Container self-loading and self-unloading video auxiliary guiding system

Abstract

A container self-loading and self-unloading video auxiliary guiding system comprises a controller, camera lenses, a duplex-screen all-in-one machine and a cable, the controller is connected with the duplex-screen all-in-one machine, cameras are installed on the two sides of a left grabbing arm of a container, the two sides of a right grabbing arm of the container, a lifting hook of the container and the tail of a vehicle body respectively, and the cameras are connected with the controller respectively. The vehicle-mounted radar is connected with the controller, the controller is provided with a CAN bus and trigger signal interface, a 24VDC power supply interface, an analog signal expansion interface and a CAN bus expansion interface, the duplex screen all-in-one machine is installed in a cab and right faces the top of an operator, and the A screen and the B screen are arranged on the right hand side and the left hand side respectively. The multi-direction camera is used for assisting in a millimeter wave radar mode to achieve multiple information collection, information is transmitted to the duplex-screen all-in-one machine after being gathered and processed, comprehensive information display is achieved, the information is comprehensive and accurate, and the operation efficiency and safety of the vehicle-mounted loading and unloading equipment are improved.

Description

Technical Field

[0001] The invention relates to the field of container auxiliary control, in particular to a container self-loading and self-unloading video auxiliary guidance system. Background Art

[0002] At present, there are vehicle reversing assistance systems, but they often only provide basic reversing images and lack all-round information. In narrow spaces or special circumstances, these systems may not provide sufficient information, resulting in increased operational risks; some vehicle monitoring systems provide displays of operating status and fault information, but they may not be comprehensive or real-time enough, making it difficult for drivers to accurately understand the operating status of the entire vehicle, which may lead to operational errors or failure to detect faults in a timely manner; some in-vehicle monitoring systems have fixed structures that are difficult to adapt to different operating scenarios; operators may encounter difficulties in adjusting their positions, affecting their vision and operating efficiency in the cab. Therefore, how to solve the problems of incomplete information, inaccurate display, and inflexible structure in the existing technology and improve the operating efficiency and safety of vehicle-mounted loading and unloading equipment is a technical problem that must be solved. Summary of the invention

[0003] In view of the above situation, in order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a container self-loading and unloading video-assisted guidance system, which can effectively solve the problems of incomplete information, inaccurate display, and inflexible structure in the technology, and improve the operating efficiency and safety of vehicle-mounted loading and unloading equipment.

[0004] The technical solution solved by the present invention is a container self-loading and unloading video-assisted guidance system, including a controller, a camera lens, a dual-screen integrated machine and a cable. The controller is connected to the dual-screen integrated machine by a data cable via an interface 10. The left grabbing arm of the vehicle-mounted container is equipped with a first grabbing camera and a second grabbing camera in parallel and symmetrical on both sides, and are connected to the interface 3 of the controller by a cable via a first connector. The container hook is equipped with a hook camera, and the hook camera is connected to the interface 4 of the controller by a cable. The right grabbing arm of the vehicle-mounted container is equipped with a third grabbing camera and a fourth grabbing camera in parallel and symmetrical on both sides, and are connected to the interface 5 of the controller by a cable via a second connector. The reversing camera at the rear of the vehicle body is connected to the interface 6 of the controller via a cable. The vehicle-mounted radar for the container is connected to the interface 7 of the controller via a cable. The controller is provided with a CAN bus and a trigger signal interface connected to the vehicle body controller, a 24VDC power supply interface, an analog signal expansion interface and a CAN bus expansion interface. The dual-screen integrated machine is installed in the cab directly above the operator's head, and the A screen is arranged The A screen is located on the right hand side, and displays the rear reversing view of the vehicle as well as the status and fault information of the system. The B screen is located on the left hand side, and displays the working view of the container grabbing point and the pallet hook, realizes the auxiliary grabbing function, provides the switching between the container mode and the pallet mode, realizes the auxiliary reversing function, the operation monitoring function in the cab, is equipped with the fault information alarm function, and provides a multi-mode image display of the container mode image and the pallet mode image to meet the operation requirements in different loading and unloading scenarios. It displays the rear status (picture) of the whole vehicle in real time, cooperates with the radar steering sensor, displays the distance information of the rear obstacle or the cabin, and the wheel information of the vehicle. The picture is equipped with auxiliary frame lines, center lines (which can be set and memorized) and chassis steering follow-up lines, which can realize rapid reversing to align the container or pallet, speed up the loading and unloading process, and better realize rapid intelligence; it displays the operation status and fault information of the whole vehicle, and supports the recording and viewing of fault information, so as to obtain the important data of the working mode, valve group pressure, working status, and the centering of the loading equipment in real time, and improve the operation efficiency and safety of the vehicle-mounted loading and unloading equipment.

