Automatic towing system and operation method of the same

Abstract

An automatic towing system includes a tow robot and a tow truck. The tow robot is configured to move a car. The tow robot includes a camera and a towing arm. The camera is configured to detect a position of the car and an environment of the car. The tow truck is configured to engage with the towing arm of the tow robot.

Description

[Technical Field]

[0001] This disclosure relates to an automated trailer system. [Previous Technology]

[0002] In the current method of handling illegally parked vehicles, manual labor is required to park the tow truck in front of or behind the illegally parked vehicle. Therefore, sufficient space is needed around the vehicle to allow the tow truck's boom to be positioned under the front or rear wheels of the illegally parked vehicle. Furthermore, the tow truck must manually tow the illegally parked vehicle to the designated parking space in the storage area and lower it to 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, how to provide 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 the storage yard is still one of the goals that urgently need to be developed. [Summary of the Invention]

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

[0005] In one embodiment, the automated trailer system includes a trailer robot and a towing crane. The trailer 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 trailer robot's towing arm.

[0006] In one embodiment, the tow truck includes a plurality of positioning points, and the camera of the tow truck robot 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 includes autonomous driving technology.

[0010] In one embodiment, the automated trailer system further includes a vehicle storage area and a global positioning system. The vehicle storage area includes multiple parking spaces. The global positioning system 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 further includes a wireless communication module configured to transmit parking information back to the 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 disclosed herein 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 means of a trailer robot; detecting the position of a tow truck by means of a camera and controller of the trailer robot; and docking the trailer robot with the tow truck by means of a towing arm.

[0016] In the above embodiments, the towing robot can automatically move under the illegally parked vehicle, lift the vehicle, and move it out of the illegal parking area. Therefore, the vehicle's location does not require pre- and post-towing space for a tow truck, solving the space shortage problem. There is no need for manual labor to drive the vehicle into the parking space of the vehicle storage area, simplifying the process of moving the vehicle into the storage area. The vehicle owner does not need to enter the storage area to drive the vehicle out, simplifying the process of moving the vehicle out of the storage area.

Implementation Method

[0017] Several embodiments of the present invention will be disclosed below with reference to the 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 present invention. That is, in some embodiments of the present invention, these practical details are not essential. In addition, 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 represent the same elements in the description of the drawings.

[0018] Figure 1 is an architectural diagram of an automated towing system 100 according to an embodiment of the present disclosure. Figure 2 is a schematic diagram of an application scenario of the automated towing system 100 according to an embodiment of the present disclosure. The automated towing system 100 includes a towing robot 110, a towing crane 120, a vehicle storage yard 130, a global positioning system 140, and a data processing module 150. The global positioning system 140 is located in the vehicle storage yard 130. The global positioning system 140 is communicatively connected to the data processing module 150. The towing robot 110 is communicatively connected to the global positioning system 140 and the data processing module 150. The towing robot 110 and the towing crane 120 can be physically connected to perform vehicle towing.

[0019] The automatic towing system 100 disclosed herein 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.

[0020] Figure 3A is a top view of a towing robot 110 according to an embodiment of the present disclosure. Figure 3B is a side view of the towing robot 110 in Figure 3A. Referring also to Figures 1, 3A, and 3B, the 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 position of the vehicle and its surrounding environment. The towing robot 110 can automatically move under an illegally parked vehicle 160, lift the vehicle, and remove the vehicle from the illegally parked area. During the process of removing the vehicle 160 from the illegally parked area, the towing robot 110 only needs to move under the vehicle. Therefore, the vehicle's position does not require pre- and post-towing space for the tow truck 120 to tow it.

[0021] Referring to Figure 1. The trailer robot 110 includes a wireless communication module 116 configured to communicate with the global positioning system 140 and the 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 to avoid collisions with other vehicles.

[0022] Figure 4 is a schematic diagram of a tow truck 120 docking with a towing robot 110 according to an embodiment of the present disclosure. 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 the camera 112 and the controller 114 and docking is performed.

[0023] Figure 5 is a schematic diagram of the positioning points of a tow truck 120 according to an embodiment of the present disclosure. 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.

[0024] Referring to Figure 2, the vehicle storage area 130 includes a waiting area 134 configured to house 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.

[0025] Figure 6 is a flowchart of an operation method 200 of an automated towing system 100 according to an embodiment of the present disclosure. 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.

[0026] 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 the vehicle 160, and moves it out of the illegally parked area. In this step, the towing robot 110 moves the vehicle 160 out after moving it under it, rather than the towing crane 120 directly moving the vehicle 160. Therefore, there is no need to consider the issue of insufficient space in front of and behind the vehicle 160, which increases operational convenience and safety, and avoids damage to the vehicle 160.

[0027] Referring to Figures 5 and 6. Operation method 200 continues to step S3, where the position of the tow truck 120 is detected by the camera 112 and controller 114 of the trailer robot 110. In this embodiment, the tow truck 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 to normalized image coordinates based on the pixel data captured by the camera 112, thus determining the pixel distance between the positioning points 124. Then, using triangulation, the angular relationship and actual distance between the three positioning points 124 are solved, allowing the calculation of the actual distance between the tow truck 120 and the trailer robot 110. The trailer robot 110 moves towards the tow truck 120 based on the calculated distance. While the trailer robot 110 is in motion, the step of calculating the distance between the tow truck 120 and the trailer robot 110 continues to be performed.

