Rigid tow bar coupling device and vehicle recovery method for use in rescue operations

Abstract

The embodiment of the application relates to the technical field of mechanical engineering, and discloses a rigid drawbar connecting device and a vehicle rescue method for rescue, the device comprising a main control box provided with a control module, a herringbone drawbar, an electrically-driven auxiliary wheel and two walking wheels, the herringbone drawbar being connected with the main control box through two telescopic connecting rods, the walking wheels being connected with the main control box through walking wheel telescopic rods, and the electrically-driven auxiliary wheel being connected with the main control box through an auxiliary wheel telescopic rod; the herringbone drawbar is provided with a first connecting part connected with a tail part traction ring of a towing vehicle and a second connecting part connected with a head part traction ring of a fault vehicle; the control module is used for driving the telescopic movement of the telescopic connecting rods, the walking wheel telescopic rods and the auxiliary wheel telescopic rod, and driving the rotation of the electrically-driven auxiliary wheel, so that the herringbone drawbar rotates around a first direction, a second direction and a third direction. The drawbar connecting can be automatically completed without the operation personnel performing the out-of-vehicle operation.

Description

Technical Field

[0001] This application relates to the field of mechanical engineering technology, and in particular to a rigid traction rod connection device and a vehicle rescue method for emergency rescue. Background Technology

[0002] Cars can become damaged or malfunction due to various reasons during use. Many damaged or malfunctioning cars still retain the ability to be towed, and thus have reuse value. In such cases, a tow truck needs to be called to tow the disabled car to a safe location for further repairs. Towing techniques are broadly categorized into soft towing and rigid towing. Soft towing uses ropes or other flexible objects to connect the disabled car and the towing vehicle. Its advantage is ease of connection, but its disadvantage is that a driver is required to steer and brake in the disabled car. Rigid towing uses a rigid, non-deformable object to connect the disabled car and the towing vehicle. Rigid towing includes two-point and three-point towing. Two-point towing uses a straight bar to connect the disabled car and the towing vehicle; in this case, a driver is still required to steer in the disabled car. Three-point towing uses a V-shaped drawbar to connect the disabled car and the towing vehicle. This towing method does not require a driver in the disabled car and is the most ideal towing method.

[0003] However, the connection process of three-point traction is quite complicated. In addition to requiring a large degree of pre-modification of the tractor and the disabled vehicle, the manual connection work is also very labor-intensive and time-consuming. In particular, when the disabled vehicle and the tractor cannot be aligned due to the terrain, the operation is even more inconvenient. In wartime, technicians working outside the vehicle for a long time to connect the traction rods are also vulnerable to enemy attacks and casualties. Summary of the Invention

[0004] The purpose of this application is to provide a rigid tow bar connection device and a vehicle rescue method for emergency rescue, which does not require operators to perform off-vehicle operations and can automatically complete a three-point rigid tow bar connection when the towing vehicle and the disabled vehicle are in different relative states, thereby improving connection efficiency and reducing operational risks.

[0005] To address the aforementioned technical problems, embodiments of this application provide a rigid tow bar connection device for emergency rescue, comprising a main control box equipped with a battery module and a control module, a herringbone tow bar, an electric drive auxiliary wheel, and two traveling wheels. The herringbone tow bar is connected to the main control box via two telescopic connecting rods, the traveling wheels are connected to the main control box via traveling wheel telescopic rods, and the electric drive auxiliary wheel is connected to the main control box via auxiliary wheel telescopic rods. The main body of the herringbone tow bar has a first connecting portion, and the forked portion has a second connecting portion. The first connecting portion is used to connect to the rear tow ring of a tractor, and the second connecting portion is used to connect to the tractor of a disabled vehicle. A head traction ring is connected; the battery module is used to power the control module, which is used to drive the telescopic connecting rod and the walking wheel telescopic rod to extend and retract. When the telescopic connecting rod is driven, it is used to drive the herringbone traction rod to rotate around a first direction, and when the walking wheel telescopic rod is driven, it is used to drive the herringbone traction rod to rotate around a second direction. The control module is also used to drive the extension and retraction of the auxiliary wheel telescopic rod and the rotation of the electric drive auxiliary wheel. When the electric drive auxiliary wheel is on the ground and driven, it is used to drive the herringbone traction rod to rotate around a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0006] An embodiment of this application also provides a vehicle rescue method, comprising: obtaining fault information reported by a disabled vehicle; dispatching a tow truck to engage a rigid tow bar connection device as described above for emergency rescue and driving to the vicinity of the disabled vehicle based on the fault information; obtaining the relative attitude difference between the disabled vehicle and the tow truck, and formulating a towing strategy based on the relative attitude difference; wherein the relative attitude difference includes height difference, longitudinal and lateral deflection angles, and roll deflection angle; instructing the tow truck to adjust its position by driving until the rear tow ring of the tow truck is located on the head centerline of the disabled vehicle, and the distance between the rear tow ring and the disabled vehicle is equal to the length of the V-shaped tow bar; adjusting the attitude of the rigid tow bar connection device according to the towing strategy until there is no relative attitude difference between the disabled vehicle and the tow truck, completing the connection with the disabled vehicle, and instructing the tow truck to tow the disabled vehicle to a designated repair location.