[0005] The invention has a novel and unique structure, is easy to install and use, has comprehensive, accurate and flexible technical information, and improves the operating efficiency and safety of vehicle-mounted loading and unloading equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a connection structure frame diagram of the present invention. DETAILED DESCRIPTION

[0007] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0008] Depend on Figure 1The present invention provides a container self-loading and self-unloading video-assisted guidance system, including a controller, a camera lens, a dual-screen integrated machine and a cable. The controller is connected to the dual-screen integrated machine 2 by a data cable via an interface 10. A first grabbing camera 3-1 and a second grabbing camera 3-2 are installed on both sides of a left grabbing arm 3 of a vehicle-mounted container, and are connected to an interface 3 of a controller 1 (i.e., IC, the same below) by a cable 10 via a first connector 8. A hook camera 4 is installed on the container hook, and the hook camera 4 is connected to the interface 4 of the controller 1 by a cable. The third grabbing camera 5-1 and the fourth grabbing camera 5-2 are installed on both sides of the right grabbing arm 5 of the container, which are symmetrically connected in parallel, and are connected to the interface 5 of the controller 1 by cables through the second connector 9. The reversing camera 6 at the rear of the vehicle body is connected to the interface 6 of the controller 1 through cables. The vehicle-mounted radar 7 for the container is connected to the interface 7 of the controller 1 through cables. The controller 1 is provided with a CAN bus and trigger signal interface 11 connected to the vehicle body controller, a 24VDC power supply interface 12, an analog signal expansion interface 13 and a CAN bus expansion interface 14, and a dual-screen integrated The machine is installed in the cab directly above the operator's head. Screen A is set on the right hand side to display the reversing view of the rear of the vehicle and the status and fault information of the system. Screen B is set on the left hand side to display the working view of the container grabbing point and the pallet hook, realize the auxiliary grabbing function, provide the switching between container mode and pallet mode, realize the auxiliary reversing function, the operation monitoring function in the cab, equipped with fault information alarm function and multi-mode image display providing container mode image and pallet mode image to meet the operation requirements in different loading and unloading scenarios, and display the rear status (picture) of the whole vehicle in real time. With the radar steering sensor, it displays the distance information of the rear obstacle or cabin, as well as the wheel information of the vehicle. The picture is equipped with auxiliary frame lines, center lines (which can be set and memorized) and chassis steering follow-up lines to realize rapid reversing and aligning containers or pallets, speed up the loading and unloading process, and better realize rapid intelligence; display the operation status and fault information of the whole vehicle, and support fault information recording and viewing, real-time understanding of the working mode, valve group pressure, working status, and important data of the centering of the loading equipment, improve the operation efficiency and safety of the vehicle-mounted loading and unloading equipment.

[0009] In order to ensure ease of use and effectiveness, the assisted reversing function is to use multi-directional cameras and millimeter-wave radars to achieve all-round information collection, and can display the rear of the vehicle in real time, including video information of the left and right grab points. It is equipped with auxiliary frame lines, setting and memorizing the center line and chassis steering follow-up line to achieve rapid reversing to align with the container or pallet, optimize the loading and unloading process, and observe the relative position of the vehicle, the container and the pallet in real time through the display screen in front of the main driver. When the edge line of the container completely overlaps with the auxiliary frame line, it indicates that the relative position of the vehicle and the box has reached the predetermined loading standard; the millimeter-wave radar configured at the rear of the vehicle displays the distance information between the vehicle and the box on the display screen in real time, assisting in precise control of the reversing distance, and the video assistance system improves the convenience and work efficiency of loading and unloading; the grab point video information screen is displayed on the left side of the display screen, and the vehicle rear information screen is displayed on the right side. The grab point video information screen automatically switches the display content between container mode and pallet mode according to the pre-set working mode.

