KR102566034B1 - Roll trailer elevation system and method of control the same - Google Patents

Abstract

According to one aspect of the present invention, the vehicle sensor unit provided in a self-driving vehicle and detecting information about the height of an external structure; a controller connected to the vehicle sensor unit to be energized and calculating control information for adjusting the height of the trailer vehicle connected to the traveling vehicle using the detected information; and a driving unit energized with the control unit and operated according to the calculated control information to adjust the height of the trailer vehicle.

Description

Roll trailer elevation system and method of control thereof {Roll trailer elevation system and method of control the same}

The present invention relates to a roll trailer lifting system and a control method thereof, and more particularly, to a roll trailer lifting system capable of raising or lowering a roll trailer according to a detected height of a garage and a control method thereof.

Due to the outbreak of COVID-19 and the improvement of living standards, the proportion of non-face-to-face transactions is increasing compared to face-to-face transactions. Non-face-to-face transactions may be performed by delivering goods purchased by consumers through means such as online and mobile devices to a delivery destination desired by the consumer.

In recent years, there have been an increasing number of cases in which a business operator operating an open market directly purchases goods, stores them in his own distribution warehouse, and delivers the stored goods upon occurrence of an order. According to the above scheme, rapid delivery is possible, increasing consumer satisfaction.

On the other hand, there are not many cases in which business operators operating open markets are professionally engaged in the logistics industry. Accordingly, as the amount of products bought and sold increases, the cost required for moving the products also increases. For example, fuel costs required for a vehicle for delivery to and from a distribution warehouse and a delivery destination account for a large amount of cost.

As one of the ways to reduce the amount of logistics, there is a way to increase the amount of goods moved at the time of shipment. That is, it is a method of loading as many items as possible into a vehicle departing from a distribution warehouse to increase the amount of items delivered at a time of shipment. In the case of the above scheme, there is an advantage in that the number of deliverable items can be increased without the vehicle visiting the distribution warehouse multiple times.

There is a limit to the amount of items that can be loaded into existing vehicles. In particular, since the width of roads is legally regulated in Korea, it is difficult to increase the width of vehicles indefinitely. Therefore, the additionally loaded articles are accommodated in the vehicle to be stacked in the height direction, that is, in the vertical direction, not in the width direction, so that the height of the vehicle can be increased compared to the conventional one.

On the other hand, in the case of recently built apartments, a gate is generally installed at the entrance of a complex or a parking lot. The gate is formed to have a predetermined height, so that only vehicles having a height lower than the height of the gate can pass.

Accordingly, in some cases, a device for manually adjusting the height of the vehicle by being manually operated by the driver is installed in the vehicle loaded with the article. However, since these devices require the driver to visually recognize the height and manually operate the device, there is a possibility that the operation may fail due to misrecognition or error by the driver.

Korean Patent Registration No. 10-1180202 discloses a container monitoring system using a wide-angle camera. Specifically, a container monitoring system for implementing a monitoring image by extending a photographing range using a wide-angle camera having a wide photographing angle and converting an acquired image into a flat image of a general camera is disclosed.

However, in this type of container monitoring system, a camera must be installed on a specific structure itself, not on a vehicle. That is, since an image related to a container can be captured only when the container vehicle passes the specific structure, it is difficult to directly apply it to a logistics vehicle that needs to visit various places.

Korean Registered Patent Document No. 10-1992100 discloses a truck head recognition and adjacent container detection system and method. Specifically, a truck head recognition and adjacent container detection system and method for recognizing a truck chassis and a truck head using output signals detected by a trolley camera unit and a girder camera unit installed on a trolley and an upper frame, respectively, are disclosed.

However, this type of truck head recognition and adjacent container detection systems and methods are also provided in container cranes, not vehicles. That is, since a truck-related image can be captured only when the truck passes the container crane, it is difficult to apply it directly to a logistics vehicle that needs to visit various places.

Furthermore, the prior art documents do not suggest a method for adjusting the height of a logistics vehicle loaded with cargo according to the detected result.

Korea Patent Document No. 10-1108202 (2012.01.31.) Korean Registered Patent Document No. 10-1992100 (2019.09.30.)

An object of the present invention is to provide a roll trailer lifting system 1 and a control method capable of solving the above problems.

First, an object of the present invention is to provide a roll trailer lifting system and a control method in which the height of a trailer can be adjusted according to the height of a structure to be entered and exited.

In addition, one object is to provide a roll trailer lifting system and a control method for automatically adjusting the height of the trailer.

In addition, one object is to provide a roll trailer elevating system and a control method capable of accurately detecting the height of a structure to enter and exit.

In addition, one object is to provide a roll trailer lifting system and a control method that can achieve the above object while simply forming the structure of the trailer.

Another object of the present invention is to provide a roll trailer elevating system and a control method in which a desired height of a trailer can be accurately calculated and the height of the trailer can be adjusted according to the calculated result.

In order to achieve the above object, the present invention is provided in a self-driving vehicle, the vehicle sensor unit for detecting information on the height of the external structure; a controller connected to the vehicle sensor unit to be energized and calculating control information for adjusting the height of the trailer vehicle connected to the traveling vehicle using the detected information; And it provides a roll trailer elevating system including a driving unit connected to the control unit and energized and operated according to the calculated control information to adjust the height of the trailer vehicle.

In addition, the vehicle sensor unit may be provided with a roll trailer lifting system including a camera module for detecting information about the height of the structure in the form of image information.

In addition, the vehicle sensor unit may be provided with a roll trailer lifting system including any one or more of an IR sensor module, a radar sensor module, an ultrasonic sensor module, and a LiDAR sensor module.

In addition, the vehicle sensor unit includes a GPS module for detecting information about the locations of the driving vehicle and the trailer vehicle, and the control unit uses the detected information about the locations of the driving vehicle and the trailer vehicle to, A roll trailer lifting system that calculates information about the height of the structure may be provided.

In addition, an external sensor provided outside the structure and energized connected to the vehicle sensor unit to provide information on the height of the structure to the vehicle sensor unit, wherein the vehicle sensor unit comprises the external sensor unit a Bluetooth receiving module energized and connected to the Bluetooth transmission module provided in; A roll trailer lifting system may be provided, including at least one of an RFID transmission module provided in the external sensor unit and an RFID reception module energized.

In addition, the control unit compares information on the detected height of the structure with information on the height of the trailer vehicle, and calculates height information about whether or not the height of the trailer vehicle is adjusted and height information about the adjusted length. ; a control information calculation module that calculates control information for raising, maintaining, or lowering the height of the trailer vehicle by using the calculated height information; And a drive control module that is energized and connected to the driving unit and controls the driving unit according to the calculated control information, a roll trailer elevating system may be provided.

The trailer vehicle also includes a distance sensor unit provided in the trailer vehicle and detecting information on a distance between a lower side of the trailer vehicle and the ground, wherein the control unit is electrically connected to the distance sensor unit so that the distance sensor unit A roll trailer lifting system may be provided that further uses the sensed information to calculate the control information.

In addition, the control unit compares information on the detected height of the structure with information on the height of the trailer vehicle, and calculates height information about whether or not the height of the trailer vehicle is adjusted and height information about the adjusted length. ; a correction information calculation module that calculates correction information about whether or not the calculated height information is corrected and a degree of correction by using the information sensed by the distance sensor; a control information calculation module that calculates control information for raising, maintaining, or lowering the height of the trailer vehicle by using the calculated correction information; And a drive control module that is energized and connected to the driving unit and controls the driving unit according to the calculated control information, a roll trailer elevating system may be provided.

In addition, the present invention, (a) the vehicle sensor unit detecting the height of the external structure; and (b) controlling a driving unit using information about the detected height by a control unit, wherein the vehicle sensor unit is provided in a vehicle that is located at a front side along a driving direction, and wherein the driving unit comprises the Provided is a control method of a roll trailer lifting system, which is located on the rear side along the driving direction and is provided in a trailer vehicle connected to the driving vehicle.

In addition, the step (a) may include (a11) detecting information about the height of the structure by a camera module; and (a12) transmitting the information sensed by the camera module to the controller.

In addition, the structure is provided with an image output module that outputs information about the height in the form of image information, and in the step (a11), (a111) the camera module outputs the information about the height, the height A control method of a roll trailer elevating system comprising the step of detecting information about may be provided.

In addition, the structure is provided with a Bluetooth transmission module that outputs information about the height, and in step (a), (a21) the Bluetooth reception module detects the information about the height output by the Bluetooth transmission module. step; and (a22) transmitting the information sensed by the Bluetooth receiving module to the controller.

In addition, the structure is provided with an RFID transmission module that outputs information about the height, and in the step (a), (a31) the RFID reception module detects the information about the height output by the RFID transmission module. step; and (a32) transmitting the information sensed by the RFID receiving module to the controller.

In addition, the step (a) may include (a41) detecting information about the height of the structure by at least one of an IR sensor module, a radar sensor module, an ultrasonic sensor module, and a LiDAR sensor module; and (a42) transmitting the information sensed by the at least one sensor module to the controller.

Further, the step (a) may include: (a01) detecting information about the location of the driving vehicle by a GPS module; and (a02) transmitting the information sensed by the GPS module to the controller.

