Video surveillance system for transport vehicles, transport vehicles

Abstract

The present invention relates to the field of obstacle monitoring and discloses a video monitoring system for a transport vehicle and a transport vehicle. The system includes: a plurality of cameras, respectively arranged on at least two sides of the transport vehicle body, for capturing images of at least two sides of the vehicle body; a plurality of ranging sensors, respectively arranged on at least two sides of the vehicle body in the same orientation as the plurality of cameras, for detecting obstacles on at least two sides of the vehicle body; a controller, for receiving monitoring information from the plurality of ranging sensors and sending a screen switching instruction when the detection distance of any of the ranging sensors falls within a set range; and a display screen, for switching the monitoring screen to a monitoring screen in the direction corresponding to the ranging sensor that detected the minimum obstacle distance in accordance with the screen switching instruction. A screen switching operation can be performed when an obstacle is detected by a ranging sensor, so that the driver can promptly view the monitoring screen on one side of the obstacle on the display screen.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile safety, and in particular to a video monitoring system for a transport vehicle. Background Art

[0002] Concrete mixer trucks have large blind spots, making it difficult to monitor obstacles in the blind spots during driving, which can easily lead to traffic accidents. When a mixer truck is reversing into a mixing station, it is also difficult to determine the relative position of the feed hopper and the discharge port, making it difficult to determine whether the reversing is in place, which increases the difficulty of reversing. In addition, when the discharge port and accessories are lower than the feed port, collision accidents are likely to occur. Figure 1 The schematic diagram of the layout of the transport vehicle monitoring system in the prior art is shown. The monitoring system currently used in mixer trucks can only observe the front and right sides of the cab and the reversing images through the cameras in front, right and rear of the cab, and monitor obstacles in front of the vehicle body, right side and rear of the cab through the reversing radars in front, right and rear of the cab.

[0003] In the existing technology, radar and video monitoring of transport vehicles have at least the following defects:

[0004] 1. There are only front, right and rear cameras and radars, and the blind spot coverage is small, and only specific areas can be monitored.

[0005] 2. The rear-facing camera and radar are only used for reversing warning and do not monitor the feed hopper and height-restricted objects at the rear. Summary of the Invention

[0006] The purpose of the present invention is to provide a video monitoring system for a transport vehicle. The system can monitor at least two sides of the vehicle body through multiple cameras and multiple ranging sensors. When there is no obstacle detection result, the system can display the set direction monitoring picture in real time through the display screen. When the ranging sensor detects an obstacle, the screen can be switched to display, so that the driver can view the monitoring picture on the obstacle side in time.

[0007] In order to achieve the above object, the present invention provides a video monitoring system for a transport vehicle, the system comprising:

[0008] A plurality of cameras are respectively arranged on at least two sides of the transport vehicle body, for photographing at least two sides of the vehicle body;

[0009] A plurality of ranging sensors are respectively arranged on at least two sides of the vehicle body in the same orientation as the plurality of cameras, and are used to detect obstacles on at least two sides of the vehicle body;

[0010] a controller, configured to receive monitoring information from the plurality of ranging sensors, and send a screen switching instruction when the detection distance of any of the ranging sensors falls within a set range; and

[0011] The display screen is used to switch the monitoring screen to the monitoring screen in the direction corresponding to the ranging sensor that detects the minimum obstacle distance according to the screen switching instruction.

[0012] Preferably, the camera on the front side of the vehicle body is set in the middle position just below the windshield, the cameras on the left and right sides of the vehicle body are respectively set at the top corners of the left and right rear sides of the outside of the cab, and the camera on the rear side of the vehicle body is set between the feed hopper and the discharge hopper of the transport vehicle.

[0013] Preferably, at least one distance measuring sensor is provided on the front side of the vehicle body, at least one distance measuring sensor is provided on each of the left and right sides of the vehicle body, and at least two distance measuring sensors are provided on the rear side of the vehicle body;

[0014] Among the at least two ranging sensors on the rear side of the vehicle body, at least one ranging sensor is arranged at the rear lower part of the vehicle body, and at least one ranging sensor is arranged at the rear upper part of the vehicle body.

