Automated trailer system and method of operating the same

Abstract

An automatic towing system includes a towing robot and a tow truck. The towing robot is configured to move a vehicle, wherein the towing robot includes a camera and a towing arm. The camera is configured to detect a position of the vehicle and an environment in which the vehicle is located. The tow truck is configured to interface with the towing arm of the towing robot. The towing robot can automatically move under a vehicle parked in violation to lift the vehicle and move the vehicle out of the violation area. Thus, the location in which the vehicle is located does not need to reserve front and back space for the tow truck to perform a tow, which can solve a space shortage problem. The vehicle does not need to be manually driven into a parking space of a vehicle storage facility, which can simplify the manual labor and the procedure of moving the vehicle into the vehicle storage facility. The vehicle owner does not need to enter the vehicle storage facility to drive the vehicle out, which can simplify the manual labor and the procedure of moving the vehicle out of the vehicle storage facility.

Description

Technical Field

[0001] This invention relates to an automated trailer system. Background Technology

[0002] Currently, the handling of illegally parked vehicles relies on manual labor to park a tow truck in front of or behind the offending vehicle. Therefore, sufficient space is required around the vehicle so that the tow truck's boom can be positioned under the front or rear wheels. Furthermore, the tow truck operator must tow the illegally parked vehicle to a designated parking space in the storage area and lower it into the designated location. The owner of the illegally parked vehicle must then retrieve their vehicle from the designated area in the storage area and drive it out of the storage area.

[0003] In view of this, providing a system and method that can solve the problem of insufficient front and rear space for vehicles and simplify the procedure of moving vehicles into or out of storage yards remains one of the goals that urgently need to be developed. Summary of the Invention

[0004] One embodiment of the present invention is an automatic trailer system configured to move vehicles.

[0005] In one embodiment, the automated towing system includes a towing robot and a towing crane. The towing robot is configured to move a vehicle and includes a camera and a towing arm. The camera is configured to detect the vehicle's position and its environment. The towing crane is configured to dock with the towing arm of the towing robot.

[0006] In one embodiment, the tow truck includes multiple positioning points, and the tow truck robot's camera is configured to detect the positioning points.

[0007] In one embodiment, the trailer robot further includes a controller configured to calculate the distance between the trailer and the trailer robot based on the coordinates of the positioning point of the trailer detected by the camera.

[0008] In one embodiment, the towing vehicle further includes a towing arm configured to dock with the towing arm of the trailer robot, wherein the trailer robot's camera and controller are further configured to analyze the position of the towing arm.

[0009] In one embodiment, the controller of the trailer robot incorporates autonomous driving technology.

[0010] In one embodiment, the automated trailer system further includes a vehicle storage area and a global positioning system (GPS). The vehicle storage area includes multiple parking spaces. The GPS is located in the vehicle storage area and configured to measure the coordinates of the parking spaces.

[0011] In one embodiment, the automated trailer system further includes a data processing module electrically connected to a global positioning system, wherein the data processing module is configured to record the coordinates of the parking spaces measured by the global positioning system.

[0012] In one embodiment, the trailer robot also includes a wireless communication module configured to transmit parking information back to a data processing module.

[0013] In one embodiment, the data processing module is also configured to transmit vehicle retrieval information to the trailer robot.

[0014] One embodiment of the present invention is an operation method of an automatic trailer system.

[0015] In one embodiment, the operation method of the automated trailer system is configured to move a first vehicle. The operation method of the automated trailer system includes lifting and moving the first vehicle by a trailer robot; detecting the position of a tow truck by a camera and controller of the trailer robot; and docking with the tow truck by a towing arm of the trailer robot.

[0016] In the above embodiments, the towing robot can automatically move under the illegally parked vehicle, lift it, and remove it from the illegal parking area. Therefore, no front or rear space is needed for the tow truck to tow the vehicle, solving the space shortage problem. There is no need to manually drive the vehicle into the parking space of the parking lot, simplifying the process of moving the vehicle into the parking lot. Vehicle owners do not need to enter the parking lot to drive their vehicles out, simplifying the process of moving the vehicle out of the parking lot. Attached Figure Description

[0017] Figure 1 This is an architectural diagram of an automated trailer system according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram illustrating an application scenario of an automated trailer system according to an embodiment of the present invention.

[0019] Figure 3A This is a top view of a trailer robot according to an embodiment of the present invention.

[0020] Figure 3B for Figure 3A Side view of the trailer robot.