[0007] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described car rescue method.

[0008] The rigid tow bar connection device for emergency rescue provided in this application allows for attachment, eliminating special requirements on the type of towing vehicle, as long as it has a sufficiently strong tail tow ring. This greatly expands the application range of the rigid tow bar connection device and provides better rescue capabilities for disabled vehicles. During attachment operations, no technicians are required to manually work outside the vehicle; the rigid tow bar connection device can perform autonomous attachment, resulting in fast and efficient operation and effectively reducing the operational risks for technicians. The rigid tow bar connection device has its own battery module as a power source, eliminating the need for additional power. The retractable connecting rod, the travel wheel telescopic rod, the travel wheel, the auxiliary wheel telescopic rod, and the electrically driven auxiliary wheel, under different driving conditions, can adapt to various relative posture deviations between the towing vehicle and the disabled vehicle. It can achieve connection under conditions of height difference, tilt, and deflection between the towing vehicle and the disabled vehicle, adapting to various complex terrains and possessing extremely high application value.

[0009] In some optional embodiments, the first connecting portion consists of a slewing joint that can rotate about the first direction and a universal joint that can rotate about the second and third directions. The universal joint and the slewing joint provide the first connecting portion with three degrees of freedom, enabling more flexible engagement with the rear towing ring of the tractor.

[0010] In some optional embodiments, the second connecting part consists of a first tail pin, a second tail pin, a first tail pin drive cylinder, and a second tail pin drive cylinder. The first tail pin and the first tail pin drive cylinder are located at the first fork end of the herringbone-shaped tow bar, and the second tail pin and the second tail pin drive cylinder are located at the second fork end of the herringbone-shaped tow bar. A first spring pin is located at the lower end of the first tail pin, and a second spring pin is located at the lower end of the second tail pin. The head of the disabled vehicle is equipped with a first head traction ring and a second head traction ring. After the first tail pin is inserted into the first head traction ring, the first spring pin automatically extends under spring drive, locking the first tail pin to the first traction ring. After the second tail pin is inserted into the second head traction ring, the second spring pin automatically extends under spring drive, locking the second tail pin to the second traction ring. The structure consisting of the tail pin and the spring pin, locking with the head traction ring of the disabled vehicle, can maximize the prevention of the disabled vehicle from disengaging during towing, effectively improving the success rate of vehicle rescue.

[0011] In some optional embodiments, the rigid tow bar connection device further includes a retractable stabilizing bar. The main body of the A-frame tow bar has a first hole, and the control module is also used to drive the retraction and extension of the stabilizing bar. During towing operations, the stabilizing bar is driven so that its lower end extends into the first hole; during coupling operations, the stabilizing bar is driven so that its lower end retracts into the main control box. When the stabilizing bar extends into the first hole of the A-frame tow bar during towing operations, it can transmit the traveling load, reduce swaying, and make the entire rigid tow bar connection device more stable. During coupling operations, the stabilizing bar retracts into the main control box, releasing the freedom of the A-frame tow bar and ensuring the normal operation of the coupling operation.

[0012] In some optional embodiments, the rigid traction bar connection device further includes a camera and a lidar module, which are fixedly mounted on the top of the main control box. A communication module is also installed inside the main control box. The camera and lidar module are used to acquire the relative attitude difference between the faulty vehicle and the tractor vehicle and send it to the control module. The relative attitude difference includes height difference, longitudinal and lateral deflection angles, and roll deflection angle. The control module is also used to send the relative attitude difference to a remote control center via the communication module, and to receive drive commands from the remote control center via the communication module. Based on the drive commands, the control module drives the telescopic connecting rod, the traveling wheel telescopic rod, and the auxiliary wheel telescopic rod to extend and retract, and drives the rotation of the electrically driven auxiliary wheel. The drive commands are formulated by the remote control center based on the relative attitude difference. The camera and lidar module mounted on the top of the main control box can accurately and closely observe the overall appearance of the disabled vehicle, calculate the relative attitude difference between the disabled vehicle and the tractor, and transmit the information back to the remote control center via the communication module to specify the operation strategy and issue drive commands, thereby better completing the precise engagement of the rigid tow bar connection device with the disabled vehicle under any terrain and any attitude.