Further, the step (b) may include: (b1) receiving, by a sensing information receiving module, information about the height sensed by the vehicle sensor unit; (b2) calculating, by a height information calculation module, height information about a height to be changed of the trailer vehicle by using the received height information; (b3) calculating, by a control information calculation module, control information for controlling the driving unit using the calculated height information; and (b4) adjusting the height of the upper side of the trailer vehicle by controlling the driving unit according to the calculated control information by the driving control module.

In addition, the present invention includes: (c) detecting information about the distance between the lower side of the trailer vehicle and the ground by a distance sensor provided in the trailer vehicle; And (d) providing a control method of a roll trailer elevating system comprising the step of controlling the driving unit by using the information on the detected distance by the control unit.

In addition, the step (c) may include: (c1) detecting, by the distance sensor unit, information about the distance between the lower side of the trailer vehicle and the ground; and (c2) transmitting information on the distance sensed by the distance sensor unit to the control unit, wherein step (d) is performed by using the information on the distance sensed by the correction information calculation module (d1). and calculating correction information for the height to be changed of the trailer vehicle; (d2) calculating, by a control information calculation module, control information for controlling the driving unit using the calculated correction information; and (d3) adjusting the height of the lower side of the trailer vehicle by controlling the driving unit according to the calculated control information by the driving control module.

In addition, the present invention, (a) the vehicle sensor unit detecting the height of the external structure; (b) sensing information about the distance between the lower side of the trailer vehicle and the ground by a distance sensor provided in the trailer vehicle; and (c) controlling, by a control unit, a drive unit using the detected information about the height and the information about the distance between the ground, wherein the vehicle sensor unit is located at a front side along the driving direction of the driving vehicle. Is provided, the driving unit is located on the rear side along the driving direction, provided in a trailer vehicle connected to the driving vehicle, a control method of a roll trailer lifting system may be provided.

According to an embodiment of the present invention, the following effects can be achieved.

First, a trailer vehicle is detachably coupled to the traveling vehicle. The driving vehicle is provided with a vehicle sensor unit. The vehicle sensor unit may detect information about a height of a structure to be entered. The detected information is transmitted to the controller and compared with the height of the trailer vehicle.

The control unit calculates control information for raising, maintaining, or lowering the height of the trailer vehicle using the comparison result. The control unit may adjust the height of the trailer vehicle by operating a driving unit provided in the trailer vehicle according to the calculated control information.

Accordingly, when the height of the trailer vehicle in motion is higher than the height of the structure to be entered, the height of the trailer vehicle may be adjusted lower according to control information calculated by the control unit according to the sensed information. As a result, the driving vehicle and the trailer vehicle can enter the interior of the structure without either the structure or the trailer vehicle being damaged by each other.

In addition, the process of detecting information about the height of the structure by the vehicle sensor unit, calculating control information according to the detected information, and adjusting the height of the trailer vehicle according to the calculated control information may be automatically performed.

Therefore, even if the user does not perform a separate operation, the height of the trailer vehicle may be automatically lowered when the height of the structure to be entered is lower than the height of the trailer vehicle.

Also, the vehicle sensor unit includes a plurality of modules for sensing different types of information. For example, the vehicle sensor unit may include a camera module, a Bluetooth receiving module, an RFID receiving module, an IR sensor module, a radar sensor module, an ultrasonic sensor module, a LiDAR sensor module, and a GPS module. Each module can detect different types of information to calculate information about the height of a structure.

In one embodiment, an external sensor unit may be provided on the outside of a structure into which a driving vehicle and a trailer vehicle are to enter. The external sensor unit may emit various types of information related to the position of the structure, the height of the structure, and the like. Some modules of the vehicle sensor unit may receive information emitted by the external sensor unit. A plurality of modules provided in the vehicle sensor unit and a plurality of modules provided in the external sensor unit may be operated simultaneously or simultaneously.

Accordingly, as the information is provided and sensed by the plurality of modules, information about the height of the structure can be accurately calculated.

Also, in one embodiment, a vehicle sensor unit that senses information about a structure and a control unit that calculates control information according to the sensed information may be provided in a driving vehicle. The trailer vehicle is provided with a driving unit for height adjustment, and the control unit is energized and connected to the driving unit to control the driving unit.

Therefore, since the main components are provided in the traveling vehicle, the structure of the trailer vehicle can be formed simply.

In one embodiment, the control unit may calculate control information based on various types of information. That is, the control unit may calculate control information using any one or more of height information calculated using information detected by the vehicle sensor unit and correction information calculated using distance information detected by the distance sensor unit.

Therefore, in the above embodiment, since the control information is calculated using a plurality of ground information and the driving unit is controlled accordingly, the height of the trailer can be more accurately controlled.

1 is a conceptual diagram illustrating a roll trailer lifting system according to an embodiment of the present invention.
Figure 2 is a block diagram showing the components provided in the roll trailer lifting system according to an embodiment of the present invention.
3 is a block diagram illustrating a vehicle sensor unit and an external sensor unit provided in a roll trailer lifting system according to an embodiment of the present invention.
4 is a block diagram illustrating a vehicle sensor unit and an external sensor unit provided in a roll trailer lifting system according to another embodiment of the present invention.
5 is a block diagram illustrating a vehicle sensor unit and an external sensor unit provided in a roll trailer lifting system according to another embodiment of the present invention.
6 is a block diagram illustrating a vehicle sensor unit and an external sensor unit provided in a roll trailer lifting system according to another embodiment of the present invention.
7 is a flowchart illustrating the flow of a control method of a roll trailer lifting system according to an embodiment of the present invention.
8 is a flowchart illustrating a specific flow of step S100 in the control method of the roll trailer lifting system of FIG. 7 .
9 is a flowchart illustrating a specific flow of step S200 of the control method of the roll trailer lifting system of FIG. 7 .
10 is a flowchart illustrating a specific flow of step S300 of the control method of the roll trailer lifting system of FIG. 7 .
11 is a flowchart illustrating the flow of a control method of a roll trailer lifting system according to another embodiment of the present invention.
12 is a flowchart illustrating a specific flow of step S400 of the control method of the roll trailer lifting system of FIG. 11 .
13 is a flowchart illustrating a specific flow of step S500 in the control method of the roll trailer lifting system of FIG. 11 .
14 is a flowchart illustrating the flow of a control method of a roll trailer lifting system according to another embodiment of the present invention.
15 and 16 are conceptual views illustrating a process of adjusting the height of a trailer vehicle by a roll trailer lifting system and a control method according to an embodiment of the present invention.

Hereinafter, a roll trailer elevating system 1 and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In the following description, descriptions of some components may be omitted to clarify the characteristics of the present invention.

1. Definition of terms

The term "vehicle" used in the following description refers to any device capable of forward, reverse and steering driven by an external or internal power source. In one embodiment, the vehicle may be equipped with a vehicle that includes a driving device such as an internal combustion engine or a motor.

The term "container" used in the following description refers to a structure in which a space for loading goods is formed and the loaded goods can be partially or entirely separated from the outside. In one embodiment, the container may be mounted on a vehicle and moved.

The term “roll trailer” used in the following description means a container formed to be able to move by rolling among containers. In one embodiment, the roll trailer may be provided with wheels in contact with the ground on its lower side.

The term "conductive connection" used in the following description means that two or more members are connected so that current or electrical signals can be transmitted to each other. The energized connection may be formed in a wired method such as a conducting wire or a wireless method such as Bluetooth or Wi-Fi.

The term "structure" used in the following description means a workpiece including a space through which a vehicle can pass, and including an arbitrary member covering the space from the upper side. In one embodiment, structure may be used to refer to gates, parking lot entrances, and the like.

The term "first height h1" used in the following description means the height of the trailer vehicle 20 in motion. In an embodiment, the first height h1 may be higher than the second height h2 and the third height h3 which will be described later.

The term “second height h2” used in the following description means the height of the trailer vehicle 20 to enter the structure S. In one embodiment, the second height h2 may be lower than the first height h1 and the fourth height h4 that is the height of the structure S.

The term "third height h3" used in the following description means the height of the trailer vehicle 20 adjusted so that the roll trailer can be pulled in or out of the trailer vehicle 20. In an embodiment, the third height h3 may be lower than the first height h1 , the second height h2 , and the fourth height h4 .

The term "fourth height h4" used in the following description means the height of the structure S through which the trailer vehicle 20 passes. In an embodiment, the fourth height h4 may be lower than the first height h1 and higher than the second height h2 and the third height h3.

2. Description of the configuration of the roll trailer lifting system 1 according to the embodiment of the present invention

1 to 6, components provided in the roll trailer lifting system 1 according to an embodiment of the present invention are shown.

In the following description, it is assumed that the roll trailer elevating system 1 according to the embodiment of the present invention is applied to a trailer vehicle 20 that is detachably coupled to the traveling vehicle 10 and can be moved together.

However, the roll trailer elevating system 1 to be described below may also be applied to a general trailer vehicle, a general cargo vehicle, and a camping vehicle. That is, the roll trailer elevating system 1 according to an embodiment of the present invention can be applied to any type of vehicle that can be detachably coupled to another vehicle and moved together.

In the illustrated embodiment, the roll trailer lifting system 1 may be applied to the driving vehicle 10 and the trailer vehicle 20.

The driving vehicle 10 refers to any type of vehicle capable of self-driving. In one embodiment, the driving vehicle 10 may be equipped with a truck, SUV (Sport Utility Vehicle), or the like.

The traveling vehicle 10 may be detachably coupled to the trailer vehicle 20 . This can be achieved by any non-shown connecting member (not shown).

