the target vehicle or remove the attached V2X vehicle terminal device from the target vehicle.

7. The V2X device multiplexing system as described in claim 1, characterized in that, The V2X vehicle-mounted terminal equipment also includes a positioning module, a motion measurement module, and warning lights installed on the bottom and / or sides of the housing. The V2X vehicle terminal device is configured to control the activation and deactivation of the warning light based on information received by the built-in V2X communication module, the positioning result of the positioning module, and / or the measurement result of the motion measurement module.

8. The V2X device multiplexing system as described in any one of claims 1 to 7, characterized in that, It also includes a V2X vehicle-mounted terminal equipment storage cabinet, which has multiple compartments, each of which is equipped with a charging device for charging the V2X vehicle-mounted terminal equipment.

9. The V2X device multiplexing system as described in claim 8, characterized in that, The robotic arm control system is further configured as follows: The robotic arm is controlled to retrieve the V2X vehicle terminal device from the compartment of the V2X vehicle terminal device storage cabinet and attach the retrieved V2X vehicle terminal device to the target vehicle; and / or The robotic arm is controlled to remove the V2X vehicle-mounted terminal device adsorbed from the target vehicle and place the removed V2X vehicle-mounted terminal device back into the compartment of the V2X vehicle-mounted terminal device storage cabinet.

10. A V2X equipment distribution and retrieval system for closed road sections, characterized in that, include: The cloud-based equipment, the vehicle access control system installed at the entrances and exits of the closed road section, and the V2X equipment multiplexing system as described in claim 8 or 9, wherein the vehicle access control system includes a vehicle identification system and a barrier gate system. The vehicle access control system is configured to control the barrier gate system to intercept or allow vehicles to pass based on the vehicle information identified by the vehicle identification system. The cloud device is configured to send control commands to the robotic arm control system of the target V2X multiplexing system, so that when the target vehicle is intercepted by the corresponding barrier system, the robotic arm control system of the target V2X multiplexing system controls the robotic arm to pick up the target V2X vehicle terminal device according to the control commands and attach the target V2X vehicle terminal device to the target vehicle and / or remove the attached target V2X vehicle terminal device from the target vehicle.

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