[0013] In some optional embodiments, displacement sensors are provided on the telescopic connecting rod, the traveling wheel telescopic rod, and the auxiliary wheel telescopic rod to acquire the telescopic distance. Each displacement sensor is also used to send the telescopic distance of the telescopic connecting rod, the traveling wheel telescopic rod, and the auxiliary wheel telescopic rod to the control module, respectively. An angle sensor is provided on the herringbone traction rod to acquire the rotation angle of the herringbone traction rod around the first direction, the rotation angle around the second direction, and the rotation angle around the third direction, and send this information to the control module. The placement of the displacement and angle sensors provides feedback for the position adjustment of the herringbone traction rod. Based on the data detected and transmitted by the displacement and angle sensors, it can be determined whether the position adjustment is in place, further improving the accuracy of the splicing operation.

[0014] The vehicle rescue method provided in the embodiments of this application, upon receiving fault information reported by a disabled vehicle, dispatches a tow truck to engage a rigid tow bar connection device as described above for emergency rescue and travels to the vicinity of the disabled vehicle. Then, it acquires the relative attitude difference between the disabled vehicle and the tow truck, formulates a traction strategy based on this difference, and instructs the tow truck to adjust its position by driving until the rear tow ring of the tow truck is located on the central axis of the front of the disabled vehicle, and the distance between the rear tow ring and the disabled vehicle is equal to the length of the V-shaped tow bar. At this point, only minor adjustments to the rigid tow bar connection device are needed, i.e., adjusting the attitude of the rigid tow bar connection device according to the traction strategy, until there is no relative attitude difference between the disabled vehicle and the tow truck, completing the connection with the disabled vehicle, and instructing the tow truck to tow the disabled vehicle to a designated repair location.

[0015] In some optional embodiments, adjusting the posture of the rigid traction rod connection device according to the traction strategy includes: driving the two retractable connecting rods of the rigid traction rod connection device respectively, so that the two retractable connecting rods have different elevations, thereby causing the herringbone traction rod of the rigid traction rod connection device to rotate around a first direction until the head traction ring of the disabled vehicle has no roll angle relative to the second connection of the herringbone traction rod; synchronously driving the two travel wheel telescopic rods of the rigid traction rod connection device, causing the herringbone traction rod to rotate around a second direction, thereby adjusting the distance between the herringbone traction rod and the ground until the head traction ring of the disabled vehicle has no height difference relative to the second connection of the herringbone traction rod; driving the auxiliary wheel telescopic rod of the rigid traction rod connection device to make the electric drive auxiliary wheel of the rigid traction rod connection device touch the ground, and driving the electric drive auxiliary wheel to rotate, causing the herringbone traction rod to rotate around a third direction until the head traction ring of the disabled vehicle has no longitudinal or lateral angle relative to the second connection of the herringbone traction rod; wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

[0016] In some optional embodiments, after completing the connection with the disabled vehicle and before instructing the tractor to tow the disabled vehicle to a designated repair location, the method further includes: retracting the travel wheel telescopic rod and the auxiliary wheel telescopic rod to the maximum extent, so that the two travel wheels and the electric drive auxiliary wheel are off the ground. During the towing operation, both travel wheels and the electric drive auxiliary wheel need to be off the ground to prevent them from colliding with obstacles on the ground and to protect the connection between the A-frame tow bar and the disabled vehicle. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0018] Figure 1 This is a schematic diagram of a rigid traction rod connecting device for emergency rescue provided in one embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of the first connecting part provided in one embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the structure of the second connecting part provided in one embodiment of this application;

[0021] Figure 4 This is a flowchart of a car rescue method provided in another embodiment of this application;

[0022] Figure 5 This is a flowchart of another embodiment of the present application, showing how the attitude of the rigid traction rod connection device is adjusted according to the traction strategy;

[0023] Figure 6 This is a schematic diagram provided in one embodiment of the present application, showing that the disabled vehicle has a roll steering angle relative to the tractor.

[0024] Figure 7 This is a schematic diagram provided in one embodiment of the present application, showing a height difference between the disabled vehicle and the tractor.

[0025] Figure 8 This is a schematic diagram provided in one embodiment of the present application, showing that the disabled vehicle has longitudinal and lateral deviation angles relative to the tractor.

[0026] Figure 9 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0028] In car rescue technology, rigid traction is a relatively stable traction method. Its concept has been proposed for many years, and various rigid traction rods have been manufactured.

[0029] One solution involves using two drawbars arranged in a herringbone pattern. The front end connects to the rear tow ring of the tractor unit via a crossbeam and connecting sleeve, while the rear end connects to the two front tow rings of the disabled vehicle via two connecting sleeves. This adds two rotating links compared to the traditional herringbone drawbar. However, the entire coupling operation still requires manual labor, and the heavy and dangerous work remains.

[0030] Another option is to use two foldable mechanisms vertically connected to the front of the disabled vehicle. During connection, a hand-cranked drum releases the steel cable, lowering a retractable tow bar. The front ends of the two tow bars are joined together by a connecting plate and then connected to the towing vehicle by a tow ring. However, this still requires manual connection by the operator, and the aforementioned drawbacks remain.