The traveling vehicle 10 may be configured to be capable of steering forward, backward, and in left and right directions. As the driving vehicle 10 is steered forward, backward, or left and right, the trailer vehicle 20 connected to the driving vehicle 10 may also be steered forward, backward, or left and right together with the driving vehicle 10.

Since a process in which the trailer vehicle 20 is coupled to the traveling vehicle 10 and moved together is a well-known technique, a detailed description thereof will be omitted.

In the embodiment shown in FIG. 1 , the driving vehicle 10 includes a vehicle head unit 11 . The vehicle head 11 may be defined as a portion formed on the upper side of the front of the driving vehicle 10 .

The vehicle head unit 11 is provided with a vehicle sensor unit 100 to be described later. The vehicle sensor unit 100 may detect the height of the structure S positioned in front of the driving vehicle 10 . The detected information may be transmitted to the controller 300 and used to calculate control information for raising or lowering the trailer vehicle 20 . A detailed description thereof will be described later.

The vehicle head 11 may be positioned at a predetermined height from the ground. In one embodiment, the vehicle head portion 11 may be formed to have a height lower than the maximum height of the trailer vehicle 20, that is, a first height h1 to be described later. In addition, in one embodiment, the vehicle head unit 11 may be formed to have a height lower than the fourth height h4 that is the height of the structure S.

Therefore, the driving vehicle 10 can pass through the structure S without any restrictions.

Alternatively, when the height of the vehicle head 11 is higher than the fourth height h4, which is the height of the structure S, the roll trailer elevating system 1 according to the embodiment of the present invention is a driving vehicle ( 10).

It is assumed that the trailer vehicle 20 is detachably coupled to the traveling vehicle 10 and travels together with the traveling vehicle 10 . Alternatively, the trailer vehicle 20 may be equipped with a separate power unit (not shown) to enable self-driving.

A roll trailer may be pulled in or pulled out of the trailer vehicle 20 . The trailer vehicle 20 may travel together with the driving vehicle 10 in a state where a plurality of roll trailers are accommodated. For easy pulling in and out of the roll trailer, the trailer vehicle 20 may be configured to be adjustable in height. This can be achieved by the driving unit 400 to be described later.

In particular, the trailer vehicle 20 according to the embodiment of the present invention may be raised or lowered according to the height of the driving vehicle 10 and the structure S through which the trailer vehicle 20 passes, and its height may be adjusted. A detailed description thereof will be described later.

Referring back to Figure 1, the roll trailer lifting system 1 according to the illustrated embodiment may be applied to the structure (S).

The structure S means any object through which the driving vehicle 10 or the trailer vehicle 20 must pass. The structure S includes a roof portion having a predetermined fourth height h4, and includes an open passage portion positioned below the roof portion. The driving vehicle 10 or the trailer vehicle 20 may enter or pass through the passage portion into the structure S.

A fourth height h4, which is the height of the structure S used below, means the lowest height of the roof portion.

An external sensor unit 200 may be provided on the roof portion of the structure S. Information emitted by the external sensor unit 200 may be detected by the vehicle sensor unit 100 provided in the driving vehicle 10 and used to calculate control information for raising and lowering the trailer vehicle 20 .

Referring to FIG. 2 , the roll trailer lifting system 1 according to the illustrated embodiment includes a vehicle sensor unit 100, an external sensor unit 200, a control unit 300, a driving unit 400, and a distance sensor unit 500. includes

The vehicle sensor unit 100, the external sensor unit 200, the control unit 300, the driving unit 400, and the distance sensor unit 500 are electrically connected to each other. Information sensed or calculated by each component may be transmitted to other components. The connection may be established in a wired or wireless manner.

Among the components, the vehicle sensor unit 100 and the controller 300 are provided in the traveling vehicle 10 . The external sensor unit 200 may be provided in the structure S, and the driving unit 400 and the distance sensor unit 500 may be provided in the trailer vehicle 20.

As described above, the traveling vehicle 10 and the trailer vehicle 20 may be detachably coupled to each other. Therefore, even if the trailer vehicle 20 connected to the driving vehicle 10 is changed, the control unit 300, the driving unit 400 and the distance sensor unit ( 500) is preferably formed with high compatibility.

(1) Description of vehicle sensor unit 100

The vehicle sensor unit 100 is provided in the vehicle, specifically, the driving vehicle 10, for the fourth height h4, which is the height of the structure S located on the front side in the driving direction of the driving vehicle 10. detect information. The detected information may be transmitted to the controller 300 and used to calculate control information for adjusting the height of the trailer vehicle 20 .

The vehicle sensor unit 100 may obtain information about the fourth height h4 from the external structure S itself. Alternatively, as will be described later, the vehicle sensor unit 100 may obtain information about the fourth height h4 by using information generated by the external sensor unit 200 provided in the external structure S. there is. A detailed description thereof will be described later.

The vehicle sensor unit 100 is provided in the driving vehicle 10 . Specifically, the vehicle sensor unit 100 may be provided in the vehicle head unit 11 of the driving vehicle 10 . As described above, the vehicle head 11 may be located at the frontmost side of the top of the traveling vehicle 10 .

Therefore, the vehicle sensor unit 100 provided on the vehicle head unit 11 has a fourth height that is the height of the roof portion of the structure S before the driving vehicle 10 enters the passage portion of the structure S. Information about (h4) can be sensed.

The vehicle sensor unit 100 may be electrically connected to the external sensor unit 200 . Specifically, the vehicle sensor unit 100 may obtain information emitted by the external sensor unit 200 . Considering that the structure S equipped with the external sensor unit 200 and the driving vehicle 10 can be spaced apart from each other, the energized connection between the vehicle sensor unit 100 and the external sensor unit 200 is in the form of a wireless It is preferable to form.

The vehicle sensor unit 100 is electrically connected to the control unit 300 . Various types of detection information sensed by the vehicle sensor unit 100 may be transmitted to the controller 300 . The connection may be made in a wireless or wired manner.

The vehicle sensor unit 100 is electrically connected to the driving unit 400 . As shown in FIG. 2 , the vehicle sensor unit 100 is electrically connected to the driving unit 400 via the control unit 300 .

The vehicle sensor unit 100 may be provided in any form capable of obtaining information from the structure S itself or an external sensor unit 200 provided in the structure S.

The vehicle sensor unit 100 may be configured to automatically start operating when a structure S is sensed in the traveling direction of the driving vehicle 10 . Alternatively, the vehicle sensor unit 100 may be configured to operate by receiving a separate control signal from the user.

In the illustrated embodiment, the vehicle sensor unit 100 includes a camera module 110, a Bluetooth receiving module 120, an RFID receiving module 130, an IR sensor (Infrared Sensor) module 140, a radar sensor (Radio Detection And It includes a ranging sensor module 150, an ultrasonic sensor module 160, a light detection and ranging sensor (LiDAR sensor) module 170, and a GPS module 180.

At this time, at least one of the various sensors provided in the vehicle sensor unit 100 may be operated to detect information about the fourth height h4, which is the height of the structure S. Accordingly, when the plurality of sensors are operated to detect the information on the fourth height h4, the height of the structure S can be more accurately calculated. As a result, the height of the trailer vehicle 20 can be adjusted more accurately.

The camera module 110 detects information about the fourth height h4, which is the height of the structure S, in the form of image information.

The camera module 110 may detect information about the fourth height h4 from the structure S itself. In addition, the camera module 110 may detect information about the fourth height h4 by receiving image information output by the image output module 210 of the external sensor unit 200 provided in the structure S. .

The camera module 110 may be provided in any form capable of acquiring image information. In one embodiment, the camera module 110 may be provided as a camera including a lens.

In another embodiment, the camera module 110 may be provided as a camera device provided in a black box already provided in the driving vehicle 10 .

The information detected by the camera module 110 includes information about the fourth height h4, which is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S. may be included.

Information detected by the camera module 110 is transmitted to the detection information receiving module 310 of the control unit 300 . The camera module 110 is electrically connected to the sensing information receiving module 310 .

The Bluetooth reception module 120 detects information about the fourth height h4, which is the height of the structure S, in the form of electrical information.

The Bluetooth receiving module 120 is communicatively connected to the Bluetooth transmitting module 220 of the external sensor unit 200 provided in the structure (S). The Bluetooth receiving module 120 may receive electrical information emitted from the Bluetooth transmitting module 220 and detect information about the fourth height h4.

As will be described later, the electrical signals emitted by the Bluetooth transmission module 220 include the position of the structure S, the fourth height h4 that is the height of the structure S, the width of the structure S, and the height of the structure S. Information about the depth of the passage portion may be included.

Information detected by the Bluetooth receiving module 120 is transmitted to the detected information receiving module 310 of the control unit 300 . The Bluetooth receiving module 120 is electrically connected to the sensing information receiving module 310 .

The RFID reception module 130 detects information about the fourth height h4, which is the height of the structure S, in the form of electrical information.

The RFID reception module 130 is communicatively connected to the RFID transmission module 230 of the external sensor unit 200 provided in the structure (S). The RFID receiving module 130 may receive electrical information emitted from the RFID transmitting module 230 and detect information about the fourth height h4.

As will be described later, the electrical signals emitted by the RFID transmission module 230 include the location of the structure S, the fourth height h4 that is the height of the structure S, the width of the structure S, and the height of the structure S. Information about the depth of the passage portion may be included.

