CN108921961B - Intelligent charging system based on motor control - Google Patents
Intelligent charging system based on motor control Download PDFInfo
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- CN108921961B CN108921961B CN201810724453.7A CN201810724453A CN108921961B CN 108921961 B CN108921961 B CN 108921961B CN 201810724453 A CN201810724453 A CN 201810724453A CN 108921961 B CN108921961 B CN 108921961B
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- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
- G07B15/04—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems comprising devices to free a barrier, turnstile, or the like
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Abstract
The invention relates to an intelligent charging system based on motor control, which realizes the accurate lifting and falling of a parking board and a parking rod by controlling a parking rod direct current servo motor and a parking board direct current servo motor to rotate according to a motion equation and realizes the accurate parking timing and charging according to the accurate matching of signals of the two motors, thereby realizing the accurate parking timing and charging and having better customer experience.
Description
Technical Field
The invention belongs to the field of motor control, in particular to the field of parking charging under the control of a motor.
Background
In the management of a residential area or a public parking lot, a parking lot post is generally installed at an entrance and an exit of the parking lot, and a parking management kiosk is installed to assist a manager for managing the entrance and the exit of vehicles in the parking lot and charging. A part of parking lots can recognize license plate information of vehicles entering and exiting the parking lots through a vehicle recognition device, such as a camera, and further synchronize information of related vehicles entering and exiting, including license plates, entering time and the like, into a parking management system. In a conventional parking management system, a calculation formula for calculating the number of vacant parking spaces in a parking lot is as follows, wherein the total number of parking spaces in the parking lot is T1, the number of vehicles already entering the parking lot is T2, and the total number of vehicles already leaving the parking lot is T3: t4 ═ T1-T2+ T3, and is shown at the number of car park entrances. When the free parking space of the parking lot is larger than 0, the vehicles waiting at the entrance can enter the parking lot, and the parking plate rod at the entrance of the parking lot is lifted up to let the vehicles waiting correspondingly. And when the number of the free parking spaces in the parking lot is equal to 0, the parking spaces in the parking lot are insufficient, and the parking manager can prohibit the vehicle from entering the parking lot. When the vehicle is driven out of the parking lot, the vehicle identification device at the exit of the parking lot identifies the vehicle, contains the information of license plate, departure time and the like and synchronizes to the parking management system. The parking management system calculates the parking time of the vehicle and the parking fee to be paid according to the entrance time and the exit time of the vehicle. Particularly, for vehicles with fixed parking spaces or monthly parking spaces in the residential area, the parking cost is not calculated according to the parking time. The manager at the exit of the parking lot collects parking fees from the vehicles on the departure according to the fees calculated by the parking management system. Then, the parking plate rod at the exit of the parking lot is lifted, the vehicle is driven out of the parking lot, and the parking management system updates the information of the vehicle on the spot.
Above-mentioned traditional parking management system to a certain extent, has realized the orderly management of the inside vehicle in parking area, but has following several problems:
1. the traditional parking system charges according to the time of entering a garage and the time of leaving the garage, but the situation that the actual garage shows that the parking space does not actually exist exists, but the system still charges; in addition, the garage is large, a vehicle needs a certain time for finding a parking space and stopping, the time is also calculated in the payment time, the method is not reasonable, the user experience is influenced, and accurate charging needs to be solved urgently.
2. Traditional parking management system has certain leak to the management of the vacant parking stall in the parking area, has restricted the availability factor of parking stall. For example, the parking management system displays that the free parking space is 0, at this time, a vehicle a is waiting to enter the entrance of the parking lot, and meanwhile, a vehicle B has driven out of the parking space or is driving out of the parking space in the parking lot and is preparing to drive out of the parking lot. Meanwhile, the parking space for the vehicle B to drive out is free. On the other hand, for some vehicles which temporarily enter or exit the parking lot, such as taxies and the like, parking is not needed, if the identification and the vehicle counting are carried out at the door opening, the number of the vehicles which temporarily enter is reduced (actually, the vehicles do not occupy the parking space), and the vehicles which temporarily enter is not allowed to enter when the parking space is 0, so that the passing efficiency is influenced. That is to say, the conventional vehicle management system cannot effectively manage the vehicle in the scene, and even the vehicle entering and exiting is affected because there is no parking space.
3. The traditional parking management system cannot realize effective sharing of parking spaces. For some fixed parking spaces, only the property owner of the fixed parking space unlocks the lock and can stop at the parking space. In the time period when the owner of the fixed parking space does not stop the vehicle, other vehicles cannot stop at the parking space due to the authority control device. On the other hand, some fixed parking stalls do not install relevant controlling means, and the parking stall is occupied by other vehicles, when the vehicle of parking stall property owner need to stop, because fixed parking stall is occupied, often need to contact relevant personnel and wait for a considerable time and move the car and handle etc..
4. Although some parking stalls are provided with card swiping devices to ensure fixed parking stalls of users, the safety of the parking stalls is not enough, and the parking stalls of the users can be occupied when the cards are lost or cracked. Therefore, safer measures are needed to ensure that the fixed parking spaces of the users are not occupied.
5. The traditional parking management system can correspondingly manage parking spaces in closed parking lots such as residential districts or parking lots. However, since a parking space at an open public place such as a roadside has no closed entrance, entrance management cannot be performed, and at present, it is mainly dependent on a parking charge manager to perform manual management.