[0028] Refer to Figures 4 and 6 simultaneously. 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, the camera 112 and controller 114 of the trailer robot 110 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 the traction arm 122. The operator 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.

[0029] Refer to Figures 6 and 7 simultaneously. Figure 7 is a schematic diagram of intermediate steps in the operation method 200 of the automatic towing system 100 in Figure 6. Operation method 200 continues to step S5, where the coordinates of parking spaces 132 are sent to the towing robot 110 via the GPS 140 of the vehicle storage area 130. When the illegally parked vehicle 160 is towed to the vehicle storage area 130, the tow truck 120 and the towing robot 110 are disconnected. The mobile station 144 receives the differential correction signal sent by the differential GPS base station 142 to obtain the coordinates of the parking spaces 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 the signal via a wireless communication module, such as Bluetooth.

[0030] Refer to Figures 6 and 8 simultaneously. Figure 8 is a schematic diagram of an intermediate step in the operation method 200 of the automated trailer system 100 in Figure 6. 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 automated driving technology to avoid collisions with other vehicles 160.

[0031] Following operation method 200 to step S7, 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.

[0032] 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.

[0033] 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 the 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.

[0034] Refer to Figures 6 and 9 simultaneously. Figure 9 is a schematic diagram of the intermediate steps of the operation method 200 of the automatic towing system 100 in Figure 6. Operation method 200 continues to step S9, where the towing robot 110 moves the vehicle located at the coordinates of the vehicle retrieval information to the exit of the vehicle storage area 130. Through the operations of steps S8 to S9 above, the vehicle owner does not need to enter the vehicle storage area 130 to drive the vehicle 160 out, which simplifies the manpower and the procedure for moving the vehicle 160 out of the vehicle storage area 130.

[0035] In summary, the towing robot can automatically move under an illegally parked vehicle, lift it, and remove it from the illegal parking area. Therefore, no front or rear space is required for the tow truck to tow the vehicle, solving the space shortage problem. There is no need for manual labor to drive the vehicle into the parking space of the vehicle storage area, simplifying the process of moving the vehicle into the storage area. Vehicle owners do not need to enter the storage area to drive their vehicles out, simplifying the process of moving the vehicle out of the storage area.

[0036] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Anyone 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. [Simplified Explanation of the Diagram]

[0037] Figure 1 is an architectural diagram of an automated trailer system according to an embodiment of the present disclosure. Figure 2 is a schematic diagram of an application scenario of an automated trailer system according to an embodiment of the present disclosure. Figure 3A is a top view of a trailer robot according to an embodiment of the present disclosure. Figure 3B is a side view of the trailer robot in Figure 3A. Figure 4 is a schematic diagram of the docking of a tow crane and a trailer robot according to an embodiment of the present disclosure. Figure 5 is a schematic diagram of the positioning point of the tow crane according to an embodiment of the present disclosure. Figure 6 is a flowchart of the operation method of the automated trailer system according to an embodiment of the present disclosure. Figure 7 is a schematic diagram of an intermediate step of the operation method of the automated trailer system in Figure 6. Figure 8 is a schematic diagram of an intermediate step of the operation method of the automated trailer system in Figure 6. Figure 9 is a schematic diagram of an intermediate step of the operation method of the automated trailer system in Figure 6.

Claims

1. An automated trailer system configured to move a vehicle, wherein the automated trailer system comprises: a trailer robot configured to move the vehicle, wherein the trailer robot comprises: a camera configured to detect a position of the vehicle and an environment in which the vehicle is located; a controller; a towing arm; and a towing crane configured to dock with the towing arm of the trailer robot, wherein the camera is further configured to detect a coordinate of the towing crane, and the controller is configured to calculate a distance between the towing crane and the trailer robot based on the coordinate of the towing crane detected by the camera.

2. The automated trailer system as claimed in claim 1, wherein the trailer includes a plurality of positioning points, and the camera of the trailer robot is configured to detect the positioning points.

3. The automated trailer system as described in claim 2, wherein the trailer 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.

4. The automated trailer system as described in claim 2, wherein the controller of the trailer robot includes an automated driving technology.

5. The automated trailer system as claimed in claim 1 further comprises: a vehicle storage yard including a plurality of parking spaces; and a global positioning system disposed in the vehicle storage yard and configured to measure the coordinates of the parking spaces.

6. The automated trailer system as claimed in claim 5 further 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 parking spaces measured by the global positioning system.

7. The automated trailer system as described in claim 6, wherein the trailer robot further includes a wireless communication module configured to transmit parking information back to the data processing module.

8. The automated trailer system as described in claim 6, wherein the data processing module is further configured to transmit vehicle retrieval information to the trailer robot.

9. A method of operating an automated trailer system, applied to the automated trailer system of claim 1, configured to move a vehicle, wherein the method of operating the automated trailer system comprises: lifting and moving the vehicle by means of a trailer robot; detecting a position of a tow truck by means of a camera and a controller of the trailer robot; and docking the trailer truck by means of a towing arm of the trailer robot according to the position of the tow truck detected by the camera.

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