The information detected by the RFID receiving module 130 is transferred to the detected information receiving module 310 of the control unit 300. The RFID receiving module 130 is electrically connected to the sensing information receiving module 310 .

The IR sensor module 140 detects information about the fourth height h4, which is the height of the structure S, in the form of infrared information.

The IR sensor module 140 may detect information about the fourth height h4 by emitting infrared rays toward the structure S and detecting infrared rays reflected by collision with the structure S.

Information detected by the IR sensor module 140 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

Information detected by the IR sensor module 140 is transferred to the detection information receiving module 310 of the control unit 300 . The IR sensor module 140 is electrically connected to the sensing information receiving module 310 .

The radar sensor module 150 detects information about the fourth height h4, which is the height of the structure S, in the form of radio wave information.

The radar sensor module 150 may detect information about the fourth height h4 by radiating radio waves toward the structure S and detecting radio waves that collide with the structure S and are reflected.

Information detected by the radar sensor module 150 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

Information detected by the radar sensor module 150 is transferred to the detection information receiving module 310 of the control unit 300 . The radar sensor module 150 is electrically connected to the sensing information receiving module 310 .

The ultrasonic sensor module 160 detects information about the fourth height h4, which is the height of the structure S, in the form of ultrasonic information.

The ultrasonic sensor module 160 may detect information about the fourth height h4 by emitting ultrasonic waves toward the structure S and detecting ultrasonic waves reflected by collision with the structure S.

Information detected by the ultrasonic sensor module 160 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

Information detected by the ultrasonic sensor module 160 is transmitted to the detection information receiving module 310 of the control unit 300 . The ultrasonic sensor module 160 is electrically connected to the sensing information receiving module 310 .

The LiDAR sensor module 170 detects information about the fourth height h4, which is the height of the structure S, in the form of laser information.

The LiDAR sensor module 170 may detect information about the fourth height h4 by emitting a laser beam toward the structure S and detecting the reflected laser beam when it collides with the structure S.

The information detected by the LiDAR sensor module 170 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

The information detected by the LiDAR sensor module 170 is transmitted to the detection information receiving module 310 of the control unit 300. The LiDAR sensor module 170 is electrically connected to the sensing information receiving module 310 .

The IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 have a common point in that they are sensor modules for measuring a distance to a specific point. Accordingly, the IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 may be collectively referred to as a “distance measurement module”.

The GPS module 190 detects location information about the location of the vehicle, that is, the driving vehicle 10 . According to the detected location information, information about the apartment complex, etc. into which the driving vehicle 10 is entering may be matched, and information about the fourth height h4, which is the height of the structure S, may be calculated. Information about the apartment complex and the like may be pre-stored in the controller 300 .

Information detected by the GPS module 190 is transmitted to the detected information receiving module 310 of the control unit 300 . The GPS module 190 is electrically connected to the sensing information receiving module 310 .

(2) Description of the external sensor unit 200

The external sensor unit 200 is provided on the structure S, specifically, the roof portion of the structure S, and provides any type of information to the driving vehicle 10. As described above, the information provided by the external sensor unit 200 includes the location of the structure S, the fourth height h4 that is the height of the structure S, the width of the structure S, and the above information of the structure S. Information about the depth of the passage portion and the like may be included.

Information provided by the external sensor unit 200 is acquired by the external sensor unit 200 and transmitted to the controller 300 . The control unit 300 may be utilized to calculate control information for adjusting the height of the trailer vehicle 20 using the transmitted information.

The external sensor unit 200 is provided on the structure (S). Specifically, the external sensor unit 200 may be provided on the roof portion of the structure S and communicate with the vehicle sensor unit 100 provided on the vehicle head unit 11 . In one embodiment, the external sensor unit 200 may be disposed toward the traveling vehicle 10 .

Therefore, the external sensor unit 200 provided in the structure (S) is a vehicle sensor unit 100 provided in the vehicle head unit 11 before the driving vehicle 10 enters the passage portion of the structure (S). Information on the fourth height h4, which is the height of the structure S, may be transmitted.

The external sensor unit 200 may be electrically connected to the vehicle sensor unit 100 . Specifically, the external sensor unit 200 may transmit any type of information to the vehicle sensor unit 100 . As described above, considering that the vehicle sensor unit 100 is provided in the driving vehicle 10 configured to be movable, the external sensor unit 200 and the vehicle sensor unit 100 can be connected in a wireless manner. It is desirable to form

The external sensor unit 200 is energized and connected to the control unit 300 . Various types of information emitted by the external sensor unit 200 may be transmitted to the control unit 300 through the vehicle sensor unit 100 .

The external sensor unit 200 may be provided in any form capable of transmitting information about the structure S to the vehicle sensor unit 100 .

In the illustrated embodiment, the external sensor unit 200 includes an image output module 210, a Bluetooth transmission module 220 and an RFID transmission module 230.

The image output module 210 outputs information about the fourth height h4, which is the height of the structure S, in the form of image information.

Information about the fourth height h4 output by the image output module 210 may be detected by the camera module 110 of the vehicle sensor unit 100 .

The information output by the image output module 210 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

The Bluetooth transmission module 220 outputs information about the fourth height h4, which is the height of the structure S, in the form of electrical information.

The information about the fourth height h4 output by the Bluetooth transmission module 220 can be detected by the Bluetooth reception module 120 of the vehicle sensor unit 100 .

The information output by the Bluetooth transmission module 220 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

The RFID transmission module 230 outputs information about the fourth height h4, which is the height of the structure S, in the form of electrical information.

Information about the fourth height h4 output by the RFID transmission module 230 can be detected by the RFID reception module 130 of the vehicle sensor unit 100 .

The information output by the RFID transmission module 230 may include information about the fourth height h4 that is the height of the structure S, the width of the structure S, and the depth of the passage portion of the structure S.

(3) Description of the control unit 300

The control unit 300 calculates control information for adjusting the height of the trailer vehicle 20 using various pieces of information detected by the vehicle sensor unit 100 . Also, the control unit 300 may adjust the height of the trailer vehicle 20 by controlling the driving unit 400 provided in the trailer vehicle 20 according to the calculated control information.

The control unit 300 may be provided in the driving vehicle 10 . This is because the vehicle sensor unit 100 for detecting information about the fourth height h4 is provided in the traveling vehicle 10 and the trailer vehicle 20 is detachably coupled to the traveling vehicle 10 . Alternatively, the control unit 300 may be provided in the trailer vehicle 20.

The controller 300 is electrically connected to the vehicle sensor unit 100 . Various types of information sensed by the vehicle sensor unit 100 may be transmitted to the control unit 300 . The connection may be made in a wireless or wired manner.

The controller 300 is electrically connected to the external sensor unit 200 . Specifically, the control unit 300 is energized and connected to the external sensor unit 200 through the vehicle sensor unit 100 . As described above, since the external sensor unit 200 is provided outside the vehicle 10, the connection is preferably made in a wireless manner.

The control unit 300 is energized and connected to the driving unit 400 . The control unit 300 may control the driving unit 400 provided in the trailer vehicle 20 according to the calculated control information. The connection may be made in a wireless or wired manner.

The control unit 300 may be provided in any form capable of inputting, calculating, storing, and outputting information. In one embodiment, the control unit 300 may include a microprocessor (microprocessor), a calculation means such as CPU, and a storage means such as SD card, Micro SD card, RAM, ROM.

In the illustrated embodiment, the control unit 300 includes a detection information receiving module 310, a height information calculation module 320, a correction information calculation module 330, a control information calculation module 340, and a drive control module 350. include Each of the modules 310, 320, 330, 340, and 350 of the control unit 300 are electrically connected to each other so that sensed or calculated information may be transferred from one or more modules to one or more other modules.

The sensing information receiving module 310 receives information sensed by the vehicle sensor unit 100 . As described above, the vehicle sensor unit 100 may detect various types of information. The vehicle sensor unit 100 may convert detected various types of information into electrical signals and transmit the detected information receiving module 310 .

To this end, the detection information receiving module 310 includes each module of the vehicle sensor unit 100, that is, the camera module 110, Bluetooth receiving module 120, RFID receiving module 130, IR sensor module 140, Radar The sensor module 150, the ultrasonic sensor module 160, the LiDAR sensor module 170, and the GPS module 180 are respectively electrically connected.

As described above, the connection may be formed in a wireless or wired manner.

Each piece of information received by the sensing information receiving module 310 is transferred to the height information calculation module 320 . The sensing information receiving module 310 is electrically connected to the height information calculating module 320 .

The height information calculation module 320 calculates height information about the height of the structure S and the height of the trailer vehicle 20 to be adjusted based on the detected information.

In addition, the height information calculation module 320 should adjust the height of the structure S and the height of the structure S using the information about the positions of the driving vehicle 10 and the trailer vehicle 20 detected by the GPS module 180. Height information about the height of the trailer vehicle 20 to be calculated may be calculated.

To this end, the height information calculation module 320 is connected to a database (not shown) in which information on the location of an apartment complex and the fourth height h4 of the entrance of the apartment complex or the entrance of a parking lot is mapped and stored. can The database (not shown) may be provided in the control unit 300 or may be provided externally and connected to the height information calculation module 320 in a wired or wireless manner.

The height information calculation module 320 may calculate information on the current height of the trailer vehicle 20 . To this end, a separate height sensor (not shown) connected to the height information calculation module 320 to be energized may be provided.