[0010] The operation monitoring function in the cab is to use the video auxiliary system to monitor the loading and unloading work in real time in the cab and provide a full range of working environment information display, including working mode, boom angle, upper valve group pressure, lower valve group pressure, working status, and left and right gripping point positions of the container, so as to improve the flexibility and convenience of operation; during loading and unloading, unfold the monitoring screen, and use the monitoring screen to grasp the relative position of the vehicle and the box body and the auxiliary lifting operation; when the vehicle is driving, the monitoring screen is folded to ensure that it does not affect the line of sight; in the lower right corner of the screen, there is an area for displaying data information, and the data information includes working mode, boom angle, upper valve group pressure value, lower valve group pressure value, working status and left and right clamp position information of the container; through the terminal controller, collect and analyze information from the wire control device, sensor and current working status information, communicate and transmit through the CAN bus, and finally upload to the video auxiliary system to ensure the accuracy and real-time nature of the data, and provide comprehensive and accurate equipment working status information.

[0011] The fault information alarm function is equipped with a system controller to monitor the device status, display the vehicle operation status and fault information in real time, support the recording and viewing of fault information, and set up a fault information display area in the upper right corner of the display screen. When the system is operating normally, the area remains hidden to ensure that the frame line display is not disturbed; when a fault occurs, the area will appear instantly, accurately displaying the current fault condition. By clicking the drop-down arrow on the right, all fault information during the power-on period can be viewed. All fault information is collected through the internal detection circuit and data information of the terminal controller to determine whether the current working status of each sensor and solenoid valve data is normal. When the terminal controller detects a fault, it uses CAN bus communication for transmission and uploads it to the video assistance system to provide intuitive and detailed fault information to quickly locate and solve the problem.

[0012] The multi-mode image display providing container mode images and pallet mode images is to present images of different working stages through two screens A and B, providing a comprehensive operation perspective. In the display system, the right screen is defined as screen A, which displays information behind the vehicle. Through the auxiliary frame line and the marking of relative distance, screen A assists in the vehicle's reversing and positioning operations, and becomes the observation area during the operation. When the vehicle completes the centering operation with the container and the pallet, it is transferred to the left screen B; the left screen B performs image acquisition during the grabbing process. By capturing images, screen B provides information to assist in completing the grabbing of the container and the lifting of the pallet. During the container grabbing process, screen B simultaneously displays images of four areas, and the four areas include reference images of the horizontal relative positions of the grabbing points on the left and right sides and the container wrap angles and the vertical relative positions; when the operation mode is switched from container mode to pallet mode, screen B automatically switches to the image from the perspective of the pallet hook, which is convenient for observing the relative position between the hook and the pallet lifting ring. The automatic switching function ensures the continuity and accuracy of the operation and improves the overall work efficiency.

[0013] The first grabbing camera 3-1 and the third grabbing camera 5-1 are both cameras of model LPS-12804, the second grabbing camera 3-2, the hook camera 4, the fourth grabbing camera 5-2 and the reversing camera 6 are all infrared cameras of model LPS-12805, and the vehicle-mounted radar 7 is a model LPL-S150 millimeter wave radar; The controller 1 (IC) model is LP-ZZXKZ01; The dual-screen all-in-one machine model is LPP-2X10-1024, a 10-inch dual-screen all-in-one machine.

[0014] The LPS-12805, LPS-12804, LP-ZZXKZ01, LPL-S150, and LPP-2X10-1024 are all products of Weixiang Technology (Tianjin) Co., Ltd.