[0031] Another option is to use two side-mounted hydraulic cylinders to adjust the lateral swing angle of the two forks of the A-frame drawbar. Two electric drums are installed on the gantry at the top of the drawbar to adjust the pitch angle of the drawbar. This device introduces a power unit for operation, which can save manpower. However, the operation still requires manual operation outside the vehicle and has insufficient freedom of movement. The tractor needs to be significantly modified and an external power source is also required.

[0032] To address the technical issues of the complex connection process, the need for modification of the tractor, and the extensive manual labor required, one embodiment of this application proposes a rigid tow bar connection device for emergency rescue. The implementation details of the rigid tow bar connection device for emergency rescue in this embodiment are described below. The following implementation details are provided for ease of understanding and are not essential for implementing this solution.

[0033] The rigid traction rod connection device for emergency rescue in this embodiment can be as follows: Figure 1As shown, it includes a main control box 11 containing a battery module and a control module, a herringbone-shaped tow bar 12, an electric drive auxiliary wheel 13, and two walking wheels (due to obstruction and functional redundancy, ...). Figure 1 Only the walking wheel 14 is shown in the image. The herringbone-shaped tow bar 12 is connected by two telescopic connecting rods (due to obstruction and functional redundancy). Figure 1 Only the telescopic connecting rod 15 is shown in the image, which is connected to the main control box 11. The walking wheels 14 are connected via the walking wheel telescopic rod (due to obstruction and functional redundancy). Figure 1 The diagram only shows the connection between the walking wheel telescopic rod 16 and the main control box 11, and the electric drive auxiliary wheel 13 is connected to the main control box through the auxiliary wheel telescopic rod 17.

[0034] The main body of the herringbone-shaped tow bar 12 is provided with a first connecting part 18, and the forked part is provided with a second connecting part 19. The first connecting part 18 is used to connect with the rear tow ring of the tractor, and the second connecting part 19 is used to connect with the front tow ring of the disabled vehicle.

[0035] The battery module in the main control box 11 powers the control module, which drives the telescopic connecting rod 15 and the travel wheel telescopic rod 16 to extend and retract. When the telescopic connecting rod 15 is driven, it drives the herringbone traction rod 12 to rotate in a first direction. When the travel wheel telescopic rod 16 is driven, it drives the herringbone traction rod 12 to rotate in a second direction. The control module also drives the extension and retraction of the auxiliary wheel telescopic rod 17 and the rotation of the electrically driven auxiliary wheel 13. When the electrically driven auxiliary wheel 13 is on the ground and driven, it drives the herringbone traction rod 12 to rotate in a third direction.

[0036] It is worth noting that the first, second, and third directions are perpendicular to each other. Figure 1 In the first direction (left-right, X-axis, horizontal axis), the telescopic connecting rod extends and retracts to rotate the herringbone-shaped traction rod around the first direction, i.e., around the X-axis. The second direction (front-back, Y-axis, vertical axis) drives the travel wheel telescopic rod to extend and retract, causing the herringbone-shaped traction rod to rotate around the second direction, i.e., around the Y-axis. The third direction (up-down, Z-axis, vertical axis) drives the electric drive auxiliary wheel to touch the ground and rotate, causing the herringbone-shaped traction rod to rotate around the third direction, i.e., around the Z-axis.

[0037] In one example, the specific structure of the first connecting part is as follows: Figure 2As shown, the first connecting part is located at the main body 121 of the herringbone-shaped drawbar, and is composed of a slewing joint 182 that can rotate around a first direction and a universal joint 181 that can rotate around a second and a third direction. The universal joint 181 provides two degrees of freedom around the second and third directions, and the slewing joint 182 provides one degree of freedom around the first direction. This gives the first connecting part three degrees of freedom, enabling it to be more flexibly engaged with the rear towing ring of the tractor.

[0038] In one example, the specific structure of the second connecting part is as follows: Figure 3 As shown, the second connecting part consists of a first tail pin 191, a second tail pin 192, a first tail pin drive cylinder 193, and a second tail pin drive cylinder 194. The first tail pin 191 and the first tail pin drive cylinder 193 are located at the first fork end 122 of the herringbone-shaped traction rod, while the second tail pin 192 and the second tail pin drive cylinder 194 are located at the second fork end 123 of the herringbone-shaped traction rod. A first spring pin is provided at the lower end of the first tail pin 191. Figure 3 When in the unattached state, the first spring pin will not pop out, so it is not shown. The lower end of the second tail pin 192 is provided with a second spring pin. Figure 3 (Not shown) The disabled vehicle has a first head towing ring and a second head towing ring at its front. After the first tail pin 191 is inserted into the first head towing ring, the first spring pin automatically extends under spring drive, locking the first tail pin 191 to the first towing ring. After the second tail pin 192 is inserted into the second head towing ring, the second spring pin automatically extends under spring drive, locking the second tail pin 192 to the second towing ring. The structure consisting of the tail pin and the spring pin, locking with the head towing ring of the disabled vehicle, can maximize the prevention of the disabled vehicle from disengaging during towing, effectively improving the success rate of vehicle rescue.