The height information calculation module 320 may calculate information on the current height of the trailer vehicle 20 using information detected by the height sensor (not shown).

The height information calculation module 320 calculates information about the fourth height h4 using the information transmitted from the sensing information receiving module 310 . Accordingly, information on the height of the structure S into which the traveling vehicle 10 and the trailer vehicle 20 will enter can be calculated.

Also, the height information calculation module 320 calculates information on the current height of the trailer vehicle 20 and compares the calculated result with the fourth height h4. As a result of the comparison, when the current height of the trailer vehicle 20 is equal to or greater than the fourth height h4, the height information calculation module 320 calculates information on the height to be changed of the trailer vehicle 20, that is, the second height h2. Calculate information about

Information on the second height h2 calculated by the height information calculation module 320 is information on a height to be changed in order for the trailer vehicle 20 to drive and get out of the structure S after the roll trailer is completely pulled out. It will be understood that it can also be used as

Furthermore, the height information calculation module 320 is information on the height of the trailer vehicle 20 for the roll trailer to be withdrawn from the trailer vehicle 20 that has entered the passage portion of the structure S, that is, the third height ( Information on h3) can be calculated.

At this time, it will be understood that the third height h3 in a state in which the trailer vehicle 20 is stopped and the roll container is withdrawn is lower than the second height h2 in a state in which the trailer vehicle 20 is being driven.

Height information calculated by the height information calculation module 320, specifically, information on the second height h2 and the third height h3 (hereinafter referred to as "height information") and the current height of the trailer vehicle 20 Information about the control information is transmitted to the control information calculation module 340. The height information calculation module 320 is electrically connected to the control information calculation module 340 .

The correction information calculation module 330 uses information detected by the distance sensor unit 500 provided in the trailer vehicle 20, that is, information about the distance between the lower side of the trailer vehicle 20 and the ground, to detect the trailer vehicle 20. ) calculates correction information for the height to be changed.

That is, the correction information may be defined as information about a height at which the trailer vehicle 20 should be raised or lowered in order to pull in or take out a roll container or the like. Accordingly, it will be understood that the correction information includes some common information with the height information described above.

The correction information may be calculated as any one of information for raising, maintaining, and lowering an arbitrary component supporting the roll container among components provided in the trailer vehicle 20 . At this time, the calculated correction information may include information about a distance at which the arbitrary component of the trailer vehicle 20 is raised or lowered.

The roll trailer lifting system 1 according to an embodiment of the present invention can control the height of the trailer vehicle 20 using any one or more of height information and correction information. In one embodiment, the roll trailer lifting system 1 may control the height of the trailer vehicle 20 by utilizing both height information and correction information. In the above embodiment, the accuracy of the height control of the trailer vehicle 20 can be improved. In addition, the correction information calculation module 330 should adjust the height of the structure S and the height of the structure S using the information about the positions of the driving vehicle 10 and the trailer vehicle 20 detected by the GPS module 180. Correction information for the height of the trailer vehicle 20 to be performed can be calculated.

The correction information calculated by the correction information calculation module 330 is transmitted to the control information calculation module 340 . The correction information calculation module 330 and the control information calculation module 340 are electrically connected.

The control information calculation module 340 receives the height information calculated by the height information calculation module 320 and information on the current height of the trailer vehicle 20, and uses this to receive the driving unit 400 provided in the trailer vehicle 20. ) Calculate control information for controlling.

In addition, the control information calculation module 340 receives the correction information calculated by the correction information calculation module 330 and information on the current height of the trailer vehicle 20, and uses this to receive the driving unit provided in the trailer vehicle 20. Control information for controlling 400 is calculated.

Furthermore, the control information calculation module 340 stores all of the height information calculated by the height information calculation module 320, the correction information calculated by the correction information calculation module 330, and information on the current height of the trailer vehicle 20. Control information for controlling the driving unit 400 provided in the trailer vehicle 20 may be calculated using the .

At this time, information on the current height of the trailer vehicle 20 may be calculated using distance information sensed by the distance sensor unit 500, that is, information on the distance between the lower side of the trailer vehicle 20 and the ground.

That is, information on the current height of the trailer vehicle 20 may be calculated by summing the distance information and the height of the arbitrary component provided in the trailer vehicle 20 .

First, the control information calculation module 340 may calculate control information by comparing the calculated height information with information about the current height of the trailer vehicle 20 .

If the information on the current height is higher than the calculated height information, it may be understood that the height of the trailer vehicle 20 should be lowered. Accordingly, the control information calculation module 340 calculates control information for lowering the height of the trailer vehicle 20 by the difference between the current height information and the calculated height information.

When the information on the current height is equal to the calculated height information, it may be understood that the height of the trailer vehicle 20 may be maintained as it is. Accordingly, the control information calculation module 340 calculates control information for maintaining the height of the trailer vehicle 20 at the current height.

If the information on the current height is lower than the calculated height information, it may be understood that the height of the trailer vehicle 20 should be increased. Accordingly, the control information calculation module 340 calculates control information for increasing the height of the trailer vehicle 20 by the difference between the current height information and the calculated height information.

In addition, the control information calculation module 340 may calculate control information by comparing the calculated correction information with information on the current height of the trailer vehicle 20, that is, detected distance information in this case.

If information about the current distance (ie, the distance between the lower side of the trailer vehicle 20 and the ground) is higher than the calculated correction information, it can be understood that the height of the trailer vehicle 20 should be lowered. Accordingly, the control information calculation module 340 calculates control information that reduces the distance between the lower side of the trailer vehicle 20 and the ground by the difference between the detected distance information and the calculated correction information. If it is the same as the calculated correction information, it may be understood that the height of the trailer vehicle 20 may be maintained as it is. Accordingly, the control information calculation module 340 calculates control information for maintaining the height of the trailer vehicle 20 at the current height.

If the information on the current distance is smaller than the calculated correction information, it can be understood that the height of the trailer vehicle 20 should be increased. Accordingly, the control information calculation module 340 calculates control information for increasing the height of the trailer vehicle 20 by the difference between the detected distance information and the calculated correction information.

As described above, the control information calculation module 340 may calculate control information using both the calculated height information and the calculated correction information. It will be understood that the control information calculation module 340 may calculate control information using both height information and correction information by performing both of the above-described processes.

In the above embodiment, since the number of basis information for the control information calculation module 340 to calculate the control information is increased, the accuracy of the calculated control information can be improved.

Meanwhile, the control information calculation module 340 may calculate control information by further using information about the state of the driving vehicle 10 .

That is, when the gear state of the driving vehicle 10 is parked (P), it can be expected that the roll trailer will be pulled in or pulled out of the trailer vehicle 20. Accordingly, the control information calculation module 340 may calculate control information regarding the lowest height of the trailer vehicle 20 when the driving vehicle 10 is parked (P).

The control information calculated by the control information calculation module 340 is transmitted to the driving control module 350 . The control information calculation module 340 and the drive control module 350 are electrically connected.

The driving control module 350 controls the driving unit 400 according to the received control information. Accordingly, the height of the trailer vehicle 20 may be adjusted according to the sensed and calculated current height of the trailer vehicle 20 and the fourth height h4 of the structure S.

The control information received by the driving control module 350 may be information regarding the control of the driving unit 400 to raise, maintain, or lower the height of the trailer vehicle 20 .

The driving control module 350 may control the driving unit 400 to adjust the height of the trailer vehicle 20 . The driving control module 350 is communicatively connected to the driving unit 400 .

Although not shown, the controller 300 may include a storage means (not shown). The storage unit (not shown) may store received sensing information, calculated height information and current height information, calculated control information, and height information after the driving unit 400 is operated by the control information.

(4) Description of the drive unit 400

The driving unit 400 is provided in the trailer vehicle 20 and is configured to elevate some of the components of the trailer vehicle 20 . In one embodiment, the drive unit 400 may be provided in the trailer vehicle 20 to raise and lower a main frame (not shown) for an accommodated roll trailer.

The driving unit 400 may be controlled by the control unit 300 . Specifically, the driving unit 400 may be controlled by the driving control module 350 according to the control information calculated by the control information calculation module 340 . The driving unit 400 is electrically connected to the driving control module 350 .

The driving unit 400 may be provided in any form capable of adjusting the height of the trailer vehicle 20 by elevating some components of the trailer vehicle 20 . In one embodiment, the driving unit 400 may be provided in the form of a motor, a hydraulic cylinder, or the like.

(5) Description of the distance sensor unit 500

The distance sensor unit 500 is provided in the trailer vehicle 20 and configured to sense distance information, which is information about the distance between the lower side of the trailer vehicle 20 and the ground. In one embodiment, the distance sensor unit 500 may be provided in any component that supports a roll container that is pulled in and out of the trailer vehicle 20 .

In the above embodiment, the distance sensor unit 500 may be provided to move up and down together with the above arbitrary components. Accordingly, it can be said that the distance sensor unit 500 detects the distance between the lower side of the arbitrary component for supporting the roll container and the ground.

The distance sensor unit 500 may be provided in any form capable of detecting a distance between the lower side of the trailer vehicle 20 and the ground. In one embodiment, the distance sensor unit 500 may include an IR sensor, a radar sensor, an ultrasonic sensor, a LiDAR sensor, and the like.

The distance information detected by the distance sensor unit 500 may be transmitted to the detection information receiving module 310 of the controller 300 . The distance sensor unit 500 and the sensing information receiving module 310 are communicatively connected.