[0015] Preferably, the controller is further used to receive the images captured by the at least four cameras, synthesize the images captured by the at least four cameras into a panoramic image around the vehicle body, and control the display screen to display the panoramic image in real time.

[0016] Preferably, the controller is further used to control the display screen to perform split-screen display;

[0017] wherein, controlling the first display portion of the display screen to display the panoramic image in real time;

[0018] Controlling the second display portion of the display screen to display a default monitoring screen in the absence of the screen switching instruction, or to display a monitoring screen in a direction corresponding to the ranging sensor with the minimum obstacle distance detected according to the screen switching instruction;

[0019] The controller is further configured to synthesize, based on the images captured by the cameras on the front and both sides of the vehicle body, a monitoring image of the left side of the vehicle body, a monitoring image of the right side of the vehicle body, and a monitoring image in the direction of the front of the vehicle body;

[0020] The monitoring images in the direction corresponding to the ranging sensor include: the monitoring image of the left side of the vehicle body, the monitoring image of the right side of the vehicle body, the monitoring image in the direction of the front of the vehicle, and the shooting image of the camera on the rear side of the vehicle body;

[0021] The default monitoring screen is one of the following: the monitoring screen of the left side of the vehicle body, the monitoring screen of the right side of the vehicle body, the monitoring screen in the direction of the front of the vehicle, and the shooting screen of the camera on the rear side of the vehicle body;

[0022] The panoramic image, the monitoring screen of the left side of the vehicle body, the monitoring screen of the right side of the vehicle body, and the monitoring screen in the direction of the front of the vehicle are all 3D bird's-eye views, and the shooting screen of the rear side camera is a 2D image.

[0023] Preferably, the controller is further used to obtain gear information of the transport vehicle;

[0024] The controller is further configured to, when the gear information indicates reverse gear, send a first forced screen switching instruction to control the display screen to preferentially display the image captured by the camera on the rear side of the vehicle body;

[0025] When the detection distances of the distance measuring sensors on both sides of the vehicle body fall within the set range, a second forced screen switching instruction is sent to control the display screen to preferentially display the shooting image of the camera on the right side of the vehicle body.

[0026] Preferably, the camera on the rear side of the vehicle body includes a driving device;

[0027] The controller is further configured to control the driving device to drive the camera on the rear side of the vehicle body to swing up and down to adjust the shooting angle.

[0028] Preferably, the controller is further configured to perform the following operations:

[0029] Only when the detection distance of the distance measuring sensor above the rear of the vehicle body falls within the set range, controlling the driving device to drive the camera above the rear of the vehicle body to swing upward by a set angle, so that the display screen displays the monitoring image above the rear of the vehicle body; and

[0030] When the gear information indicates a non-reverse gear, the driving device is controlled to drive the camera above the rear of the vehicle body to reset.

[0031] Preferably, the system further comprises:

[0032] An alarm, configured to sound an alarm when the detection distance of any of the distance measuring sensors falls within a set range;

[0033] The set range also includes a plurality of partial ranges, and the controller is further configured to control the alarm to sound an alarm in a preset manner according to the partial range into which the detection distance falls.

[0034] Preferably, the display screen is further configured to display a virtual image of the vehicle in the panoramic image, and to display the set range around the virtual image of the vehicle;

[0035] Wherein, when there is an obstacle within the set range, the partial range where the obstacle exists is displayed in a flashing manner according to the partial range into which the detection distance of the obstacle by the ranging sensor falls, so as to prompt the driver.

[0036] Preferably, the system further comprises:

[0037] A timer, configured to start timing after the controller issues the screen switching instruction;

[0038] The controller is further configured to obtain timing information of the timer and not send the screen switching instruction within a set time.

[0039] The present invention also provides a transport vehicle, which includes the above-mentioned video monitoring system for the transport vehicle.