[0015] It can be seen from the above structure that when the present invention is in use, multi-directional cameras are used to assist in the collection of multiple information in the form of millimeter-wave radar. After the information is aggregated and processed, the information is transmitted to the dual-screen all-in-one machine to realize comprehensive information display. The information is comprehensive and the display is accurate. The operation is convenient, flexible, efficient and safe. After field tests, the effect is very good. Through the driver's real operation experience, the dual-screen all-in-one machine is installed in the cab directly above the operator's head, and a flippable mechanical structure is designed. In this way, the operator can observe the working status through the dual-screen all-in-one machine while performing the operation. After the operation is completed, it can be folded and flipped to the clamp. In the 7,000-kilometer sports car test, the dual-screen all-in-one machine did not loosen, and the structural reliability was verified. When designing the camera installation position, the number and installation position of the camera are determined through dynamic analysis of three-dimensional graphics and work processes. The specific installation positions are 2 grabbing cameras on each side of the grabbing arm, 1 hook camera on the grabbing arm, and 1 reversing camera on the rear of the vehicle body. The grabbing camera can assist the operator in judging the relative position of the grabbing mechanism and the container during the container grabbing process, the hook camera assists in observing the relative position of the pallet hook and the pallet hanging point, and the reversing camera assists in vehicle reversing. The images collected by these 6 cameras can assist the operator in observing the status of the entire vehicle in the cab to complete the loading and unloading of containers or pallets, which is obviously accurate and improves the operating efficiency and safety of vehicle-mounted loading and unloading equipment. Compared with the existing technology, it has the following outstanding technical advantages: 1. Improve operational efficiency: Through the assisted reversing function, the system displays the rear of the vehicle in real time, providing information on the distance to the rear obstacles and wheel information. The auxiliary lines and information display functions, combined with the flip-over monitor screen design, enable operators to more accurately align containers or pallets, thereby accelerating the loading and unloading process. The multi-mode image display function provides switching between container mode and pallet mode, making the system more flexible, meeting the operational requirements of different loading and unloading scenarios, and further improving operational efficiency. Through the assisted reversing function, operators can monitor and judge the loading and unloading work in the cab without having to frequently get off the vehicle or rely on external guidance, thereby greatly improving work efficiency.

[0016] 2. Improve operator safety: The operation monitoring function in the cab realizes real-time monitoring of loading and unloading work through the video auxiliary system. This allows the operator to fully understand the working environment in the cab, reduces the uncertainty of external conditions during operation, and improves the safety of the operator. The fault information alarm function monitors the device status in real time and promptly feedbacks the vehicle operation status and fault information, allowing the operator to respond to problems quickly and reducing potential operational risks.

[0017] 3. Simplify the structure and control the maintenance cost: The present invention adopts modular design and simplified structure, which is helpful for more convenient system maintenance under special conditions. The modular design of 10-inch dual-screen all-in-one machine, multiple cameras, millimeter-wave radar, etc. simplifies the structure of the entire system and facilitates manufacturing and maintenance. The layout and installation position of the camera are carefully designed, and the rationality of the number and position of the camera is guaranteed through dynamic analysis of three-dimensional graphics and workflow. The flip-able monitoring screen design and modular structure make the installation and maintenance of the system more convenient, reducing the cost of use for operators.

[0018] 4. Real-time monitoring and early warning of fault information: The fault information alarm function ensures that the vehicle's operating status and fault information can be monitored in real time. Discovering and solving potential problems in advance can prevent them from happening and ensure the reliability of the equipment. It has important practical significance in special environments and maintains safe use under various complex conditions. It is an innovation in container self-loading and unloading equipment and has significant economic and social benefits.

Claims

1. A container self-loading and self-unloading video-assisted guidance system, comprising a controller, a camera lens, a dual-screen integrated machine and cables, characterized in that: The controller is connected to the dual-screen integrated machine (2) via an interface 10 by a data cable; a first grabbing camera (3-1) and a second grabbing camera (3-2) are installed on both sides of the left grabbing arm (3) of the vehicle-mounted container, and are connected to the interface 3 of the controller (1) via a cable (10) via a first connector (8); a hook camera (4) is installed on the container hook, and the hook camera (4) is connected to the interface 4 of the controller (1) via a cable; a third grabbing camera (5-1) and a fourth grabbing camera (5-2) are installed on both sides of the right grabbing arm (5) of the vehicle-mounted container, and are connected to the interface 5 of the controller (1) via a cable via a second connector (9); a reversing camera (6) at the rear of the vehicle body is connected to the interface 6 of the controller (1) via a cable, and is used for container The vehicle-mounted radar (7) is connected to the interface 7 of the controller (1) via a cable. The controller (1) is provided with a CAN bus and trigger signal interface (11) connected to the vehicle body controller, a 24VDC power supply interface (12), an analog signal expansion interface (13) and a CAN bus expansion interface (14). The dual-screen integrated machine is installed in the cab directly above the operator's head. The A screen is set on the right side to display the reversing perspective of the rear of the vehicle and the status and fault information of the system. The B screen is set on the left side to display the working perspective of the container grabbing point and the pallet hook, provide switching between container mode and pallet mode, realize auxiliary reversing function, cab operation monitoring function, equipped with fault information alarm function and mode switching image display function, so as to improve the operating efficiency and safety of the vehicle-mounted loading and unloading equipment.