The process of calculating correction information according to the detected distance information and controlling the driving unit 400 by calculating control information accordingly is the same as described above.

(6) Description of various modified examples of the vehicle sensor unit 100 and the external sensor unit 200

As described above, the vehicle sensor unit 100 and the external sensor unit 200 may be provided in various forms and combined.

Hereinafter, various modified examples of the vehicle sensor unit 100 and the external sensor unit 200 according to an embodiment of the present invention will be described in detail with reference to FIGS. 3 to 6 .

Referring to FIG. 3 , an embodiment in which the camera module 110 of the vehicle sensor unit 100 detects information about a fourth height h4 that is the height of the structure S is illustrated.

As described above, the camera module 110 may detect information emitted from the structure S itself or the image output module 210 .

In the embodiment shown in (a) of FIG. 3 , the camera module 110 may detect information about the fourth height h4 by detecting image information of the structure S itself. The detected information is delivered to the detected information receiving module 310 of the control unit 300 .

In the embodiment shown in (b) of FIG. 3, the camera module 110 detects the image information emitted from the image output module 210 of the external sensor unit 200 provided in the structure (S) at the fourth height. Information about (h4) can be sensed. The detected information is delivered to the detected information receiving module 310 of the control unit 300 .

The embodiment shown in FIG. 3 may proceed simultaneously. That is, the camera module 110 may be configured to detect both image information of the structure S itself and image information emitted from the image output module 210 .

Also, in the illustrated embodiment, information on the current positions of the driving vehicle 10 and the trailer vehicle 20 may be detected together by the GPS module 180 . A process of detecting location information may be selectively performed.

Referring to FIG. 4 , an embodiment in which the Bluetooth receiving module 120 of the vehicle sensor unit 100 detects information about a fourth height h4 that is the height of a structure S is illustrated.

In the illustrated embodiment, the Bluetooth receiving module 120 may be electrically connected to the Bluetooth transmitting module 220 of the external sensor unit 200 provided in the structure (S). The Bluetooth receiving module 120 may receive information about the fourth height h4 from the Bluetooth transmitting module 220 . The received information is transmitted to the sensing information receiving module 310 of the control unit 300 .

Also, in the illustrated embodiment, information on the current positions of the driving vehicle 10 and the trailer vehicle 20 may be detected together by the GPS module 180 . A process of detecting location information may be selectively performed.

Referring to FIG. 5 , an embodiment in which the RFID reception module 130 of the vehicle sensor unit 100 detects information about a fourth height h4 that is the height of the structure S is illustrated.

In the illustrated embodiment, the RFID receiving module 130 may be electrically connected to the RFID transmitting module 230 of the external sensor unit 200 provided in the structure (S). The RFID receiving module 130 may receive information about the fourth height h4 from the RFID transmitting module 230 . The received information is transmitted to the sensing information receiving module 310 of the control unit 300 .

Also, in the illustrated embodiment, information on the current positions of the driving vehicle 10 and the trailer vehicle 20 may be detected together by the GPS module 180 . A process of detecting location information may be selectively performed.

Referring to FIG. 6 , one or more of the IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 provided in the vehicle sensor unit 100 is a structure. An embodiment of detecting information about the fourth height h4, which is the height of (S), is shown.

In the illustrated embodiment, each sensor module (14, 150, 160, 170) emits the above-described various methods, that is, infrared rays, radio waves, ultrasonic waves, lasers, and the like, and reflects infrared rays, radio waves, and ultrasonic waves by the structure (S). , laser, etc. may be detected to detect information about the fourth height h4. The detected information is delivered to the detected information receiving module 310 of the control unit 300 .

Also, in the illustrated embodiment, information on the current positions of the driving vehicle 10 and the trailer vehicle 20 may be detected together by the GPS module 180 . A process of detecting location information may be selectively performed.

At least one of the plurality of modules of the vehicle sensor unit 100 and various modules of the external sensor unit 200 described above are provided and operated to detect information about the fourth height h4 of the structure S, respectively. can be configured.

In the above embodiment, since the type and number of sensed information are increased, the reliability of the information about the fourth height h4 calculated based on the sensed information can also be improved.

3. Description of the control method of the roll trailer lifting system 1 according to an embodiment of the present invention

7 to 10, the flow of the control method of the roll trailer lifting system 1 according to an embodiment of the present invention is shown.

The control method of the roll trailer elevating system 1 according to an embodiment of the present invention is assumed to be applied to a trailer vehicle 20 that is detachably coupled to the traveling vehicle 10 and can be moved together. However, it will be understood that the control method of the roll trailer elevating system 1 to be described below can also be applied to general trailer vehicles and general cargo vehicles.

According to the control method of the roll trailer lifting system 1 according to the present embodiment, height information is calculated using information detected by the vehicle sensor unit 100, and control information is calculated using the calculated height information. The driving unit 400 may be controlled.

In the embodiment shown in FIG. 7 , the control method of the roll trailer lifting system 1 includes the step of the vehicle sensor unit 100 detecting information about the locations of the driving vehicle 10 and the trailer vehicle 20 (S100). The vehicle sensor unit 100 detects the fourth height h4, which is the height of the external structure S (S200), and the control unit 300 uses information about the detected fourth height h4 Controlling the driving unit 400 (S300) is included.

(1) Description of the step (S100) of the vehicle sensor unit 100 detecting information about the locations of the driving vehicle 10 and the trailer vehicle 20

In step S100, the positions of the traveling vehicle 10 and the trailer vehicle 20 are sensed to pass through a structure S such as an entrance of an apartment complex or a parking lot. By this step (S100), the controller 300 can calculate information about the apartment complex into which the driving vehicle 10 and the trailer vehicle 20 are entering. Also, the calculated information may include information about the fourth height h4, which is the height of the structure S.

Hereinafter, this step (S100) will be described in detail with reference to FIG. 8 .

First, the GPS module 180 of the vehicle sensor unit 100 detects information about the locations of the traveling vehicle 10 and the trailer vehicle 20 in operation (S110). Before this step (S110) is performed, a step of moving the driving vehicle 10 and the trailer vehicle 20 toward the structure S may be preceded.

The GPS module 180 transfers the detected location information to the detected information receiving module 310 of the control unit 300 (S120). The transferred information may be transferred to the height information calculation module 320 and used to calculate information about the fourth height h4.

This step (S100) may be omitted if necessary. That is, the vehicle sensor unit 100 may be configured to directly detect the fourth height h4 of the structure S without detecting information about the locations of the driving vehicle 10 and the trailer vehicle 20 .

(2) Description of the step (S200) of the vehicle sensor unit 100 detecting the fourth height h4, which is the height of the external structure S

Information on the fourth height h4, which is the height of the structure S positioned outside the vehicle sensor unit 100 alone or when the vehicle sensor unit 100 and the external sensor unit 200 are electrically connected to each other It is a step of detecting (S200).

As described above, the vehicle sensor unit 100 includes a plurality of modules for sensing or receiving information on the fourth height h4. In addition, a plurality of modules for transmitting information on the fourth height h4 are provided in the external sensor unit 200 as well.

The vehicle sensor unit 100 may sense or receive information about the fourth height h4 by operating one or more of the plurality of modules. In addition, the external sensor unit 200 may transmit information about the fourth height h4 when any one or more of the plurality of modules is operated. The process may be performed simultaneously or at different times.

Accordingly, it will be understood that each of the steps (S210, S220, S230, and S240) described below may also be performed at the same time or at the same time.

Hereinafter, this step (S200) will be described in detail with reference to FIG.

First, the camera module 110 of the vehicle sensor unit 100 detects information about the fourth height h4 that is the height of the structure S (S210) will be described.

The camera module 110 may detect information about the fourth height h4, which is the height of the structure S, by obtaining image information on the exterior of the structure S (S211).

As described above, the camera module 110 may be configured to detect information about the fourth height h4 emitted by the image output module 210 of the external sensor unit 200 .

Therefore, this step (S210) may further include a step (S211') of the camera module 110 detecting the information about the fourth height h4 output by the image output module 210 (S211').

Steps S211 and S211' of the camera module 110 detecting information about the fourth height h4 may be performed simultaneously or at different times. That is, the camera module 110 may detect any one or more of image information about the exterior of the structure S and image information emitted by the image output module 210 .

The information detected by the camera module 110 is transferred to the detection information receiving module 310 of the control unit 300 (S212). The camera module 110 and the sensing information receiving module 310 are electrically connected.

Next, a step (S220) of the Bluetooth receiving module 120 detecting information about the fourth height h4, which is the height of the structure S, will be described.

The Bluetooth receiving module 120 is electrically connected to the Bluetooth transmitting module 220 of the external sensor unit 200, and the Bluetooth transmitting module 220 outputs a fourth height h4, which is the height of the structure S. Information on is received (S221).

Before this step (S221) is performed, a step in which the Bluetooth receiving module 120 and the Bluetooth transmitting module 220 are positioned adjacent to each other sufficiently to be connected to each other in a energized manner may be performed.

The information about the fourth height h4 received by the Bluetooth receiving module 120 is transferred to the sensing information receiving module 310 of the controller 300 (S222). The Bluetooth receiving module 120 and the sensing information receiving module 310 are electrically connected.

Next, a step (S230) of the RFID receiving module 130 detecting information about the fourth height h4, which is the height of the structure S, will be described.