[0040] Through the above technical solution, video monitoring of at least two sides around the vehicle body is performed through multiple cameras, and obstacles in the same monitoring direction as the multiple cameras are detected through multiple ranging sensors. According to the detection results of the ranging sensors, if there are no obstacle detection results, the controller controls the display screen to display the set monitoring screen in real time. When the ranging sensor detects an obstacle, the screen display can be switched to enable the driver to view the monitoring screen on the obstacle side on the display screen in a timely manner.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0043] Figure 1 It is a schematic diagram of the layout of the transport vehicle monitoring system in the prior art;

[0044] Figure 2 1 is a schematic diagram of the basic structure of a video monitoring system for a transport vehicle provided by an embodiment of the present invention;

[0045] Figure 3 Schematic diagram of the arrangement of a camera and an ultrasonic probe provided in an embodiment of the present invention;

[0046] Figure 4 1 is a schematic structural diagram of a video monitoring system for a transport vehicle provided by an embodiment of the present invention;

[0047] Figure 5A is a schematic diagram of a panoramic image provided by an embodiment of the present invention;

[0048] Figure 5B This is a schematic diagram of the default monitoring screen provided by an embodiment of the present invention;

[0049] Figure 5C This is the monitoring screen of the left side and right side of the vehicle body provided by the embodiment of the present invention;

[0050] Figure 5D Schematic diagram of a monitoring screen of a vehicle rear side camera provided by an embodiment of the present invention;

[0051] Figure 6 1 is a schematic diagram of a height warning of a ranging sensor provided by an embodiment of the present invention;

[0052] Figure 7 1 is a schematic diagram of the swing of the rear-side camera of the vehicle body provided by an embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the screen switching control logic provided by an embodiment of the present invention.

[0054] Description of Reference Numerals

[0055] 1 Radar probe 2 Radar bracket

[0056] 3 Controller 4 Display

[0057] 5 Camera 6 Camera bracket

[0058] 100 cameras 200 ranging sensors

[0059] 300 Controller 400 Display

[0060] 500 Timing unit 600 Driving device

[0061] 700 alarm DETAILED DESCRIPTION

[0062] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0063] In the present invention, unless otherwise specified, directional words such as "up, down, left, right", "inside, outside", "far, near" refer to the directions with reference to the accompanying drawings. Therefore, the use of directional terms is for illustration and not for limiting the present invention.

[0064] An embodiment of the present invention provides a video monitoring system for a transport vehicle, the system comprising:

[0065] A plurality of cameras are respectively arranged on at least two sides of the transport vehicle body, for photographing at least two sides of the vehicle body;

[0066] A plurality of ranging sensors are respectively arranged on at least two sides of the vehicle body in the same orientation as the plurality of cameras, and are used to detect obstacles on at least two sides of the vehicle body;

[0067] a controller, configured to receive monitoring information from the plurality of ranging sensors, and send a screen switching instruction when the detection distance of any of the ranging sensors falls within a set range; and

[0068] The display screen is used to switch the monitoring screen to the monitoring screen in the direction corresponding to the ranging sensor that detects the minimum obstacle distance according to the screen switching instruction.

[0069] Figure 2 FIG. 1 shows a basic structural diagram of a video monitoring system for a transport vehicle provided by an embodiment of the present invention. Figure 2As shown, the system may include multiple cameras 100, multiple ranging sensors 200, a controller 300, and a display screen 400. The cameras 100, which are located on at least two sides of the vehicle body, collect image information, and the multiple ranging sensors 200 monitor obstacles in the same monitoring direction as the multiple cameras 100 in real time. The controller 300 is connected to the multiple cameras 100, the multiple ranging sensors 200, and the display screen 400, respectively. When the transport vehicle is moving forward, the display screen 400 defaults to displaying the monitoring image in the direction of the vehicle's front. The controller 300 is used to send a screen switching instruction to the display screen 400 when the detection distance of any one of the multiple ranging sensors 200 falls within a set range. The display screen 400 switches the currently displayed monitoring screen to the monitoring screen in the direction corresponding to the ranging sensor 200 that detected the minimum obstacle distance according to the screen switching instruction. Specifically, when the detection distance of the distance sensor on at least two sides of the front four sides of the vehicle body falls within the set range (triggering an obstacle signal), the controller 300 sends the screen switching instruction, and the display screen 400 switches the currently displayed monitoring screen to the monitoring screen in the direction corresponding to the ranging sensor 200 that triggered the obstacle signal according to the screen switching instruction. Among them, only when the detection distance of the ranging sensor 200 on the left side of the vehicle body falls within the set range, the controller 300 sends the screen switching instruction, and the display screen 400 switches the currently displayed monitoring screen to the monitoring screen on the left side of the vehicle body according to the screen switching instruction. Only when the detection distance of the ranging sensor 200 on the right side of the vehicle body falls within the set range does the controller 300 send a screen switching command, and the display screen 400 switches the currently displayed monitoring screen to the monitoring screen of the right side of the vehicle body according to the screen switching command. If the detection distances detected by the ranging sensors 200 on multiple sides of the vehicle body (for example, the right and left sides) fall within the set range, if the detection distance detected later (on the left side) is less than the detection distance detected earlier (on the right side), the controller sends a screen switching command, and the display screen switches the monitoring screen to the monitoring screen of the left side of the vehicle body according to the screen switching command.