Disclosure of Invention
To solve the above technical problems, the present invention proposes the following solutions
An intelligent charging method based on motor control comprises
(1) After the vehicle drives to a parking space, the self-service parking management system starts a parking rod motor D1 positioned behind the parking space through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller Q1 to drive the parking rod motor to rotate, the number of rotation turns DQ1 is J1/H, J1 is the distance between the parking rod and the ground before the vehicle enters the parking space, H is the screw pitch of a lead screw and represents the distance of converting one rotation of the motor into linear displacement, the time required for the parking rod to be placed on the ground is T1 is DQ1/Z, and Z is the synchronous rotating speed of the motor;
(2) detecting the state of a parking rod motor, when the motor starts to rotate, the self-service parking management system learns that the parking space is about to be occupied through a wireless signal transceiving module, the self-service parking management system database module updates the parking space state information to be pre-used, meanwhile, the self-service parking management system counts down and displays that the parking space is about to be occupied within T1 time, and a parking rod motor rotation signal triggers a charging module to start charging and timing Tm;
(3) the vehicle identification module on the parking board sends the information to the self-service parking management system through the wireless signal transceiving module after finding that the vehicle is parked in the parking space;
(4) the self-service parking management system starts a parking board motor D2 positioned on the right side in front of a parking space through a wireless signal transceiving module, and sends a pulse control signal to a motor digital controller Q2 to drive the parking board motor D2 to rotate, the number of rotation turns DQ2 is J2/H, wherein J2 is the distance from the ground to which the parking board needs to be lifted after a vehicle enters the parking space, H is the screw pitch of a lead screw and represents the distance from the motor to be converted into linear displacement by one rotation, the time required for lifting the parking board is T2 is DQ2/Z, and Z is the synchronous rotation speed of the motor;
after the rotation of the parking board motor is started, the parking board monitoring motor is started, after the rotation of the parking board motor is stopped, the self-service parking management system learns that the parking space is occupied through the wireless signal transceiving module, and the self-service parking management system database module updates the parking space state information to be used; the stop signal of the stop board motor triggers the charging module, whether Tm is smaller than 10 minutes or not is judged, if yes, the charging module is reset to restart timing, and if not, the charging module continues timing.
(5) When a vehicle needs to be driven out of a parking space, the information about the driving out is sent to a self-service parking management system through a wireless signal receiving and sending module, a charging module carries out charging according to the timing time, and meanwhile, the charging module starts the overtime timing Tn; if the self-service parking management system confirms that the payment is successful, the parking board motor D2 is started through the wireless signal transceiving module, a pulse control signal is sent to the motor digital controller Q2 to drive the parking board motor to rotate, the number of rotation turns is DQ 3-J2/H, and the time required for the front parking board to descend is T3-DQ 3/Z;
(6) detecting the state of a motor of the parking board, when the motor starts to rotate, the self-service parking management system learns that the parking space is about to be free through the wireless signal transceiving module, the self-service parking management system database module updates the parking space state information to be pre-free, and meanwhile the self-service parking management system counts down and displays that the parking space is about to be free within T3 time; the charging module stops overtime timing, judges whether the overtime timing Tn is greater than 2 minutes or not, and prompts the vehicle to leave as soon as possible if the overtime timing Tn is greater than 2 minutes;
(7) after the parking board is completely descended, the vehicle identification module on the parking board sends the information to the self-service parking management system through the wireless signal transceiving module after the vehicle is found to be driven out;
(8) the self-service parking management system starts a parking rod motor D1 through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller Q1 to drive the parking rod motor to rotate, the number of rotation turns is DQ4-DQ 4/H, and the required time is T4-DQ 4/Z;
after the rotation of the parking rod motor is started, the parking rod motor is started to be monitored, and after the rotation of the parking rod motor is stopped, the parking stall state information is updated to be idle through the wireless signal receiving and sending module and the self-service parking management system database module;
particularly, the method further comprises the step of requesting a parking space from the self-service parking management system by the vehicle before the step (1), judging the permission of the parking space by the self-service parking management system, and allowing the vehicle to enter if the permission is shared; if the authority is private, the parking space owner needs to request for temporary parking space sharing through the self-service parking management system, and the parking space owner can send the parking rod motor correction parameter JY to the vehicle through the self-service parking management system; the vehicle sends the correction parameter JY to the self-service parking management system for verification, and after the verification is passed, the parking rod motor rotates with reference to the correction parameter JY.
Specifically, the correction parameter JY ═ J4/M × N (DQ4-DQ4 ')/DQ 4, where M × N represents the number of pulses required per rotation of the actual motor, and DQ 4' represents the actual number of rotations of the parking lever motor.
Motor control based intelligent charging system, its characterized in that: the parking system comprises a parking rod device, a parking board device and a self-service parking management device;
the parking lever device includes: the parking rod comprises a parking rod motor, a parking rod, a transmission device, a wireless signal transceiving module and a digital controller;
the stop board device includes: the parking board comprises a parking board motor, a parking board, a transmission device, a wireless signal transceiving module and a digital controller;
self-service parking management device includes: the system comprises a self-service parking management system database, an authority control module, a sharing module and a charging module;
and the authority control module is used for judging whether the vehicle is a fixed or long-rented vehicle based on the parking position-out check rule G3, if not, calling a charging module of the self-service parking management system, calculating the parking fee to be paid for the parking, and completing automatic deduction from an account number bound by a vehicle owner in advance.
Particularly, the step of completing automatic deduction from the account number bound by the owner in advance further comprises the following steps: if the balance in the account number bound by the vehicle owner in advance is sufficient, namely greater than the parking fee, the charging module normally finishes the payment deduction of the parking fee; if the balance in the account number bound by the vehicle owner in advance is insufficient, the balance is AM0, namely the balance is smaller than the current parking fee AM1, according to the agreement, a part of amount AM2 can be overdrawn at most, namely the balance minus the current parking fee is smaller than the overdrawn amount, namely AM1-AM0< AM2, the charging module still normally finishes the deduction of the parking fee, and meanwhile, the overdrawn amount is updated to AM 3-AM 2- (AM1-AM 0).
The technical effects and the invention are as follows:
1. the traditional parking system charges according to the time of entering a garage and the time of leaving the garage, but the situation that the actual garage shows that the parking space does not actually exist exists, but the system still charges; and some garages are large, the vehicle needs a certain time to find the parking space and stop, and the time is also calculated in the payment time, so that the method is not reasonable and influences the user experience. The invention uses the motor signal of the parking board and the parking rod as the charging reference, and the charging reference are matched to accurately calculate the time of entering the parking space and the time of leaving the parking space, so that the charging is more reasonable, and the customer acceptance is high.
2. The traditional parking system adopts a license plate recognition system at an entrance to update the parking space state, which is not timely and accurate enough. The invention adopts the motor signals of the parking board motor and the parking rod to update the parking space state, and is more direct and accurate.
3. The traditional parking system can only display the space allowance, and the space allowance is displayed as 0 when no space exists. The invention adopts the matching of the motor signal of the parking board and the motor signal of the parking rod, can count down the parking space to be occupied/vacant and improves the utilization rate of the parking space.
4. The parking space configuration is carried out by adopting the matching of the motor signals of the parking board motor and the parking rod, so that the parking space configuration is suitable for parking scenes (such as street sides) without entrances, and a device for detecting the rod lifting and dropping is not required to be additionally arranged.