The RFID receiving module 130 is electrically connected to the RFID transmitting module 230 of the external sensor unit 200, and the fourth height h4, which is the height of the structure S, is output by the RFID transmitting module 230. Information on is received (S231).

Before this step (S231) is performed, a step in which the RFID receiving module 130 and the RFID transmitting module 230 are positioned adjacent to each other sufficiently to be energized may be performed.

The information on the fourth height h4 received by the RFID receiving module 130 is transferred to the sensing information receiving module 310 of the control unit 300 (S232). The RFID receiving module 130 and the sensing information receiving module 310 are electrically connected.

Next, the distance measurement module, that is, the IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 are at the fourth height h4, which is the height of the structure S. The step of detecting information about (S240) will be described.

The distance measurement module, that is, at least one of the IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 is operated, and the height of the structure S is Information on the fourth height h4 is sensed (S241).

Information about the fourth height h4 sensed by at least one sensor module among the IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170, the control unit It is transmitted to the sensing information receiving module 310 of 300 (S242). The IR sensor module 140, the radar sensor module 150, the ultrasonic sensor module 160, and the LiDAR sensor module 170 are connected to the sensing information receiving module 310 to be energized, respectively.

(3) Description of the step (S300) of the control unit 300 controlling the driving unit 400 by using the information about the sensed fourth height h4

The control unit 300 calculates whether or not the height of the trailer vehicle 20 is adjusted and height information about the amount using the information on the detected fourth height h4, calculates control information according to the height information, and calculates the driving unit It is a step (S300) of controlling (400).

Hereinafter, this step (S300) will be described in detail with reference to FIG. 10 .

The detection information receiving module 310 of the control unit 300 is at the height detected by each module 110, 120, 130, 140, 150, 160, 170 of the vehicle sensor unit 100, that is, the fourth height h4. Receive information about (S310). As described above, the detection information receiving module 310 may also receive information about the position detected by the GPS module 180.

The height information calculation module 320 of the controller 300 calculates height information, which is information about the height to be changed of the trailer vehicle 20, by using the received information about the fourth height h4 (S320). As described above, the height information calculation module 320 calculates height information about the height of the structure S and the height of the trailer vehicle 20 to be adjusted accordingly by using the information about the fourth height h4. can do.

As described above, the calculated height information may include any one of contents of raising, maintaining, and lowering some components of the trailer vehicle 20 .

Although not shown, the height information calculation module 320 may calculate height information using information on the sensed position. As described above, the height information calculation module 320 may receive information on the fourth height h4 of the structure S corresponding to the detected position information from a database (not shown).

The control information calculation module 340 of the control unit 300 calculates control information for controlling the driving unit 400 using the calculated height information (S330). It will be understood that the calculated control information is information for increasing, maintaining, or decreasing the height of the trailer vehicle 20 by causing the driving unit 400 to raise, maintain, or lower some components of the trailer vehicle 20 .

The driving control module 350 of the control unit 300 operates the driving unit 400 according to the calculated control information (S340). Accordingly, the height of the trailer vehicle 20 can be adjusted to increase, maintain or decrease.

4. Description of the control method of the roll trailer lifting system 1 according to another embodiment of the present invention

11 to 13, the flow of the control method of the roll trailer lifting system 1 according to another embodiment of the present invention is shown.

The control method of the roll trailer elevating system 1 according to another embodiment of the present invention is assumed to be applied to a trailer vehicle 20 that is detachably coupled to the traveling vehicle 10 and can be moved together. However, it will be understood that the control method of the roll trailer elevating system 1 to be described below can also be applied to a general trailer vehicle.

According to the control method of the roll trailer lifting system 1 according to the present embodiment, correction information is calculated using information detected by the distance sensor unit 500, and control information is calculated using the calculated correction information. The driving unit 400 may be controlled.

In the embodiment shown in FIG. 11 , in the control method of the roll trailer lifting system 1, the distance sensor unit 500 provided in the trailer vehicle 20 provides information on the distance between the lower side of the trailer vehicle 20 and the ground. Detecting (S400) and controlling the driving unit 400 by using the information about the detected distance by the control unit 300 (S500).

(1) Description of the step (S400) of the distance sensor unit 500 detecting information on the distance between the lower side of the trailer vehicle 20 and the ground

This step (S400) is a step (S400) in which the distance sensor unit 500 provided in the trailer vehicle 20 detects distance information about the distance between the lower side of an arbitrary component for supporting the roll container and the ground. . Hereinafter, this step (S400) will be described in detail with reference to FIG.

First, the distance sensor unit 500 detects distance information about the distance between the lower side of the trailer vehicle 20 and the ground (S410). At this time, the distance sensor unit 500 is provided in the above arbitrary component provided to be able to move up and down in the trailer vehicle 20, and can be moved up and down together with the above arbitrary component.

Accordingly, it will be understood that the distance information sensed by the distance sensor unit 500 is information about the distance between the lower side of the arbitrary element and the ground.

The information sensed by the distance sensor unit 500 is transferred to the detection information receiving module 310 of the control unit 300 (S420). The distance sensor unit 500 and the sensing information receiving module 310 are electrically connected.

(2) Controlling the driving unit 400 by using the information on the detected distance by the control unit 300 (S500)

In this step (S500), by using the detected distance information and the current height information of the trailer vehicle 20, correction information on whether or not the height has been adjusted and the degree thereof is calculated, and control information is calculated according to the calculated correction information to drive the driving unit. It is a step (S500) of controlling (400).

Hereinafter, this step (S500) will be described in detail with reference to FIG. 13 .

First, although not shown, the sensing information receiving module 310 of the control unit 300 receives the distance information sensed by the distance sensor unit 500 .

The correction information calculation module 330 of the control unit 300 calculates information about the height to be changed of the trailer vehicle 20, that is, correction information, using the detected distance information (S510). As described above, the correction information calculation module 330 uses the detected distance information and information on the current distance between the lower side of the trailer vehicle 20 and the ground to obtain information about the height of the trailer vehicle 20 to be adjusted. can be computed.

It is as described above that the calculated correction information may include any one of the contents of raising, maintaining, and lowering the above arbitrary components of the trailer vehicle 20.

Although not shown, the correction information calculation module 330 may calculate correction information using information on the sensed position. As described above, the correction information calculation module 330 may receive information on the fourth height h4 of the structure S corresponding to the detected position information from a database (not shown).

The control information calculation module 340 of the control unit 300 calculates control information for controlling the driving unit 400 using the calculated correction information (S520). It will be understood that the calculated control information is information for increasing, maintaining, or decreasing the height of the trailer vehicle 20 by causing the driving unit 400 to raise, maintain, or lower some components of the trailer vehicle 20 .

The driving control module 350 of the control unit 300 operates the driving unit 400 according to the calculated control information (S340). Accordingly, the height of the trailer vehicle 20 can be adjusted to increase, maintain or decrease.

5. Description of the control method of the roll trailer lifting system 1 according to another embodiment of the present invention

Referring to FIG. 14, the flow of the control method of the roll trailer lifting system 1 according to another embodiment of the present invention is shown.

It is assumed that the control method of the roll trailer lifting system 1 according to another embodiment of the present invention is also applied to the trailer vehicle 20 that can be moved together by being detachably coupled to the traveling vehicle 10. However, it will be understood that the control method of the roll trailer elevating system 1 to be described below can also be applied to a general trailer vehicle.

According to the control method of the roll trailer lifting system 1 according to the present embodiment, height information calculated using information detected by the vehicle sensor unit 100 and information detected by the distance sensor unit 500 are used Control information is calculated using all of the calculated correction information so that the driving unit 400 can be controlled.

That is, the control method of the roll trailer lifting system 1 according to the present embodiment utilizes both height information and correction information as basis information for calculating control information. Therefore, in the case of the control method of the roll trailer lifting system 1 according to the present embodiment, whether or not the components of the trailer vehicle 20 are raised and lowered and the degree thereof can be calculated more accurately.

In the illustrated embodiment, the control method of the roll trailer lifting system 1 includes the step of the vehicle sensor unit 100 detecting the height of the external structure S (S100'), the distance provided to the trailer vehicle 20 The sensor unit 500 detects information about the distance between the lower side of the trailer vehicle 20 and the ground (S200′), and the control unit 300 detects information about the detected height and the lower side of the trailer vehicle 20 and the ground and controlling the driving unit using information about the distance between the ground (S300′).

At this time, the step (S100′) of the vehicle sensor unit 100 detecting the height of the external structure S is the vehicle sensor unit 100 according to the above-described embodiment, the driving vehicle 10 and the trailer vehicle 20 It is the same as the step of detecting information about the location of (S100) and the step of detecting, by the vehicle sensor unit 100, the fourth height h4, which is the height of the external structure (S) (S200).

In addition, the step of detecting, by the distance sensor unit 500 provided in the trailer vehicle 20, information on the distance between the lower side of the trailer vehicle 20 and the ground (S200') is the trailer vehicle according to the above-described embodiment ( 20), the distance sensor unit 500 detects information on the distance between the lower side of the trailer vehicle 20 and the ground (S400).

In addition, the control unit 300 controlling the driving unit by using the information on the detected height and the information on the distance between the lower side of the trailer vehicle 20 and the ground (S300′) is the control unit according to the above-described embodiment Step 300 of controlling the driving unit 400 using information about the detected fourth height h4 (S300) and the driving unit 300 using information about the detected distance according to another embodiment It can be achieved by performing all of the steps (S500) of controlling (400).