2. The container self-loading and self-unloading video-assisted guidance system according to claim 1 is characterized in that: The auxiliary reversing function is to first collect the video information of the rear of the vehicle through the reversing camera (6), and at the same time, the vehicle-mounted radar (7) measures the distance information between the container and the vehicle, and input the signal into the controller (1) through the interfaces 6 and 7, and then the controller (1) transmits the video information and the distance information to the A screen of the dual-screen integrated machine (2) through the cable (10), so as to realize the real-time display of the rear image of the vehicle, and the first grabbing camera (3-1) and the second grabbing camera (3-2) jointly obtain the left grabbing point information of the grabbing container; the third grabbing camera (5-1) and the fourth grabbing camera (5-2) jointly obtain the right grabbing point information, and transmit the video signal to the controller (1) through the interfaces 3 and 5, and then the controller (1) transmits the video information and the distance information to the B screen of the dual-screen integrated machine (2) through the cable (10), and the reversing camera (6) and the vehicle are used to collect the information of the left grabbing point of the container. The onboard radar (7) realizes all-round information collection and can display the rear image of the vehicle in real time, including the video information of the left and right grab points. It is equipped with auxiliary frame lines, and the center line and chassis steering follow-up line are set and memorized to realize rapid reverse alignment with the container or pallet, optimize the loading and unloading process, and observe the relative position of the vehicle, the container and the pallet in real time through the display screen in front of the main driver. When the container edge line and the auxiliary frame line completely overlap, it indicates that the relative position of the vehicle and the container has reached the predetermined loading standard; the onboard radar (7) configured at the rear of the vehicle displays the distance information between the vehicle and the container on the display screen in real time, assists in accurately controlling the reverse distance, and the video auxiliary system improves the convenience and work efficiency of loading and unloading work; the B screen displays the grab point video information screen, and the A screen displays the vehicle rear information screen. The grab point video information screen automatically switches the display content between the container mode and the pallet mode according to the pre-set working mode.

3. The container self-loading and self-unloading video-assisted guidance system according to claim 1 is characterized in that: The operation monitoring function in the cab is that the CAN bus expansion interface (14) is connected to the vehicle-mounted boom angle sensor, the upper valve group pressure sensor, and the lower valve group pressure sensor, and the communication transmission is carried out through the CAN bus, and the signal is input into the controller (1), and then the controller (1) transmits the video information screen and distance information to the A screen of the dual-screen integrated machine (2) through the cable (10), and uses the video auxiliary system to monitor the loading and unloading work in real time in the cab to provide a full range of working environment information display, including working mode, boom angle, upper valve group pressure, lower valve group pressure, working status, and left and right gripping point positions of the container, thereby improving the flexibility and convenience of operation; when loading and unloading, the dual-screen integrated machine (2) is unfolded to monitor the loading and unloading work in real time in the cab. The dual-screen all-in-one machine (2) uses the monitoring screen to grasp the relative position of the vehicle and the container body and the auxiliary lifting operation status; when the vehicle is driving, the dual-screen all-in-one machine is folded to ensure that it does not affect the line of sight; in the lower right corner of the screen, there is an area for displaying data information, the data information includes working mode, boom angle, upper valve group pressure value, lower valve group pressure value, working status and container left and right clamp position information; through the controller (1), collect and analyze information from the wire control device, sensor and current working status information, communicate and transmit through the CAN bus, and finally upload to the video auxiliary system to ensure the accuracy and real-time nature of the data and provide comprehensive and accurate equipment working status information.