5. The traditional card swiping parking mode is not safe enough, and potential safety hazards can be caused when the card is lost or cracked. The invention creatively utilizes the motor calibration parameters as a verification mode, is more random and has high safety.
6. The traditional mode of parking by swiping a card is not suitable for a mode of temporarily sharing property right parking spaces, and the dynamic random calibration parameters are adopted as verification in the invention, so that the calibration parameters can be changed again after sharing every time, and the safety is higher.
7. The motor calibration parameter that utilizes random developments is as verifying the mode, both can improve the security, also can let the motor rotate more accurately simultaneously, and the charging is more accurate, improves customer experience, kills two birds with one stone.
Meanwhile, the invention points are only limited due to space, and other improvements to the prior art in the specification are also the invention points of the invention.
Drawings
Fig. 1 is a processing flow chart of a self-service parking management system based on motor control.
Fig. 2 is a schematic diagram of an example of a self-service parking management system based on motor control.
Detailed Description
The self-service parking management method based on motor control, as shown in fig. 1, includes the following steps:
(S1) the vehicle owner drives the vehicle with the license plate P1 to prepare for parking, and the self-service parking management system inquires the total number T1 of the parking spaces in the parking lot, the number T2 of the vehicles already parked and the number T3 of the free parking spaces in the parking lot at the entrance of the parking lot. Wherein T3+ T2 ═ T1. The method comprises the steps that a parking space with the parking space number of W1 is selected from T3 vacant parking spaces of a vehicle master-slave self-service parking management system, the access right of the parking space is shared by inquiring a self-service parking management database, and a self-service parking management system right control module is matched with a parking space state check rule G1 to verify that the parking space allows a vehicle to park in. The self-service parking management system shares the position information of the parking space and provides the position information for the vehicle owner, and the navigation system is associated to guide the vehicle owner to drive into the corresponding parking space. According to the scheme, the parking lot parking space free number information is displayed, the car owner can select the parking space by self and the parking space position navigation function is provided, the situation that the parking space is searched back and forth in the parking lot due to the fact that the specific position of the free parking space is not known is avoided, and the parking efficiency and the user experience of the user are effectively improved.
(S2), if the access right returned by the self-service parking management system to the parking space is private, it indicates that the parking space belongs to a private fixed parking space. At the moment, the vehicle owner can apply for the temporary parking permission of the private fixed parking space through the parking space sharing module of the self-service parking management system. The application flows to the property owner of the private fixed parking space, and the property owner can agree to temporarily share the parking space to the applicant through the parking space sharing module of the self-service parking management system. The parking space sharing module of the self-service parking management system records the time and the contact way of temporary parking, sends the information to the fixed parking space property right person, and sends a random dynamic password (the generation way of the password is shown below) to the vehicle main end through the management system at the mobile phone end after the private fixed parking space property right person agrees to share, so that the parking space indicates that the vehicle is allowed to park. The self-service parking management system shares the position information of the parking space and provides the position information for the car owner, the navigation system is associated, the car owner is guided to drive into the corresponding parking space, and the parking is finished after the random dynamic password is input. When the temporary parking time is due, the self-service parking management system reminds the temporary parking vehicle owner to timely drive out of the parking space through the recorded contact way. The scheme of the invention provides a parking space-based sharing mechanism, so that private fixed parking spaces are shared under the permission of property owners, and a temporary parking space expiration reminding function is provided to remind temporary parking space owners to get out of the parking spaces in time, thereby greatly improving the efficiency of parking space sharing.
(S3) the vehicle owner is guided according to the positioning information of the parking space sharing module of the self-service parking management system, and the driving license plate is P1 vehicle which comes before the W1 parking space. At the moment, the parking plate positioned in front of the parking space is not lifted, and the parking rod positioned in the background of the parking space is in a lifting state. And the vehicle identification module on the parking plate finds that the number plate of the vehicle is P1, and sends the information to the self-service parking management system through the wireless signal transceiving module. And the authority control module of the self-service parking management system judges that the vehicle of P1 is allowed to stop at the space No. W1, namely the verification of the parking authority is passed.
(S4), if the authority control module of the self-service parking management system determines that the vehicle of P1 is not allowed to stop at the parking space of W1 according to the parking check rule G2 (see the rule below), the parking authority verification is not passed.
(S5) the self-service parking management system starts a direct current servo motor D1 of a parking rod behind a parking space through a wireless signal transceiving module and sends a pulse control signal to a motor digital controller Q1. The direct current servo motor has the characteristics of small volume, light weight, large output, fast response, high speed, small inertia, smooth rotation, stable moment and the like, is easy to realize intellectualization, has flexible electronic commutation mode, and can realize square wave commutation or sine wave commutation. The motor is maintenance-free, has no carbon brush loss, high efficiency, low operating temperature, low noise, small electromagnetic radiation and long service life, and can be used in various environments. The parameters of the servo motor D1 include the following parameters: and the motor encoder resolution M represents the number of pulses required by the motor per rotation under the condition of single frequency. The pulse is multiplied by a frequency N, representing the number of times the digital controller Q1 can perform on the pulse of the bi-phase encoder. And M is N, the number of pulses required by each actual motor rotation is represented. And the screw pitch H represents the distance of converting one rotation of the motor into linear displacement. The pulse equivalent can be calculated by the formula L/(M × N). Wherein L represents the pulse equivalent. Generally, the rotation speed of the three-phase asynchronous motor is Z ═ 60 xf/P × (1-n '), where f represents the power frequency, P represents the pole pair number, and n' represents the slip ratio. And storing the related motor parameters in a self-service parking management database.
For the parking rod behind the parking space, the parking rod is in a lifting state before the vehicle enters the parking space, the distance from the ground is J1, when the vehicle is parked in the parking space, the parking rod behind the parking space needs to be placed on the ground, the number of turns of a motor for controlling the parking rod behind the parking space is calculated as the distance from the ground divided by the screw pitch of the screw rod, namely the number of turns DQ1 of the motor is J1/H. The digital controller Q1 for controlling the motor of the parking rod sends corresponding pulse signals to drive the motor to rotate and place the parking rod on the ground through the transmission device. According to the calculation, the parking rod placing action is completed, and the motor D1 needs to rotate for DQ turns. The synchronous speed of the motor is Z, so that the time required for placing the parking rod behind the parking space on the ground is T1-DQ 1/Z, namely the parking rod behind the parking space is placed on the ground in T1.