[0021] Figure 4 This is a schematic diagram illustrating the docking of a tow truck and a tow robot according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the positioning points of a tow truck according to an embodiment of the present invention.

[0023] Figure 6 This is a flowchart of an operation method for an automated trailer system according to an embodiment of the present invention.

[0024] Figure 7 yes Figure 6 A schematic diagram illustrating the intermediate steps of operating an automated trailer system.

[0025] Figure 8 yes Figure 6 A schematic diagram illustrating the intermediate steps of operating an automated trailer system.

[0026] Figure 9 yes Figure 6 A schematic diagram illustrating the intermediate steps of operating an automated trailer system. Detailed Implementation

[0027] The following describes several embodiments of the present invention with reference to the accompanying drawings. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and elements will be shown in the drawings in a simple schematic manner. And for clarity, the thickness of layers and regions in the drawings may be exaggerated, and the same element symbols denote the same elements in the description of the drawings.

[0028] Figure 1 This is an architectural diagram of an automated trailer system 100 according to an embodiment of the present invention. Figure 2 This is a schematic diagram illustrating an application scenario of an automated towing system 100 according to an embodiment of the present invention. The automated towing system 100 includes a towing robot 110, a towing crane 120, a vehicle storage area 130, a global positioning system (GPS) 140, and a data processing module 150. The GPS 140 is located in the vehicle storage area 130. The GPS 140 is communicatively connected to the data processing module 150. The towing robot 110 is communicatively connected to both the GPS 140 and the data processing module 150. The towing robot 110 can be physically connected to the towing crane 120 for vehicle towing.

[0029] The automatic towing system 100 of the present invention can move illegally parked vehicles 160 to designated parking spaces in the vehicle storage area 130, or remove them from designated parking spaces, without requiring manual driving and without requiring the vehicle owner to enter the storage area.

[0030] Figure 3A This is a top view of a trailer robot 110 according to an embodiment of the present invention. Figure 3B for Figure 3A A side view of the trailer robot 110. (See also...) Figure 1 , Figure 3A and Figure 3BThe towing robot 110 includes a camera 112, a controller 114, a wireless communication module 116, and a towing arm 118. The camera 112 is configured to detect the vehicle's position and its surrounding environment. The towing robot 110 can automatically move under an illegally parked vehicle 160, lift the vehicle, and remove it from the illegally parked area. During the removal of vehicle 160 from the illegally parked area, the towing robot 110 only needs to move under the vehicle. Therefore, no front or rear space is required for the towing truck 120 to tow it.

[0031] Reference Figure 1 The trailer robot 110 includes a wireless communication module 116 configured to communicate with a global positioning system 140 and a data processing module 150. The controller 114 of the trailer robot 110 includes autonomous driving technology, which can be used to move illegally parked vehicles into or out of designated parking spaces, avoiding collisions with other vehicles.

[0032] Figure 4 This is a schematic diagram of a tow truck 120 docking with a towing robot 110 according to an embodiment of the present invention. The tow truck 120 includes a towing arm 122 configured to dock with the towing arm 118 of the towing robot 110. After the towing robot 110 lifts the vehicle 160, the position of the towing arm 122 of the tow truck 120 is analyzed by a camera 112 and a controller 114, and docking is performed.

[0033] Figure 5 This is a schematic diagram of the positioning points of a tow truck 120 according to an embodiment of the present invention. The tow truck 120 includes a plurality of positioning points 124, and a camera 112 of a trailer robot 110 is configured to detect the positioning points 124. A controller 114 of the trailer robot 110 is configured to analyze the distance between the tow truck 120 and the trailer robot 110 based on the coordinates of the positioning points 124 detected by the camera 112.

[0034] Reference Figure 2 The vehicle parking area 130 includes a waiting area 134 configured to accommodate a towing robot 110. A global positioning system 140 includes a differential GPS base station 142 and a rover station 144, configured to measure the coordinates of parking spaces 132. A data processing module 150 is configured to record the coordinates of parking spaces 132 measured by the global positioning system 140 and transmit the coordinates of parking spaces 132 to the towing robot 110. A wireless communication module 116 of the towing robot 110 is configured to transmit parking information back to the data processing module 150. The data processing module 150 is also configured to transmit vehicle retrieval information to the towing robot 110.