[0039] In one example, such as Figure 1 As shown, the rigid traction bar connection device also includes a retractable walking stabilizing bar 22. The main body of the A-frame traction bar 12 has a first hole. The control module is also used to drive the retraction and extension movement of the walking stabilizing bar 22. During towing operations, the walking stabilizing bar 22 is driven so that its lower end extends into the first hole. During coupling operations, the walking stabilizing bar 22 is driven so that its lower end retracts into the main control box 11. When the walking stabilizing bar extends into the first hole of the A-frame traction bar during towing operations, it can transmit the traveling load, reduce swaying, and make the entire rigid traction bar connection device more stable. When coupling operations are performed, the walking stabilizing bar retracts into the main control box, releasing the degree of freedom of the A-frame traction bar and ensuring that the coupling operation can proceed normally.

[0040] It is understandable that the rigid traction bar connection device, including the walking stabilizer bar, has a total of nine active drive components: a telescopic walking stabilizer bar, two telescopic connecting rods, two walking wheel telescopic rods, an auxiliary wheel telescopic rod, an electrically driven auxiliary wheel, and two tail pin drive cylinders. Among them, the telescopic walking stabilizer bar, the two telescopic connecting rods, the two walking wheel telescopic rods, the auxiliary wheel telescopic rod, and the two tail pin drive cylinders are linear drive components, which can be hydraulically driven or driven by an electric push rod or a lifting mechanism driven by a motor.

[0041] In one example, such as Figure 1 As shown, the rigid traction bar connection device also includes a camera and lidar module 21, which is fixedly mounted on the top of the main control box 11. A communication module is also installed inside the main control box 11, and the battery module provides power to the communication module. The camera and lidar module 21 is used to acquire the relative attitude difference between the faulty vehicle and the tractor and send it to the control module. The control module is also used to send the relative attitude difference to the remote control center via the communication module, and to receive drive commands from the remote control center via the communication module. Based on the drive commands, it drives the telescopic connecting rod 15, the traveling wheel telescopic rod 16, and the auxiliary wheel telescopic rod 17 to extend and retract, and also drives the rotation of the electrically driven auxiliary wheel 13. The driving commands are formulated by the remote control center based on the relative attitude difference, which includes the height difference, longitudinal and lateral slip angles, and roll and steering angle. The height difference represents the attitude difference between the faulty vehicle and the tractor in the Z-axis direction, the longitudinal and lateral slip angles represent the attitude difference between the faulty vehicle and the tractor in the Y-axis direction, and the roll and steering angle represents the attitude difference between the faulty vehicle and the tractor in the X-axis direction.

[0042] Understandably, the camera and lidar module mounted on the top of the main control box can accurately and closely observe the entire view of the disabled vehicle, calculate the relative attitude difference between the disabled vehicle and the tractor, and transmit the information back to the remote control center via the communication module to specify the operation strategy and issue drive commands, thereby better completing the precise engagement of the rigid tow bar connection device with the disabled vehicle under any terrain and any attitude.

[0043] In one example, displacement sensors are installed on the telescopic connecting rod, the traveling wheel telescopic rod, and the auxiliary wheel telescopic rod to acquire the telescopic distance. Each displacement sensor also transmits the telescopic distance of the telescopic connecting rod, the traveling wheel telescopic rod, and the auxiliary wheel telescopic rod to the control module, respectively. An angle sensor is also installed on the A-frame tow bar. The angle sensor acquires the rotation angle of the A-frame tow bar around a first direction, around a second direction, and around a third direction, and sends this information to the control module. The placement of the displacement and angle sensors provides feedback for the A-frame tow bar's posture adjustment. Based on the data detected and transmitted by the displacement and angle sensors, it can be determined whether the posture adjustment is in place, further improving the accuracy of the splicing operation.

[0044] In this embodiment, the coupling action is achieved by a rigid tow bar connection device. There are no special requirements for the type of towing vehicle, as long as it has a sufficiently strong rear tow ring. This greatly expands the application range of the rigid tow bar connection device and provides better rescue capabilities for disabled vehicles. During coupling operations, no technicians are required to perform manual work outside the vehicle. The rigid tow bar connection device can perform coupling autonomously, with fast operation speed and high efficiency, effectively reducing the operational risks for technicians. The rigid tow bar connection device has its own battery module as a power source, eliminating the need for additional power. The telescopic connecting rod, the travel wheel telescopic rod, the travel wheel, the auxiliary wheel telescopic rod, and the electrically driven auxiliary wheel, under different driving conditions, can adapt to various relative posture deviations between the towing vehicle and the disabled vehicle. It can achieve connection under conditions of height difference, tilt, and deflection between the towing vehicle and the disabled vehicle, thus adapting to various complex terrains and possessing extremely high application value.