The self-service parking management system starts a direct current servo motor D1 of a parking rod behind a parking space through a wireless signal receiving and sending module and controls the parking rod to be put down through a transmission device C1.
(S6) after the parking rod behind the parking space is put down, the vehicle of the CP001 can be parked in the CH001 parking space by the parking space. The vehicle identification module on the parking board on the right side in front of the parking space finds that the vehicle is parked in the parking space, and sends the information to the self-service parking management system through the wireless signal receiving and sending module.
(S7) the self-service parking management system, through the wireless signal transceiver module, open the direct current servo motor D2 of the parking board of the right side in front of the parking space, and send the pulse control signal to the motor digital controller Q2, the motor D2 rotates and operates the rising of the parking board through the drive unit. Before the vehicle is parked, the stop board positioned at the right side in front of the parking space is in an unrerisen state, and after the vehicle is parked, the stop board needs to be risen to a position J2 away from the ground, namely the parking is finished. According to the calculation mode, the parking board on the right side in front of the parking space is lifted to J2, and the required rotation number of the motor DQ2 is equal to J2/H, namely the motor for controlling the parking board on the right side in front of the parking space needs to rotate DQ 2. Therefore, the time required for the parking board in front of the parking space to rise is T2-DQ 2/Z, that is, the parking board on the right side of the parking space finishes rising at T2. The self-service parking management system starts a direct current servo motor D2 of a parking board on the right side in front of a parking space through a wireless signal receiving and sending module, and controls the parking board to lift through a transmission device C2. The scheme of the invention stores the motor parameter information in the self-service parking management system, and the wireless signal transceiving module is used for starting the DC servo motor, so that the linkage control of the motor is realized.
(S8) detecting a parking rod motor, after the parking rod motor starts to rotate, the self-service parking management system learns that the parking space is occupied through the wireless signal transceiving module, the self-service parking management system database module updates the state information of the parking space to be pre-used, and the self-service parking management system counts down and displays that the parking space is about to be occupied within T1 time. After the rotation of the parking rod motor is started, the monitoring parking board motor is started, meanwhile, a parking rod motor rotation signal triggers the charging module to start charging and timing Tm, after the rotation of the parking board motor is stopped, the self-service parking management system learns that the parking space is occupied through the wireless signal receiving and sending module, and the self-service parking management system database module updates the parking space state information to be used. Meanwhile, a stop signal of the rotation of the motor of the parking rod triggers the charging module, whether Tm is smaller than 10 minutes or not is judged, if yes, the charging module is cleared and starts timing again, and if not, the charging module continues timing.
(S9) when the vehicle with the plate number of P1 needs to leave the parking space, the vehicle identification module on the right side in front of the parking space confirms that the vehicle needs to leave the parking space, namely the information is sent to the self-service parking management system through the wireless signal transceiving module. The charging module charges according to the timing time, and meanwhile, the charging module starts the overtime timing Tn. The authority control module of the self-service parking management system judges whether the vehicle of P1 is a fixed or long rental vehicle based on the parking position check rule G3. And if the vehicle corresponding to the P1 license plate is a fixed or long-rented vehicle and the payment state is normal, allowing the vehicle to drive out of the parking space.
(S10) correspondingly, if the authority control module of the self-service parking management system judges that the vehicle of P1 is not a fixed or long rented vehicle based on the parking position-out check rule G3, calling a charging module of the self-service parking management system, calculating the parking fee to be paid for the parking, and completing automatic deduction from an account number bound by a vehicle owner in advance.
(S11) at this time, the sub-process of the charging module of the self-service parking management system is started. If the balance in the account number bound by the vehicle owner in advance is sufficient, namely greater than the parking fee, the charging module normally finishes the payment deduction of the parking fee.
(S12) if the balance in the account number bound by the vehicle owner in advance is insufficient, the balance is AM0, namely the balance is smaller than the parking fee AM1 at this time, according to the agreement, a part of amount AM2 can be overdrawn at most, namely if the balance is subtracted from the parking fee at this time and is smaller than the overdrawn amount, namely AM1-AM0< AM2, the charging module still normally finishes the deduction of the parking fee, and meanwhile, the overdrawn amount is updated to AM 3-AM 2- (AM1-AM 0).
(S13) if the balance in the account number bound by the vehicle owner in advance is insufficient, and the overdrawable amount is added, the parking fee is still not paid enough, and the fee deduction by the charging module fails.
(S14) the self-service parking management system, through the wireless signal transceiver module, open the direct current servo motor D2 of the parking board of the right side in front of the parking space, and send the pulse control signal to the motor digital controller Q2, the motor A2 rotates and operates the parking board to descend through the drive unit.
The stop board is at a distance J2 from the ground and needs to be lowered to the ground. According to the calculation mode, when the parking board on the right side in front of the parking space descends J2, DQ3 is required to be J2/H, namely a motor for controlling the parking board on the right side in front of the parking space needs to rotate DQ3 circles. Therefore, the time required for the parking board in front of the parking space to descend is T3-DQ 3/Z, that is, the parking board on the right side of the parking space finishes descending at T3. And sending a signal that the vehicle is about to run out to the self-service parking management system while the parking board begins to descend, and starting to count down to display the vacant parking space time, for example, the waiting vehicle can be vacant after T3 time. And the charging module stops overtime timing, judges whether the overtime timing Tn is greater than 2 minutes or not, and prompts the vehicle to leave as soon as possible if the overtime timing Tn is greater than 2 minutes.
(S15) after the stop board is lowered, the vehicle owner can drive the vehicle with the plate number of P1 away from the parking place of W1. The vehicle identification module on the parking board on the right side in front of the parking space finds that the vehicle is driven out, and sends the information to the self-service parking management system through the wireless signal transceiving module, and the self-service parking management system learns that the vehicle with the number plate of P1 is driven out of the parking space.