4. The container self-loading and self-unloading video-assisted guidance system according to claim 1 is characterized in that: The fault information alarm function is that the controller (1) is internally provided with a detection circuit and data information collection to determine whether the working status of each sensor and solenoid valve is normal. When a fault occurs, the terminal controller uses CAN bus communication and records the abnormal status of each sensor. The controller (1) then transmits the fault information to the A and B screens of the dual-screen integrated machine (2) through the cable (10). The A screen is located on the right side and displays the status of the reversing signal through the controller monitoring device. It displays the running status and fault information of the whole vehicle in real time and supports the recording and viewing of fault information. A fault information display area is set up in the upper right corner of the dual-screen integrated machine. When the system is operating normally, the area remains hidden to ensure that the frame line display is not disturbed. When a fault occurs, this area will appear instantly, accurately displaying the current fault condition. By clicking the drop-down arrow on the right, you can view all fault information during the current power-on period. All fault information is collected through the controller's internal detection circuit and data information to determine whether the current working status of each sensor and solenoid valve data is normal. When the terminal controller detects a fault, it uses CAN bus communication to transmit it and upload it to the video-assisted guidance system, providing intuitive and detailed fault information to quickly locate and solve the problem.

5. The container self-loading and self-unloading video-assisted guidance system according to claim 1 is characterized in that: The mode switching image display function can provide switching display of container mode images and pallet mode images. The first grabbing camera (3-1) and the second grabbing camera (3-2) on the left side jointly obtain the left grabbing point information of the grabbing container; the third grabbing camera (5-1) and the fourth grabbing camera (5-2) on the right side jointly obtain the right grabbing point information, and transmit the video signal to the controller (1) through the interfaces 3 and 5. The controller (1) then transmits the video information screen and distance information to the B screen of the dual-screen integrated machine (2) through the cable (10). This mode is the container mode. The hook camera (4) obtains hook information and transmits the video signal to the controller (1) via the cable 4. The controller (1) then transmits the video information screen and distance information to the B screen of the dual-screen integrated machine (2) via the cable (10). This mode is the tray mode. The first connector (8) and the second connector (9) control the on and off of the video signal. The two different modes can be switched through the touch control on the dual-screen integrated machine (2). When the container mode is set, the controller (1) controls the first connector (8) and the second connector (9) to be connected, and the controller (1) does not receive the hook camera (4). When the signal is sent, the B screen of the dual-screen integrated machine (2) is displayed in the container mode; when the mode is set to the pallet mode, the hook camera (4) is connected, the controller (1) does not receive the signal sent by the first connector (8) and the second connector (9), and the B screen of the dual-screen integrated machine (2) is displayed in the hook mode. Images of different working scenes are presented through the A screen and the B screen, providing a comprehensive operating perspective. In the display system, the right screen is defined as the A screen, which displays the information behind the vehicle. Through the auxiliary frame line and the relative distance marking, the A screen assists in the vehicle's reversing and positioning operations, becoming a key factor in the operation process. Observation area; the B screen on the left is used to collect images during the grabbing process. By capturing images, the B screen provides information to assist in completing the grabbing of containers and the lifting of pallets. During the container grabbing process, the B screen simultaneously displays images of four areas, including the horizontal relative positions of the grabbing points on the left and right sides and the container wrap angles, as well as reference images of the vertical relative positions; when the operation mode is switched from container mode to pallet mode, the B screen automatically switches to the image from the perspective of the pallet hook, making it easy to observe the relative position between the hook and the pallet lifting ring. The automatic switching function ensures the continuity and accuracy of the operation, thereby improving overall work efficiency.

6. The container self-loading and self-unloading video-assisted guidance system according to claim 1 is characterized in that: The first grabbing camera (3-1) and the third grabbing camera (5-1) are both cameras of model LPS-12804, the second grabbing camera (3-2), the hook camera (4), the fourth grabbing camera (5-2) and the reversing camera (6) are all infrared cameras of model LPS-12805, and the vehicle-mounted radar (7) is a millimeter-wave radar of model LPL-S150.

7. The container self-loading and self-unloading video-assisted guidance system according to claim 1, characterized in that: The model of the controller (1) is LP-ZZXKZ01.

8. The container self-loading and self-unloading video-assisted guidance system according to claim 1, characterized in that: The dual-screen all-in-one machine model is LPP-2X10-1024, a 10-inch dual-screen all-in-one machine.

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