[0045] Another embodiment of this application proposes a car rescue method applied to an electronic device, wherein the electronic device can be a terminal or a server. In this embodiment and the following embodiments, the electronic device is described using a server as an example. The implementation details of the car rescue method of this embodiment are described below. The following implementation details are provided for ease of understanding and are not essential for implementing this solution.

[0046] The specific process of the car rescue method in this embodiment can be as follows: Figure 4 As shown, it includes:

[0047] Step 301: Obtain the fault information reported by the disabled vehicle, and dispatch a tractor to attach a rigid tow bar connection device used for emergency rescue to drive to the vicinity of the disabled vehicle based on the fault information.

[0048] In the specific implementation, the server represents a remote control center, which can obtain fault information reported by the disabled vehicle in real time, and dispatch a tractor unit to attach a rigid tow bar connection device for emergency rescue to the vicinity of the disabled vehicle based on the fault information. The rigid tow bar connection device attached to the tractor unit for emergency rescue is the rigid tow bar connection device for emergency rescue provided in the above-described embodiment.

[0049] Step 302: Obtain the relative attitude difference between the faulty vehicle and the tractor, and formulate a traction strategy based on the relative attitude difference.

[0050] In its implementation, the server activates the camera and lidar module of the rigid traction bar connection device. It observes the faulty vehicle through these modules, analyzing its damage, location, attitude, and entrapment status to obtain the relative attitude difference between the faulty vehicle and the tractor. Based on this relative attitude difference, a traction strategy is formulated. The relative attitude difference includes height difference, longitudinal and lateral deflection angles, and roll and steering deflection angles.

[0051] Step 303: Instruct the tractor to adjust its position by driving until the rear towing ring of the tractor is located on the centerline of the front of the disabled vehicle, and the distance between the rear towing ring of the tractor and the disabled vehicle is equal to the length of the V-shaped towing bar.

[0052] In practice, after the server formulates a towing strategy for the disabled vehicle, it can instruct the towing vehicle to adjust its position by driving until the rear towing ring of the towing vehicle is on the central axis of the front of the disabled vehicle, and the distance between the rear towing ring of the towing vehicle and the disabled vehicle is equal to the length of the V-shaped towing bar (the length of its horizontal projection). At this point, the towing vehicle and the disabled vehicle are basically aligned, and the subsequent adjustment only requires adjusting the attitude of the rigid towing bar connection device to eliminate the relative attitude difference between the disabled vehicle and the towing vehicle.

[0053] Step 304: Adjust the attitude of the rigid traction rod connection device according to the traction strategy until there is no relative attitude difference between the disabled vehicle and the tractor, complete the connection with the disabled vehicle, and instruct the tractor to tow the disabled vehicle to the designated repair position.

[0054] In practice, after the tractor and the disabled vehicle are basically aligned, the server sends a drive command to the control module of the rigid traction rod connection device according to the traction strategy, thereby adjusting the attitude of the rigid traction rod connection device until there is no relative attitude difference between the disabled vehicle and the tractor, completing the connection with the disabled vehicle, and instructing the tractor to tow the disabled vehicle to the designated repair location for repair.

[0055] In one example, once the disabled vehicle has no relative attitude difference with the towing vehicle, the two tail pin drive cylinders are activated, causing the two tail pins to insert into the two head towing rings of the disabled vehicle. Two spring pins automatically pop out, locking the two tail pins to the two head towing rings respectively. After connecting with the disabled vehicle, the travel wheel extension rod and auxiliary wheel extension rod need to be retracted to the maximum extent, lifting the two travel wheels and the electric drive auxiliary wheel off the ground. During towing operations, both travel wheels and the electric drive auxiliary wheel must be off the ground to prevent collisions with obstacles and to protect the connection between the A-frame towing rod and the disabled vehicle.

[0056] In another embodiment, the server adjusts the attitude of the rigid traction rod connection device according to the traction strategy, which can be achieved through, for example... Figure 5 The steps shown are implemented as follows:

[0057] Step 401: Drive the two telescopic connecting rods of the rigid traction rod connecting device respectively, so that the two telescopic connecting rods have different elevations, so as to drive the herringbone traction rod of the rigid traction rod connecting device to rotate around the first direction until the head traction ring of the faulty vehicle has no roll steering angle relative to the second connecting part of the herringbone traction rod.