(S16) the self-service parking management system starts a direct current servo motor D1 of a parking rod behind a parking space through a wireless signal transceiving module and sends a pulse control signal to a motor digital controller Q1. For the parking rod behind the parking space, the ground is placed at the moment, and the parking rod needs to be lifted to be J4 away from the ground. Namely, when the parking space is idle, the parking rod behind the parking space needs to be lifted to be away from the ground J4. According to the formula, the required DQ4 is J4/H, that is, the motor for controlling the parking rod behind the parking space needs to rotate DQ4 circles, the time for controlling the lifting of the parking rod behind the parking space is T4 is DQ4/Z, that is, the lifting of the parking rod behind the parking space is completed in T4. And at the moment, a signal that the parking space is completely vacant is sent to the self-service parking management system.
(S17) in the present embodiment, it is preferable that the parking bar located behind the parking space and the parking board located on the right side in front of the parking space perform y ═ a × b according to a motion function of the following curve when the parking bar and the parking board movet+ c arc tan (d t). Where t represents the time of movement and y represents the distance the parking bar/board moves over time. a. b, c and d are control coefficients used for ensuring the smoothness of controlling the movement of the stop lever/the stop board. In the scheme, according to multiple practical verifications, the best practical values of the control system are as follows: a stop board: j2/4, b 1.1, c 2/3, d 0.4; a parking rod: j1/4, b 1.1, c 1/3, and d 0.5. The motion according to the curve can reduce the mechanical system impact caused by sudden stop when the stop lever/plate moves and prolong the service life of the system on the premise of improving the motion speed; meanwhile, the current state of the vehicle can be accurately calculated according to the motion curve, and the passing efficiency is improved, which is one of the invention points of the invention.
(S18) the self-service parking management system database module updates the parking space state information to be unused. The vehicle owner can inquire the latest parking space use information through the self-service parking management system inquiry module. In order to better improve the parking experience of a user and reduce the waiting time of the user for getting in and out of a parking lot, the self-service parking management system does not need to update the parking space state information in the database module to be unused after a parking rod is completely lifted, but calculates the time Tg of the vehicle leaving the parking space according to the descending motion curve of a parking board, sends the time to the self-service parking management system database, updates the parking space state to be about to open and the waiting time to be Tg, and counts down to display when the vehicle enters the parking space. At the moment, the owner at the entrance of the parking lot can inquire that the parking space is about to be opened, and can drive in the vehicle when the countdown is Tg. In the scheme, the time for the vehicle to completely leave is accurately calculated according to the motion function, and the time for the waiting vehicle to enter is displayed by counting down, so that the situation that the vehicle occupying the parking space is already exiting but the vehicle still occupies the entrance of the parking lot is avoided, the use efficiency of the parking space and the user experience are effectively improved, and the method is taken as an invention point of the scheme.
(S19) the pulse equivalent L can be calculated according to the formula L ═ H/(M × N). Namely, the motor sends out L pulse equivalent, and the parking rod position can be controlled to be lifted to the height of H. As mentioned above, the parking rod behind the parking space needs to be lifted off the ground J4. According to the formula, the DQ4 is required to be J4/H, that is, a motor for controlling a parking rod behind a parking space needs to rotate DQ4 circles. Namely DQ4 ═ J4/(L × M × N). As the motor is used for a long time, the rotation angle of the motor may have an error, and it is assumed that the actual rotation number of the motor is DQ 4'. In order to ensure that the motor can accurately control the displacement of the parking rod, a calibration factor JY must be added periodically for correcting the pulse equivalent of the motor. The calibration coefficient formula is JY ═ (J4/M × N) (DQ4-DQ 4')/DQ 4. Through long-term tests, the formula can ensure accurate calibration and has strong dynamic randomness.
After the calibration coefficient is added, the pulse equivalent of the motor is L' ═ JY H/(M N). When the number of the motor control turns is in error every time, the motor can run out of the parking space at the vehicle, self calibration is carried out when the parking space is vacant, the calibration coefficient is sent to the self-service parking system through the wireless signal receiving and sending module, the database module of the self-service parking management system is used for storing the calibration coefficient, and the parking space sharing module of the self-service parking management system can push the calibration coefficient to a mobile phone client of a user in a message mode.
Check rule G2: the client needs to input the calibration coefficient JY for verification every time the client enters the parking space, if the input calibration coefficient is consistent with the calibration coefficient stored in the system, the verification is passed (namely the verification rule G2 is met), the system controls the stop board to descend, the stop lever to ascend, and the client is allowed to enter. Meanwhile, the calibration coefficient JY is input into the motor in the process of controlling the stop board to descend and the stop rod to ascend, so that the motion of the motor is calibrated and more accurate, the time for the vehicle to enter and leave can be estimated more accurately, and the accurate countdown display of the vacant parking space is ensured. This correction factor is used on the one hand to control the motor so that the raising and lowering of the rod is more accurate. Meanwhile, when the user is ready to use the private fixed parking space to stop, the calibration coefficient needs to be input, and the self-service parking management system can be used as a verification code according to the calibration coefficient, so that the user can be guaranteed to have the right to use the fixed parking space. In this scheme, use calibration coefficient calibration motor pulse for the lifting of accurate control parking rod uses this calibration coefficient as the authority identifying code of private fixed parking stall simultaneously, effectively promotes system security. And because the performance of each motor is not completely the same and the use frequency is different, the rotation error of the motor is different and can change along with the change of time, and the correction coefficient is also dynamic and random. Therefore, the user is provided with a random dynamic verification code. Therefore, on one hand, the verification code is difficult to crack, on the other hand, even if the verification code is cracked, the verification code can dynamically change along with time, the verification code can possibly change when used next time, the cracking difficulty is greatly improved, and the method is safer. The invention discloses a method for counting down time of a parking rod, which comprises the steps of utilizing a correction coefficient as a verification code, accurately controlling the movement precision of the parking rod on one hand so as to accurately count down time, and utilizing the correction coefficient as a dynamic random safety means on the other hand.
(S20) when the parking rod completes the lifting action, the self-service parking management system database module updates the parking space state information to be unused. The vehicle owner can inquire the latest parking space use information through the self-service parking management system inquiry module.