[0070] In an embodiment, the ranging sensor 200 may be any one of an ultrasonic probe, a microwave probe, and a laser ranging probe. The following content is described using an ultrasonic probe as an example, and the use of the ultrasonic probe for illustration does not limit the present invention.

[0071] Figure 3 FIG. 1 shows a schematic diagram of the arrangement of the camera 100 and the ultrasonic probe provided in an embodiment of the present invention, as shown in FIG. Figure 3As shown, four cameras 100 are arranged on the front, back, left, and right sides of the vehicle body to monitor all around the vehicle body. The front camera 100 can be placed in the middle position directly below the front windshield, at a higher height and forward position. The left and right cameras 100 are placed on the top corners of the left and right rear outside the cab, at a higher height to compensate for the impact of the long vehicle body and the forward placement of the cameras 100. The rear camera is placed below the feed hopper and above the discharge hopper, at the top of the rear stage, outwardly positioned and less susceptible to contamination.

[0072] like Figure 3 As shown, the ultrasonic probes are arranged around the vehicle body, effectively detecting obstacles around it. At least one ultrasonic probe, preferably three, is placed in the front to monitor the vehicle's blind spot. At least one ultrasonic probe, preferably five, is placed on each side of the vehicle, with the number and location of probes varying depending on the vehicle's needs. At least one ultrasonic probe, preferably two, is placed below the rear of the vehicle to monitor obstacles on the road behind the vehicle when reversing. At least one ultrasonic probe, preferably one, is placed above the rear of the vehicle to monitor debris above the rear of the vehicle when reversing.

[0073] Preferably, arranging 4 cameras 100 and 16 ultrasonic probes can effectively cover the area around the vehicle body, realizing a panoramic surround view display and blind spot monitoring around the vehicle body.

[0074] Figure 4 FIG. 1 shows a schematic structural diagram of a video monitoring system for a transport vehicle provided by an embodiment of the present invention. Figure 4 As shown, the system may also include an alarm 700, which may be a buzzer, configured to sound an alarm when the detection distance of any of the distance measuring sensors 200 (ultrasonic probes) falls within a set range, wherein the set range also includes multiple partial ranges. The controller 300 is further configured to control the alarm 700 to sound an alarm in a preset manner based on the partial range within which the detection distance falls. Specifically, the multiple partial ranges may include a first partial range, a second partial range, and a third partial range. For example, if the set range is an area 180 cm from the vehicle body, the first partial range is an area 121 cm to 180 cm from the vehicle body, the second partial range is an area 61 cm to 120 cm from the vehicle body, and the third partial range is an area 0 cm to 60 cm from the vehicle body. When an obstacle is within different partial ranges, the buzzer may sound a corresponding alarm at different buzzing frequencies.

[0075] Figure 5A FIG. 1 shows a schematic diagram of a panoramic image provided by an embodiment of the present invention, such as Figure 5AAs shown, cameras 100 are arranged around the vehicle body to obtain image information. The controller 300 corrects the cropping and then splices the image, displaying the spliced ​​panoramic image and corresponding information on the display screen 400. The display screen 400 is divided into two parts, allowing for split-screen display. The first display part always displays the panoramic image in a bird's-eye view projection format. The center portion of the panoramic image is a simulated image of the vehicle. This spliced ​​panoramic image is combined with a simulated image of the vehicle body to further form a bird's-eye view projection image displayed in a bird's-eye view projection format. The corresponding information may include the ultrasonic probe warning range and obstacle warning visual prompt information superimposed on the bird's-eye view projection image.