[0058] In specific implementations, such as Figure 6 As shown, the faulty vehicle has a roll steering angle relative to the tractor. In order to eliminate the roll steering angle of the faulty vehicle relative to the tractor, the server instructs the control module to drive the two telescopic connecting rods respectively, so that the two telescopic connecting rods have different elevations, causing one side of the herringbone traction rod to be higher than the other side, causing the herringbone traction rod to rotate around the first direction until the head traction ring of the faulty vehicle no longer has a roll steering angle relative to the second connection part of the herringbone traction rod.

[0059] Step 402: Synchronously drive the two traveling wheel telescopic rods of the rigid traction rod connecting device to rotate the herringbone traction rod around the second direction to adjust the distance between the herringbone traction rod and the ground until there is no height difference between the head traction ring of the faulty vehicle and the second connecting part of the herringbone traction rod.

[0060] In specific implementations, such as Figure 7 As shown, there is a height difference between the faulty vehicle and the tractor. In order to eliminate the height difference between the faulty vehicle and the tractor, the server instructs the control module to synchronously drive the two traveling wheel telescopic rods, causing the herringbone traction rod to rotate around the second direction, so as to adjust the distance between the herringbone traction rod and the ground until there is no height difference between the head traction ring of the faulty vehicle and the second connection part of the herringbone traction rod.

[0061] Step 403: Drive the auxiliary wheel extension rod of the rigid traction rod connection device to make the electric drive auxiliary wheel of the rigid traction rod connection device touch the ground, and drive the electric drive auxiliary wheel to rotate, causing the herringbone traction rod to rotate around a third direction until the head traction ring of the faulty vehicle has no longitudinal or lateral deviation angle relative to the second connection part of the herringbone traction rod.

[0062] In specific implementations, such as Figure 8 As shown, the faulty vehicle has longitudinal and lateral deviation angles relative to the tractor. In order to eliminate the longitudinal and lateral deviation angles of the faulty vehicle relative to the tractor, the server instructs the control module to drive the auxiliary wheel telescopic rod to extend and retract so that the electric drive auxiliary wheel touches the ground and drives the electric drive auxiliary wheel to rotate, causing the herringbone traction rod to rotate around a third direction until the head traction ring of the faulty vehicle has no longitudinal and lateral deviation angles relative to the second connection part of the herringbone traction rod.

[0063] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0064] Another embodiment of this application proposes a server, such as Figure 9 As shown, it includes: at least one processor 501; and a memory 502 communicatively connected to the at least one processor 501; wherein the memory 502 stores instructions executable by the at least one processor 501, the instructions being executed by the at least one processor 501 to enable the at least one processor 501 to perform the car rescue methods in the above embodiments.

[0065] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0066] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0067] Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the method embodiments described above.

[0068] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0069] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. A rigid traction rod connecting device for emergency rescue, characterized in that, It includes a main control box with a battery module and a control module, a herringbone traction rod, an electric drive auxiliary wheel, and two walking wheels. The herringbone traction rod is connected to the main control box through two telescopic connecting rods. The walking wheels are connected to the main control box through walking wheel telescopic rods. The electric drive auxiliary wheel is connected to the main control box through auxiliary wheel telescopic rods. The main body of the herringbone-shaped drawbar is provided with a first connecting part, and the forked part is provided with a second connecting part. The first connecting part is used to connect with the rear towing ring of the tractor, and the second connecting part is used to connect with the front towing ring of the disabled vehicle. The battery module is used to power the control module, and the control module is used to drive the telescopic movement of the telescopic connecting rod and the walking wheel telescopic rod. When the telescopic connecting rod is driven, it is used to drive the herringbone traction rod to rotate around a first direction, and when the walking wheel telescopic rod is driven, it is used to drive the herringbone traction rod to rotate around a second direction. The control module is also used to drive the extension and retraction of the auxiliary wheel telescopic rod and the rotation of the electric drive auxiliary wheel. When the electric drive auxiliary wheel is on the ground and driven, it is used to drive the herringbone traction rod to rotate around a third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first direction is the left-right direction, the second direction is the front-back direction and the third direction is the up-down direction.

2. The rigid traction rod connecting device for emergency rescue according to claim 1, characterized in that, The first connecting part is composed of a slewing joint that can rotate around the first direction and a universal joint that can rotate around the second direction and the third direction.

3. The rigid traction rod connecting device for emergency rescue according to claim 2, characterized in that, The second connecting part consists of a first tail pin, a second tail pin, a first tail pin drive cylinder, and a second tail pin drive cylinder. The first tail pin and the first tail pin drive cylinder are located at the first fork end of the herringbone traction rod, and the second tail pin and the second tail pin drive cylinder are located at the second fork end of the herringbone traction rod. The lower end of the first tail pin is provided with a first spring pin, and the lower end of the second tail pin is provided with a second spring pin. The front of the faulty vehicle is provided with a first head traction ring and a second head traction ring. After the first tail pin is inserted into the first head traction ring, the first spring pin automatically extends under the drive of the spring, locking the first tail pin with the first head traction ring. After the second tail pin is inserted into the second head traction ring, the second spring pin automatically extends under the drive of the spring, locking the second tail pin with the second head traction ring.