Self-service parking management system based on motor control contains following several modules:
the two control bodies are respectively a parking plate positioned behind the parking space and a parking plate positioned in front of the parking space. In the parking space idle state, the parking board behind the parking space is in a lifting state, and the parking board in front of the parking space is not lifted. When a vehicle drives into the parking space, the parking board behind the parking space is controlled by the self-service parking management system to descend to the ground, so that the vehicle can enter the parking space conveniently. After the vehicle is parked in the parking space, the self-service parking management system controls the parking plate in front of the parking space in a linkage mode to lift up, so that the fact that the parking space is parked and driven and is occupied is shown. Correspondingly, when the vehicle drives out of the parking space, the parking board positioned in front of the parking space is controlled by the self-service parking system to descend to the ground. The vehicle begins to exit the parking space. After the vehicle completely runs out, the self-service parking management system controls the parking board located at the background of the parking space to lift up in a linkage mode, and therefore the fact that the vehicle at the parking space runs out and the parking space is free is indicated.
Two transmission structures C1, C2 for receiving the motor control and transmitting the device of the control body. Wherein C1 is a device for actuating a stop sign located behind a parking space. C2 is a device for driving a stop sign located in front of a parking space.
And the two direct current servo motors D1 and D2 are respectively used for driving the parking rod and the parking plate. The D1 motor is used for driving a parking rod behind the parking space, and the D2 motor is used for driving a parking board in front of the parking space. D1 and D2 are both dc servo motors. The device has the characteristics of small volume, light weight, large output, fast response, high speed, small inertia, smooth rotation, stable moment and the like, is easy to realize intellectualization, has flexible electronic commutation mode, and can realize square wave commutation or sine wave commutation. The motor is maintenance-free, has no carbon brush loss, high efficiency, low operating temperature, low noise, small electromagnetic radiation and long service life, and can be used in various environments. The parameters of the servo motor D1 include the following parameters: and the motor encoder resolution M represents the number of pulses required by the motor per rotation under the condition of single frequency. The pulse is multiplied by a frequency N, representing the number of times the digital controller Q1 can perform on the pulse of the bi-phase encoder. And M is N, the number of pulses required by each actual motor rotation is represented. And the screw pitch H represents the distance of converting one rotation of the motor into linear displacement. The pulse equivalent can be calculated by the formula L/(M × N). Wherein L represents the pulse equivalent. Generally, the rotation speed of the three-phase asynchronous motor is Z ═ 60 xf/P × (1-n '), where f represents the power frequency, P represents the pole pair number, and n' represents the slip ratio. And storing the related motor parameters in a self-service parking management database.
Two digital controllers Q1, Q2 for digitally operating the motor controller. The Q1 digital controller is used for controlling a motor D1 for driving a parking rod behind the parking space. The Q2 digital controller is used to control the motor D2 that drives the stop board in front of the spot.
And the wireless signal transmitting and receiving module is used for transmitting the information of the motor control body to the self-service parking management system. When the vehicle is ready to park in a parking space, the authority control module of the self-service parking management system judges that the vehicle is allowed to park in the parking space, namely when the verification of the parking in-place authority is passed, the direct current servo motor D1 of the parking rod behind the parking space is started through the wireless signal transceiving module, a pulse control signal is sent to the motor digital controller Q1, and the parking rod behind the parking space is controlled to descend to the ground through the linkage device C1. After the vehicle enters the parking space, the self-service parking management system starts a direct current servo motor A2 of the parking board on the right side in front of the parking space through a wireless signal receiving and sending module, sends a pulse control signal to a motor digital controller C2 and controls the parking board in front of the parking space to rise through a linkage device C2. Correspondingly, when the vehicle is ready to be driven out of the parking space, the self-service parking management system starts a direct current servo motor A2 of the parking board on the right side in front of the parking space through the wireless signal transceiving module, and sends a pulse control signal to the motor digital controller C2 to control the parking board in front of the parking space to descend. When the vehicle is driven out of the parking space, the direct current servo motor D1 of the parking rod behind the parking space is started through the wireless signal transceiving module, a pulse control signal is sent to the motor digital controller Q1, and the parking rod behind the parking space is controlled to rise through the linkage device C1.
And the self-service parking management system database is used for storing the motor control body information and the motor control parameters, authority control information and the like. The parameter information of the motor comprises information such as motor encoder resolution, pulse frequency multiplication, screw pitch, pulse equivalent, three-phase asynchronous motor rotating speed, power frequency, pole pair number, slip ratio and the like. In addition, the self-service parking management database also stores authority control information including information of parking space states, types of parking spaces and the like. And a calibration coefficient storage device is established in the self-service parking management system database, and the calibration coefficient storage device can store 7 calibration coefficients. When the motor self-test generates a new calibration coefficient JY', the previous calibration coefficient is automatically filled, and after 7 positions are filled, the new calibration coefficient covers the calibration coefficient of the first position. Therefore, a certain calibration coefficient can be ensured to be recorded, and when an illegal intrusion occurs, the calibration coefficient can be used for analyzing the known calibration coefficient, which is also one of the invention points in the field.
And the vehicle identification module of the self-service parking management system is used for identifying the vehicle state. When the vehicle is ready to drive into the parking space, the vehicle identification module on the parking board finds the number of the vehicle and carries out authority verification. When the vehicle stops at the parking space, the vehicle identification module finds that the vehicle stops at the parking space and sends the information to the self-service parking management system through the wireless signal transceiving module. When the vehicle needs to leave the parking space, the vehicle identification module confirms that the vehicle needs to leave the parking space, namely the information is sent to the self-service parking management system through the wireless signal transceiving module. When the vehicle runs out of the parking space, the vehicle identification module finds that the vehicle runs out, and sends the information to the self-service parking management system through the wireless signal transceiving module.
And the authority control module of the self-service parking management system is used for carrying out authority control on the motor and related operations. And the authority control module is matched with the parking space state check rule to verify that the vehicle is allowed to park in the parking space. And judging whether the vehicle is allowed to stop at the parking space or not by the authority control module according to the parking space check rule. Based on the parking position-leaving check rule, the authority control module judges whether the vehicle is a fixed or long-rented vehicle.
A parking space sharing module of a self-service parking management system is a module for sharing parking space position information and parking spaces. The parking space temporary parking application and the examination and verification of the parking space property owners are provided. Meanwhile, the sharing module provides vehicle positioning information and is associated with a navigation system to guide the vehicle into a position.
A parking stall charging module of a self-service parking management system is a module for charging parking stalls. When the vehicle runs out of the parking space, the charging module of the self-service parking management system carries out related charging and fee deduction operations according to the property attribute of the parking space.