Thus, the description of each step (S100', S200', S300') of the control method of the roll trailer lifting system 1 according to the present embodiment is the control of the roll trailer lifting system 1 according to the above-described embodiment. It will be replaced with a description of the method.

6. Description of the operating process of the roll trailer lifting system 1 according to the embodiment of the present invention

15 to 16, the operation process of the roll trailer elevating system 1 according to an embodiment of the present invention is illustrated by way of example.

The illustrated embodiment relates to a process in which the height of a structure S such as a parking lot or a gate is sensed and the height of the trailer vehicle 20 is adjusted according to the sensed height. It will be appreciated that the above process can be applied to any structure in which a member of a predetermined height functions as a roof through which the trailer vehicle 20 passes.

In addition, it will be understood that the illustrated embodiment can be applied to a process in which the distance between the lower side of the trailer vehicle 20 and the ground is sensed and the height of the trailer vehicle 20 is adjusted according to the detected distance.

Referring to FIG. 15 , a process in which the height of the trailer vehicle 20 is adjusted in order for the driving vehicle 10 and the trailer vehicle 20 to enter the inside of the structure S is illustrated.

In (a) of FIG. 15 , the traveling vehicle 10 and the trailer vehicle 20 are moved toward the structure S. At this time, the height of the trailer vehicle 20 is the highest first height h1 for driving convenience. In the illustrated embodiment, it is assumed that the first height h1 is higher than the fourth height h4.

When the driving vehicle 10 and the trailer vehicle 20 are moved toward the structure S, the external sensor unit 200 is operated to detect information about the fourth height h4, which is the height of the structure S.

At this time, the external sensor unit 200 detects information about the fourth height h4 from the exterior of the structure S or through information emitted from the external sensor unit 200 provided in the structure S. can

In this state, the distance between the lower side of the trailer vehicle 20 and the ground is the first distance D1, that is, the distance in the most distant state. The first distance D1 may be understood as a distance for the trailer vehicle 20 to travel on a road or the like.

In (b) of FIG. 15 , height information and control information are calculated using the information on the fourth height h4 sensed by the external sensor unit 200 according to the above-described process. The driving unit 400 is operated according to the calculated control information, and the height of the trailer vehicle 20 is lowered to the second height h2. In the illustrated embodiment, it is assumed that the second height h2 is lower than the fourth height h4.

In the above state, the distance between the lower side of the trailer vehicle 20 and the ground is the second distance D2, that is, a state in which some components of the trailer vehicle 20 are partially moved downward to enter the inside of the structure S is the distance of The second distance D2 may be understood as a distance for the trailer vehicle 20 to pass through or enter a structure S having a low height.

16, the driving vehicle 10 and the trailer vehicle 20 pull in and withdraw the roll container from the inside of the structure (S), and after the delivery work is completed, the process of getting out of the structure (S) again is shown

In (a) of FIG. 16, the driving vehicle 10 and the trailer vehicle 20 that have entered the structure S are parked, and the roll trailer is pulled out. As described above, the control information calculation module 340 changes the height of the trailer vehicle 20 to the lowest height, that is, the third height h3, when the gear state of the driving vehicle 10 is parked (P). It is possible to calculate control information for

The driving unit 400 is operated according to the calculated control information, so that the trailer vehicle 20 has a third height h3. Accordingly, the roll trailer can be easily pulled in and out of the trailer vehicle 20 .

In the above state, the distance between the lower side of the trailer vehicle 20 and the ground is the third distance D3, that is, the distance in the most closely positioned state. In an embodiment, the third distance D3 may be 0, that is, a distance in which some components of the trailer vehicle 20 are in contact with the ground.

In (b) of FIG. 16, the driving vehicle 10 and the trailer vehicle 20, on which loading and unloading operations have been completed, exit the structure S. Through the above process, height information and control information are calculated using the information about the fourth height h4 sensed by the external sensor unit 200 .

In the illustrated embodiment, a separate structure (S) does not exist in the traveling direction of the driving vehicle 10 and the trailer vehicle 20 . Accordingly, the control unit 300 calculates control information for adjusting the height of the trailer vehicle 20 to the first height h1 suitable for driving. The driving unit 400 is operated according to the calculated control information, so that the height of the trailer vehicle 20 can be increased to the first height h1.

In this state, the distance between the lower side of the trailer vehicle 20 and the ground is the first distance D1, that is, the distance in the most distant state. Accordingly, it is as described above that the trailer vehicle 20 can be driven on the road or the like.

Furthermore, the above process may be performed using distance information sensed by the distance sensor unit 500 .

That is, the control unit 300 may calculate a height for the trailer vehicle 20 to enter the structure S by using information on the location detected by the GPS module 180. The control unit 300 may calculate correction information using a difference between the distance information sensed by the distance sensor unit 500 and the calculated height. The control unit 300 may calculate control information for controlling the driving unit 400 using the calculated correction information.

As described above, the control unit 300 may calculate control information using any one or more of information detected by the vehicle sensor unit 100 and information detected by the distance sensor unit 500 .

Therefore, according to the roll trailer elevating system 1 and the control method according to the embodiment of the present invention, the fourth height h4 of the structure S through which the driving vehicle 10 and the trailer vehicle 20 pass is easy. can be detected.

In addition, since the height of the trailer vehicle 20 is automatically raised or lowered according to the detected fourth height h4, the structure S and the trailer vehicle 20 entering or passing the structure S ) damage can be prevented.

Furthermore, the process may be automatic. Thus, the process can be operated reliably, regardless of erroneous operation or inexperience.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

1: Roll trailer lifting system
10: driving vehicle
11: vehicle head
20: trailer vehicle
100: vehicle sensor unit
110: camera sensor module
120: Bluetooth receiving module
130: RFID receiving module
140: IR sensor module
150: Radar sensor module
160: ultrasonic sensor module
170: LiDAR sensor module
180: GPS module
200: external sensor unit
210: image output module
220: Bluetooth transmission module
230: RFID transmission module
300: control unit
310: detection information receiving module
320: height information calculation module
330: correction information calculation module
340: control information calculation module
350: driving control module
400: driving unit
500: distance sensor unit
S: structure
h1: first height
h2: second height
h3: third height
h4: fourth height
D1: first distance
D2: second distance
D3: third street

Claims (19)

A driving vehicle provided to be able to drive independently;
a trailer vehicle that is detachably coupled to the traveling vehicle at a rear side of the traveling vehicle, is moved together by the traveling vehicle, and is provided with a height capable of being raised and lowered;
a vehicle sensor unit provided in the traveling vehicle to detect information about a height of an external structure;
a control unit connected to the vehicle sensor unit to be energized and calculating control information for adjusting the height of the trailer vehicle using the information sensed by the vehicle sensor unit; and
A driving unit provided in the trailer vehicle, energized and connected to the control unit, and operated according to the control information calculated by the control unit to adjust the height of the trailer vehicle;
The vehicle sensor unit,
Includes a GPS module for detecting information about the location of the driving vehicle and the trailer vehicle,
The control unit,
Calculating information on the height of the structure and the height of the trailer vehicle to be adjusted accordingly using information on the locations of the driving vehicle and the trailer vehicle detected by the GPS module,
Roll trailer lifting system. According to claim 1,
The vehicle sensor unit,
Including a camera module for detecting information on the height of the structure in the form of image information,
Roll trailer lifting system. According to claim 1,
The vehicle sensor unit,
Including any one or more of an IR sensor module, a radar sensor module, an ultrasonic sensor module, and a LiDAR sensor module,
Roll trailer lifting system. delete According to claim 1,
An external sensor provided outside the structure and electrically connected to the vehicle sensor to provide information about a height of the structure to the vehicle sensor,
The vehicle sensor unit,
a Bluetooth receiving module electrically connected to the Bluetooth transmitting module provided in the external sensor unit;
Including any one or more of the RFID receiving module energized and connected to the RFID transmitting module provided in the external sensor unit,
Roll trailer lifting system. According to claim 1,
The control unit,
a height information calculation module that compares information on the detected height of the structure with information on the height of the trailer vehicle and calculates whether or not the height of the trailer vehicle has been adjusted and height information about the adjusted length;
a control information calculation module that calculates control information for raising, maintaining, or lowering the height of the trailer vehicle by using the calculated height information; and
A driving control module energized and connected to the driving unit to control the driving unit according to the calculated control information,
Roll trailer lifting system. According to claim 1,
It is provided in the trailer vehicle and includes a distance sensor unit for detecting information about a distance between the lower side of the trailer vehicle and the ground,
The control unit,
electrically connected to the distance sensor unit to calculate the control information further using the information sensed by the distance sensor unit;
Roll trailer lifting system. According to claim 7,
The control unit,
a height information calculation module that compares information on the detected height of the structure with information on the height of the trailer vehicle and calculates whether or not the height of the trailer vehicle has been adjusted and height information about the adjusted length;
a correction information calculation module that calculates correction information about whether or not the calculated height information is corrected and a degree of correction by using the information sensed by the distance sensor;
a control information calculation module that calculates control information for raising, maintaining, or lowering the height of the trailer vehicle by using the calculated correction information; and
A driving control module energized and connected to the driving unit to control the driving unit according to the calculated control information,
Roll trailer lifting system. delete delete delete delete delete delete delete delete delete delete delete