4. The rigid traction rod connecting device for emergency rescue according to any one of claims 1 to 3, characterized in that, The rigid traction rod connection device also includes a telescopic walking stabilizing rod. The main body of the herringbone traction rod is provided with a first hole. The control module is also used to drive the telescopic movement of the walking stabilizing rod. During towing operations, the walking stabilizing bar is driven so that its lower end extends into the first hole; During the splicing operation, the walking stabilizing bar is driven to retract its lower end into the main control box.

5. The rigid traction rod connecting device for emergency rescue according to any one of claims 1 to 3, characterized in that, The rigid traction rod connection device also includes a camera and a lidar module, which are fixedly installed on the top of the main control box. A communication module is also installed inside the main control box. The camera and lidar module are used to acquire the relative attitude difference between the faulty vehicle and the tractor, and send it to the control module; wherein, the relative attitude difference includes height difference, longitudinal and lateral deflection angles and roll and steering deflection angles; The control module is also used to send the relative attitude difference to the remote control center through the communication module, and to receive the drive command sent by the remote control center through the communication module. According to the drive command, the module drives the telescopic connecting rod, the walking wheel telescopic rod and the auxiliary wheel telescopic rod to extend and retract, and drives the electric drive auxiliary wheel to rotate; wherein the drive command is formulated by the remote control center based on the relative attitude difference.

6. The rigid traction rod connecting device for emergency rescue according to any one of claims 1 to 3, characterized in that, The telescopic connecting rod, the walking wheel telescopic rod, and the auxiliary wheel telescopic rod are all equipped with displacement sensors for acquiring the telescopic distance. Each displacement sensor is also used to send the telescopic distance of the telescopic connecting rod, the walking wheel telescopic rod, and the auxiliary wheel telescopic rod to the control module, respectively. An angle sensor is installed on the herringbone-shaped traction rod. The angle sensor is used to acquire the rotation angle of the herringbone-shaped traction rod around the first direction, the rotation angle around the second direction, and the rotation angle around the third direction, and send them to the control module.

7. A method for rescuing a car, characterized in that, include: Obtain the fault information reported by the disabled vehicle, and dispatch a tractor to drive to the vicinity of the disabled vehicle based on the fault information by attaching a rigid towing rod connecting device for emergency rescue as described in any one of claims 1 to 6; The relative attitude difference between the faulty vehicle and the tractor is obtained, and a traction strategy is formulated based on the relative attitude difference; wherein, the relative attitude difference includes height difference, longitudinal and lateral deflection angles, and roll and steering deflection angles; The tractor is instructed to adjust its position by driving until the rear towing ring of the tractor is located on the head centerline of the disabled vehicle, and the distance between the rear towing ring and the disabled vehicle is equal to the length of the V-shaped towing bar. Adjust the attitude of the rigid traction rod connection device according to the traction strategy until there is no relative attitude difference between the faulty vehicle and the tractor, complete the connection with the faulty vehicle, and instruct the tractor to tow the faulty vehicle to the designated repair position.

8. The vehicle rescue method according to claim 7, characterized in that, Adjusting the attitude of the rigid traction rod connection device according to the traction strategy includes: The two retractable connecting rods of the rigid traction rod connecting device are driven respectively, so that the two retractable connecting rods have different elevations, thereby driving the herringbone traction rod of the rigid traction rod connecting device to rotate around the first direction until the head traction ring of the faulty vehicle has no roll steering angle relative to the second connecting part of the herringbone traction rod; The two traveling wheel telescopic rods of the rigid traction rod connecting device are synchronously driven to rotate the herringbone traction rod around the second direction to adjust the distance between the herringbone traction rod and the ground until there is no height difference between the head traction ring of the faulty vehicle and the second connecting part of the herringbone traction rod; The auxiliary wheel extension rod of the rigid traction rod connection device is driven to make the electric drive auxiliary wheel of the rigid traction rod connection device touch the ground, and the electric drive auxiliary wheel is driven to rotate, causing the herringbone traction rod to rotate around a third direction until the head traction ring of the faulty vehicle has no longitudinal or lateral deviation angle relative to the second connection part of the herringbone traction rod; wherein, the first direction, the second direction and the third direction are perpendicular to each other.

9. The vehicle rescue method according to claim 7, characterized in that, After completing the connection with the disabled vehicle but before instructing the tractor to tow the disabled vehicle to a designated repair location, the method further includes: The travel wheel telescopic rod and the auxiliary wheel telescopic rod are retracted to the maximum extent, so that the two travel wheels and the electric drive auxiliary wheel are off the ground.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the car rescue method as described in any one of claims 7 to 9.

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