Fig. 2 is a schematic diagram showing an example of a self-service parking management system based on motor control, and the specific process is as follows:
(1) the vehicle owner drives the license plate to prepare for the CP001 vehicle to enter the parking, the autonomous parking management system inquires that the parking space with the parking space number CH001 is free, and the access authority is shared, so that the CH001 parking space indicates that the CP001 vehicle is allowed to park in the parking space.
(2) The car owner drives the vehicle to come in front of the CH001 parking space according to the guidance of the parking space positioning module of the self-service parking management system. At the moment, the parking plate positioned in front of the parking space is not lifted, and the parking rod positioned in the background of the parking space is in a lifting state. And the vehicle identification template on the parking plate finds that the vehicle plate is CP001, and sends the information to the self-service parking management system through the wireless signal transceiving module. And the authority control module of the self-service parking management system judges that the vehicle of the CP001 is allowed to stop at the CH001 parking place, namely the verification of the parking right is passed.
(3) The self-service parking management system starts a direct current servo motor A1 of a parking rod behind a parking space through a wireless signal transceiving module and sends a pulse control signal to a motor digital controller C1. The parameters for this motor a1 are as follows: the motor encoder resolution M (e.g., 2500 lines per revolution), i.e., 2500 pulses per revolution, is required. The pulse is multiplied by N (e.g., four), i.e., the controller may quadruple the pulses of the dual phase encoder, where M × N is 2500 × 4 is 10000, which means that 10000 pulses are required for each revolution. The screw pitch h is 1cm, which means that the linear displacement is 1cm when the motor rotates once, so that the pulse equivalent h/(M N) is 1cm/10000 and 10mm/10000 is 0.001 mm/pulse. Generally, the rotation speed of the three-phase asynchronous motor is (60 × f/P) × (1-n '), f represents the power frequency P, the pole pair number n' represents the slip ratio, and the synchronous rotation speed of the 6-pole motor is 60 × 50/3 × (1-0.04) ═ 960 revolutions/min. And storing the related motor parameters in a self-service parking management database.
For the parking rod behind the parking space, the parking rod is in a lifting state before the vehicle enters the parking space, the parking rod is 30cm away from the ground, when the vehicle is parked in the parking space, the parking rod behind the parking space needs to be placed on the ground, namely 30cm/1cm is required to be equal to 30, and a motor for controlling the parking rod behind the parking space needs to rotate for 30 circles. The digital controller C1 for controlling the motor of the parking rod sends corresponding pulse signals to drive the motor to rotate and place the parking rod on the ground through the transmission device. According to the calculation, the parking rod placing action is completed, and the motor A1 needs to rotate for 30 circles. The synchronous speed of the motor is 960 r/min, so that the time required for the parking rod behind the parking space to be placed on the ground is 30 × 60/960 ═ 1.875s, namely the parking rod behind the parking space is placed on the ground in 2 s.
(4) After the parking rod behind the parking space is put down, the parking space can stop the CP001 vehicle into the CH001 parking space. The vehicle identification module on the parking board on the right side in front of the parking space finds that the vehicle is parked in the parking space, and sends the information to the self-service parking management system through the wireless signal receiving and sending module.
(5) The self-service parking management system starts a direct current servo motor A2 of a parking board at the right side in front of a parking space through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller C2, and a motor A2 rotates and operates the parking board to ascend through a transmission device. Before the vehicle enters the parking space, the parking board on the right side in front of the parking space is in an unrerisen state, and after the vehicle enters the parking space, the parking board needs to be risen to a position 50cm away from the ground, namely the parking space is finished. According to the calculation mode, the parking board at the right side in front of the parking space is lifted to 50cm, 50cm/1cm is needed, and the motor for controlling the parking board at the right side in front of the parking space needs 50 turns. Therefore, the time required for the parking board in front of the parking space to rise is 50 × 60/960 ═ 3.125s, that is, the parking board in the right side of the parking space finishes rising in 3 s.
(6) After the parking plate is lifted, the self-service parking management system acquires that the vehicle with the plate number of CP001 is parked in the position through the wireless signal transceiving module, and the number of the parked vehicle is CH 001. And the self-service parking management system database module updates the parking space state information to be in use. The vehicle owner can inquire the latest parking space use information through the self-service parking management system inquiry module.
(7) When a vehicle with a CP001 license plate needs to exit the parking space, the vehicle identification module on the right side in front of the parking space confirms that the vehicle needs to exit the parking space, namely, the information is sent to the self-service parking management system through the wireless signal transceiving module. And the authority control module of the self-service parking management system judges whether the vehicle of the CP001 is a fixed or long rented vehicle, and the vehicle is a fixed vehicle, so that fee deduction is not needed at the moment.
(8) The self-service parking management system starts a direct current servo motor A2 of a parking board at the right side in front of a parking space through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller C2, and a motor A2 rotates and operates the parking board to descend through a transmission device. At this time, the stop board is 50cm away from the ground and needs to be lowered to the ground. According to the calculation mode, the parking board at the right side in front of the parking space descends by 50cm, and 50cm/1cm is required, namely, a motor for controlling the parking board at the right side in front of the parking space needs to rotate by 50 circles. Therefore, the time required for the parking board in front of the parking space to rise is 50 × 60/960 ═ 3.125s, that is, the parking board in front of the parking space to the right finishes falling in 3 s.
(9) After the stop board is lowered, the car owner can drive the CP001 vehicle away from the CH001 parking place. The vehicle identification module on the parking plate on the right side in front of the parking space finds that the vehicle is driven out, and sends the information to the self-service parking management system through the wireless signal transceiving module, and the self-service parking management system learns that the vehicle with the CP001 license plate is driven out of the parking space.
(10) The self-service parking management system starts a direct current servo motor A1 of a parking rod behind a parking space through a wireless signal transceiving module and sends a pulse control signal to a motor digital controller C1. For the parking rod behind the parking space, the ground is placed at the moment, and the parking rod needs to be lifted to be 30cm away from the ground. Namely, when the parking space is idle, the parking rod behind the parking space needs to be lifted to be 30cm away from the ground. According to the formula, that is, 30cm/1cm is required, the motor for controlling the parking rod behind the parking space needs to rotate 30 circles, that is, the parking rod behind the parking space is lifted within 2 seconds.
(11) And 2s, after the parking rod is completely lifted, the self-service parking management system database module updates the parking space state information to be unused. The vehicle owner can inquire the latest parking space use information through the self-service parking management system inquiry module.