[0076] Figure 5B Schematic diagram of the default monitoring screen provided by the embodiment of the present invention is shown as follows Figure 5B As shown, the second display portion displays images from various perspectives of the vehicle body. When the vehicle is traveling normally (when the ranging sensor 200 has not triggered an obstacle signal), the second display portion displays the vehicle's default monitoring screen, which is one of the following: the left-side monitoring screen, the right-side monitoring screen, the front-facing monitoring screen, and the screen captured by the rear-side camera. The second display portion can also display the screen switched in accordance with the screen switching instruction after the display screen 400 receives the screen switching instruction. Preferably, the default monitoring screen is a 3D bird's-eye view from the vehicle's front direction, formed by the controller 300 correcting and cropping the images captured by the cameras 100 on the front and both sides of the vehicle body and then splicing them together.

[0077] Figure 5C The monitoring images of the left and right sides of the vehicle body provided by the embodiment of the present invention are shown as follows: Figure 5C As shown, the second display portion of the display screen 400 can also display the screen switched according to the screen switching instruction. Specifically, if the default monitoring screen needs to be switched to the left side monitoring screen of the vehicle body according to the screen switching instruction, the display screen 400 displays the left side monitoring screen of the vehicle body. The left side control screen of the vehicle body is a 3D bird's-eye view with a perspective biased towards the left side of the vehicle body, which is formed by the controller 300 correcting, cropping and splicing the images captured by the cameras 100 on the front side and both sides of the vehicle body. Similarly, if the default monitoring screen needs to be switched to the right side monitoring screen of the vehicle body according to the screen switching instruction, the display screen 400 displays the right side monitoring screen of the vehicle body. The right side control screen is a 3D bird's-eye view with a perspective biased towards the right side of the vehicle body, which is formed by the controller 300 correcting, cropping and splicing the images captured by the cameras 100 on the front side and both sides of the vehicle body.

[0078] The controller 300 is also used to obtain the gear information of the transport vehicle. When the gear information is reverse gear, the controller 300 sends a first forced screen switching instruction to switch the default monitoring screen to the following: Figure 5D A schematic diagram of the monitoring screen of the rear-side camera 100 according to an embodiment of the present invention is shown. The display screen 400 can directly display a 2D image of the footage captured by the rear-side camera 100, allowing the driver to directly view the situation behind the vehicle. When the gear position is reverse, the controller 300 blocks obstacle trigger signals from all ranging sensors 200 except the rear-side ranging sensor 200, prioritizing the display of the footage captured by the rear-side camera 100 on the second display portion. When the detection distances of the ranging sensors 200 on both sides of the vehicle fall within the set range, the controller 300 sends a second forced screen switching command to control the display screen 400 to prioritize the monitoring screen of the right side of the vehicle.

[0079] Figure 6 FIG. 2 shows a schematic diagram of a height warning of the ranging sensor 200 provided in an embodiment of the present invention. Figure 7 The swing diagram of the vehicle body rear side camera 100 provided by the embodiment of the present invention is shown. Figure 6 and Figure 7 As shown, the camera 100 at the rear of the vehicle body further includes a driving device 600. The controller 300 can control the driving device 600 to drive the camera 100 at the rear of the vehicle body to swing up and down to adjust the shooting angle. The driving device 600 can include any one of a motor, an electric push rod, a pneumatic push rod, a hydraulic motor, and a pneumatic motor.

[0080] After the vehicle is shifted into reverse gear, the ultrasonic probe at the rear end of the feed hopper is activated. This ultrasonic probe is used to detect the height-limited obstacle at the rear, obtain distance information, and indicate the distance to the height-limited obstacle at the top center of the 400-screen display. When approaching, the buzzer emits alarm sounds of different frequencies to remind the driver of the distance between the feed hopper and the obstacle.