[0035] Figure 6This is a flowchart of an operation method 200 for an automated towing system 100 according to an embodiment of the present invention. The operation method 200 begins in step S1, where the camera 112 of the towing robot 110 detects the position of the vehicle 160 and its surrounding environment. When an illegal parking incident occurs, the towing robot 110 is placed next to the illegal parking area. The camera 112 of the towing robot 110 can detect the space around the vehicle 160 and automatically determine how to move the vehicle 160.

[0036] Operation method 200 continues to step S2, where the towing robot 110 lifts and moves the vehicle 160. Based on the detection results, the towing robot 110 moves to a suitable position and angle under the vehicle 160, lifts it, and moves it out of the illegally parked area. In this step, the towing robot 110 moves the vehicle 160 directly from under it, rather than the towing crane 120 directly moving the vehicle 160. Therefore, there is no need to consider insufficient space in front of and behind the vehicle 160, increasing operational convenience and safety, and preventing damage to the vehicle 160.

[0037] Reference Figure 5 and Figure 6 Operation method 200 continues to step S3, where the position of the towing robot 120 is detected by the camera 112 and controller 114 of the towing robot 110. In this embodiment, the towing robot 120 has three positioning points 124 for the camera 112 to identify its position. The controller 114 analyzes the images of the positioning points 124 captured by the camera 112 to obtain image coordinates. Since the actual distance between the three positioning points 124 is fixed and known, the pixel coordinates are converted into normalized image coordinates based on the pixel data captured by the camera 112, and the pixel distance between the positioning points 124 can be obtained. Then, using triangulation, the angular relationship and actual distance between the three positioning points 124 are solved, and the actual distance between the towing robot 110 and the towing robot 120 can be calculated. The towing robot 110 moves towards the towing robot 120 according to the calculated distance. While the towing robot 110 is moving, the step of calculating the distance between the towing robot 120 and the towing robot 110 continues to be executed.

[0038] Simultaneously refer to Figure 4 and Figure 6The operation method 200 continues to step S4, where the towing arm 118 of the trailer robot 110 docks with the traction arm 122 of the tow truck 120. When the trailer robot 110 moves and approaches the rear of the tow truck 120, its camera 112 and controller 114 analyze the position of the traction arm 122. After locating the position of the traction arm 122, the trailer robot 110 automatically extends its towing arm 118 to dock with it. Workers can then drive the tow truck 120 to move the vehicle 160 and the trailer robot 110 from the illegally parked area to the vehicle storage area 130.

[0039] Simultaneously refer to Figure 6 and Figure 7 . Figure 7 yes Figure 6 This is a schematic diagram of the intermediate steps of the operation method 200 of the automatic towing system 100. Operation method 200 continues to step S5, where the coordinates of parking space 132 are sent to the towing robot 110 via the GPS 140 of the vehicle storage yard 130. When the illegally parked vehicle 160 is towed to the vehicle storage yard 130, the tow truck 120 disconnects from the towing robot 110. The mobile station 144 receives the differential correction signal sent by the differential GPS base station 142 to determine the coordinates of parking space 132. The GPS 140 sends the coordinates of available parking spaces 132 to the towing robot 110, such as parking spaces 1322, 1324, and 1326 with coordinates P1, P4, and P7. The towing robot 110 can receive signals via a wireless communication module, such as Bluetooth.

[0040] Simultaneously refer to Figure 6 and Figure 8 . Figure 8 yes Figure 6 This is a schematic diagram of intermediate steps in the operation method 200 of the automated trailer system 100. Operation method 200 continues to step S6, where the trailer robot 110 automatically moves the vehicle 160 to one of the available parking spaces 1326 according to coordinates. In some embodiments, the trailer robot 110 automatically navigates to the parking space 1326 and moves the vehicle 160 into the parking space 1326 using autonomous driving technology to avoid collisions with other vehicles 160.

[0041] Operation method 200 continues to step S7, where the trailer robot 110 transmits parking information to the data processing module 150 via the wireless communication module 116. In this step, after moving the vehicle 160 into the parking space 1326, the trailer robot 110 moves out from under the vehicle 160. The trailer robot 110 detects the parking status of the vehicle 160 via the camera 112 and the controller 114, and transmits parking information, including the parking space 1326 where the vehicle 160 is located and the parking time, back to the data processing module 150. In some embodiments, the trailer robot 110 moves to the waiting area 134 to await further instructions.

[0042] By performing the above steps S5 to S7, the vehicle 160 can be driven into the parking space 132 of the vehicle storage yard 130 without human intervention, which simplifies the process of moving the vehicle 160 into the vehicle storage yard 130.