Claims (5)
1. An intelligent charging method based on motor control is characterized in that:
(1) after a vehicle drives to a parking space, a self-service parking management system starts a parking rod motor D1 behind the parking space through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller Q1 to drive the parking rod motor to rotate, the number of rotation turns DQ1= J1/H, wherein J1 is the distance from the ground before the vehicle enters the parking space, H is the screw pitch of a lead screw and represents the distance of converting one rotation turn of the motor into linear displacement, the time required for the parking rod to be placed on the ground is T1= DQ1/Z, and Z is the synchronous rotating speed of the motor;
(2) detecting the state of a parking rod motor, when the motor starts to rotate, the self-service parking management system learns that the parking space is about to be occupied through a wireless signal transceiving module, the self-service parking management system database module updates the parking space state information to be pre-used, meanwhile, the self-service parking management system counts down and displays that the parking space is about to be occupied within T1 time, and a parking rod motor rotation signal triggers a charging module to start charging and timing Tm;
(3) the vehicle identification module on the parking board sends the information to the self-service parking management system through the wireless signal transceiving module after finding that the vehicle is parked in the parking space;
(4) the self-service parking management system starts a parking board motor D2 positioned on the right side in front of a parking space through a wireless signal transceiving module, and sends a pulse control signal to a motor digital controller Q2 to drive the parking board motor D2 to rotate, the number of rotation turns DQ2= J2/H, wherein J2 is the distance from the ground to which the parking board needs to be lifted after a vehicle enters the parking space, H is the screw pitch of a lead screw and represents the distance from the motor to be converted into linear displacement by one rotation turn, the time required for lifting the parking board is T2= DQ2/Z, and Z is the synchronous rotating speed of the motor;
after the rotation of the parking board motor is started, the parking board monitoring motor is started, after the rotation of the parking board motor is stopped, the self-service parking management system learns that the parking space is occupied through the wireless signal transceiving module, and the self-service parking management system database module updates the parking space state information to be used; the stop signal of the stop board motor triggers the charging module, whether Tm is smaller than 10 minutes or not is judged, if yes, the charging module is reset to restart timing, and if not, the charging module continues timing;
(5) when a vehicle needs to be driven out of a parking space, the information about the driving out is sent to a self-service parking management system through a wireless signal receiving and sending module, a charging module carries out charging according to the timing time, and meanwhile, the charging module starts the overtime timing Tn; if the self-service parking management system confirms that the payment is successful, the parking board motor D2 is started through the wireless signal transceiving module, a pulse control signal is sent to the motor digital controller Q2 to drive the parking board motor to rotate, the number of rotation turns is DQ3= J2/H, and the time required for the front parking board to descend is T3= DQ 3/Z;
(6) detecting the state of a motor of the parking board, when the motor starts to rotate, the self-service parking management system learns that the parking space is about to be free through the wireless signal transceiving module, the self-service parking management system database module updates the parking space state information to be pre-free, and meanwhile the self-service parking management system counts down and displays that the parking space is about to be free within T3 time; the charging module stops overtime timing, judges whether the overtime timing Tn is greater than 2 minutes or not, and prompts the vehicle to leave as soon as possible if the overtime timing Tn is greater than 2 minutes;
(7) after the parking board is completely descended, the vehicle identification module on the parking board sends the information to the self-service parking management system through the wireless signal transceiving module after the vehicle is found to be driven out;
(8) the self-service parking management system starts a parking rod motor D1 through a wireless signal transceiving module, sends a pulse control signal to a motor digital controller Q1 to drive the parking rod motor to rotate, the number of rotation turns is DQ4= J4/H, and the required time is T4= DQ 4/Z;
after the rotation of the parking rod motor is started, the parking rod motor is started and monitored, and after the rotation of the parking rod motor is stopped, the parking space state information is updated to be idle through the wireless signal receiving and sending module and the self-service parking management system database module.
2. The intelligent charging method based on motor control according to claim 1, wherein: the method comprises the following steps that (1) a vehicle requests a parking space from a self-service parking management system, the self-service parking management system judges the permission of the parking space, and if the permission is sharing, the vehicle is allowed to enter; if the authority is private, the parking space owner needs to request for temporary parking space sharing through the self-service parking management system, and the parking space owner can send the parking rod motor correction parameter JY to the vehicle through the self-service parking management system; the vehicle sends the correction parameter JY to the self-service parking management system for verification, and after the verification is passed, the parking rod motor rotates with reference to the correction parameter JY.
3. The intelligent charging method based on motor control according to claim 2, wherein: the correction parameter is JY = (J4/M N) (DQ4-DQ4 ')/DQ 4, wherein M is the number of pulses required by each actual motor rotation, and DQ 4' is the actual rotation number of the parking rod motor.
4. An intelligent billing system based on motor control using the method of any of claims 1-3 wherein: the parking system comprises a parking rod device, a parking board device and a self-service parking management device;
the parking lever device includes: the parking rod comprises a parking rod motor, a parking rod, a transmission device, a wireless signal transceiving module and a digital controller;
the stop board device includes: the parking board comprises a parking board motor, a parking board, a transmission device, a wireless signal transceiving module and a digital controller;
self-service parking management device includes: the system comprises a self-service parking management system database, an authority control module, a sharing module and a charging module;
and the authority control module is used for judging whether the vehicle is a fixed or long-rented vehicle based on the parking position-out check rule G3, if not, calling a charging module of the self-service parking management system, calculating the parking fee to be paid for the parking, and completing automatic deduction from an account number bound by a vehicle owner in advance.
5. The intelligent billing system based on motor control of claim 4 wherein: the step of completing automatic deduction from the account number bound by the vehicle owner in advance further comprises the following steps: if the balance in the account number bound by the vehicle owner in advance is sufficient, namely greater than the parking fee, the charging module normally finishes the payment deduction of the parking fee; if the balance in the account number bound by the vehicle owner in advance is insufficient, the balance is AM0, namely the balance is smaller than the current parking fee AM1, according to the convention, a part of amount AM2 can be overdrawn at most, namely the balance minus the current parking fee is smaller than the overdrawn amount, namely AM1-AM0< AM2, the charging module still normally finishes the deduction of the parking fee, and meanwhile, the overdrawn amount is updated to AM3= AM2- (AM1-AM 0).
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