[0043] Operation method 200 continues to step S8, where the vehicle retrieval information is transmitted to the towing robot 110 via the data processing module 150. In this step, when the car owner goes to the vehicle storage area 130 to retrieve their vehicle, the towing robot 110 will automatically perform the retrieval operation. The car owner only needs to complete the retrieval procedures and wait at the exit of the vehicle storage area 130.

[0044] Simultaneously refer to Figure 6 and Figure 9 . Figure 9 yes Figure 6 The diagram illustrates the intermediate steps of the operation method 200 of the automated towing system 100. Operation method 200 continues to step S9, where the towing robot 110 moves the vehicle located at the specified coordinates to the exit of the vehicle storage area 130 based on the vehicle retrieval information. Through the operations described in steps S8 to S9, the vehicle owner does not need to enter the vehicle storage area 130 to drive the vehicle 160 out, simplifying the manual labor and the procedure for moving the vehicle 160 out of the vehicle storage area 130.

[0045] In summary, the towing robot can automatically move under an illegally parked vehicle, lift it, and remove it from the parking area. Therefore, no front or rear space is needed for a tow truck to tow the vehicle, solving the space shortage problem. There's no need to manually drive the vehicle into the parking space in the parking lot, simplifying the process of moving vehicles into and out of the parking lot. Furthermore, vehicle owners don't need to enter the parking lot to drive their vehicles out, simplifying the process of moving vehicles out of the parking lot.

[0046] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0047] [Symbol Explanation]

[0048] 100: Automatic Towing System

[0049] 110: Towing Robot

[0050] 112: Camera

[0051] 114: Controller

[0052] 116: Wireless communication module

[0053] 118: Trailing Arm

[0054] 120: Tow truck

[0055] 122: Traction arm

[0056] 124: Location Point

[0057] 130: Vehicle Storage Lot

[0058] 132, 1322, 1324, 1326: Parking spaces

[0059] 134: Waiting Area

[0060] 140: Global Positioning System

[0061] 142: Differential GPS Base Station

[0062] 144: Mobile Site

[0063] 150: Data Processing Module

[0064] 160: Vehicles

[0065] 200: Operating Instructions

[0066] P1, P4, P7: Coordinates

[0067] S1, S2, S3, S4, S5, S6, S7, S8, S9: Steps.

Claims

1. An automated trailer system configured to move vehicles, characterized in that, The automated trailer system described herein includes: A trailer robot, configured to move the vehicle, wherein the trailer robot comprises: A camera, configured to detect the position of the vehicle and the environment in which the vehicle is located; and Trailing arms; and A towing crane, configured to dock with the towing arm of the towing robot.

2. The automatic trailer system of claim 1, wherein, The tow truck includes multiple positioning points, and the camera of the tow truck robot is configured to detect the multiple positioning points.

3. The automatic trailer system of claim 2, wherein, The trailer robot further includes a controller configured to calculate the distance between the trailer and the trailer robot based on the coordinates of the plurality of positioning points of the trailer detected by the camera.

4. The automatic trailer system of claim 3, wherein, The towing vehicle further includes a towing arm configured to dock with the towing arm of the trailer robot, wherein the camera and controller of the trailer robot are further configured to analyze the position of the towing arm.

5. The automatic trailer system of claim 3, wherein, The controller of the trailer robot incorporates autonomous driving technology.

6. The automatic trailer system of claim 1, wherein, Also includes: The vehicle storage area includes multiple parking spaces; and A global positioning system, located in the vehicle storage area, is configured to measure the coordinates of the plurality of parking spaces.

7. The automatic trailer system of claim 6, wherein, Also includes: A data processing module electrically connected to the global positioning system, wherein the data processing module is configured to record the coordinates of the plurality of parking spaces measured by the global positioning system.

8. The automatic trailer system of claim 7, wherein, The trailer robot also includes a wireless communication module configured to transmit parking information back to the data processing module.

9. The automatic trailer system of claim 7, wherein, The data processing module is also configured to transmit vehicle retrieval information to the trailer robot.

10. A method of operating an automated trailer system, applied to the automated trailer system of claim 1, configured to move a first vehicle, characterized by, The operation method of the aforementioned automated trailer system includes: The first vehicle is lifted and moved using a trailer robot; The position of the towing vehicle is detected by the camera and controller of the towing robot; and The trailer robot docks with the tow truck via its towing arm.

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