[0081] When the gear information of the vehicle is reverse gear, the controller 300 sends a first forced screen switching instruction to switch the default monitoring screen to the shooting picture of the camera 100 on the rear side of the vehicle body. At this time, it can also be determined whether to adjust the shooting angle of the camera 100 based on the detection result of the distance measurement sensor 200 (such as an ultrasonic probe) on the rear side of the vehicle body. In particular, when the ultrasonic probe on the rear side of the vehicle body detects that the detection distance between the vehicle body and the obstacle falls into the set range (triggering an obstacle signal), the controller 300 can determine whether to adjust the shooting angle of the camera 100 on the rear side of the vehicle body based on the position of the ultrasonic probe that triggers the obstacle signal. In particular, when the ultrasonic probe at the lower rear of the vehicle body triggers an obstacle signal, the camera 100 does not swing, and the controller 300 sends a screen switching instruction to control the display screen 400 to display the shooting picture of the camera 100 on the rear side of the vehicle body, and prompts the driver through the picture that there is an obstacle on the rear driving path of the vehicle; when any ultrasonic probe at the lower rear of the vehicle body and the ultrasonic probe at the upper rear of the vehicle body trigger an obstacle signal at the same time, the camera 100 does not swing, and the controller 300 sends a screen switching instruction to control the display screen 400 to display the shooting picture of the camera 100 on the rear side of the vehicle body. and display a prompt message on the display screen 400 to prompt the driver to stop and observe the obstacle; when the upper rear ultrasonic probe triggers the obstacle signal alone (the lower rear ultrasonic probe is not triggered), the controller 300 controls the driving device 600 (such as a motor) to drive the camera 100 to swing upward to monitor the obstacles at the rear, and sends a screen switching instruction to control the display screen 400 to display the shooting picture of the camera 100 at the rear side of the vehicle body. The picture after adjusting the shooting angle prompts the driver that there is a limited height obstacle at the rear. When the rear is the mixing station discharge port, the relative position of the mixing station discharge port and the feed hopper is monitored, and the vehicle trajectory is determined by the steering wheel angle through an algorithm to assist the driver in aligning with the discharge port when reversing; when the current gear of the vehicle is not in reverse gear, the controller 300 controls the driving device to reset the camera 100 at the rear of the vehicle body.

[0082] like Figure 4As shown, the controller 300 may also include a timing unit 500, which is integrated within the controller 300. The timing unit 500 can start timing after the controller 300 sends a screen switching instruction, for example, for 5 seconds. Within 5 seconds after the controller 300 sends the screen switching instruction, it will not send any other screen switching instructions except the first forced screen switching instruction. For example, after the distance sensor 200 on the left side of the vehicle body triggers an obstacle signal, the controller 300 sends a corresponding screen switching instruction to control the display screen 400 to switch the default monitoring screen to the monitoring screen on the left side of the vehicle body. Within 5 seconds after the controller 300 sends the screen switching instruction, if the distance sensor 200 on either side of the vehicle body triggers an obstacle signal, the controller 300 will not send a screen switching instruction. However, within 5 seconds after the controller 300 sends the screen switching instruction, if it is detected that the gear information of the vehicle has changed to reverse gear, the controller 300 will send a first forced screen switching instruction to control the display screen 400 to display the image captured by the rear camera 100 of the vehicle body.

[0083] Example

[0084] Figure 8 FIG. 1 shows a schematic diagram of screen switching control logic provided by an embodiment of the present invention, such as Figure 8 As shown, when the transport vehicle is started or the vehicle key is in the ACC power-on position, the highest priority gear determination is first performed to determine whether the vehicle gear information is reverse gear. When the vehicle's current gear is reverse gear, the controller 300 can directly send a first forced screen switching instruction to control the display screen 400 to display the shooting image of the camera 100 on the rear side of the vehicle body. When the upper rear ultrasonic probe triggers an obstacle signal alone (the lower rear ultrasonic probe is not triggered), the controller 300 controls the motor drive to swing the camera 100 upward to monitor obstacles at the rear. When the vehicle's current gear is not reverse gear, the viewing angle of the display screen 400 to display the monitoring image is determined based on the detection results of the ultrasonic probes on both sides of the vehicle body. Among them, when only the ultrasonic probe on the left side of the vehicle body triggers an obstacle signal, the controller 300 sends a corresponding screen switching instruction to control the display screen 400 to display as shown below. Figure 5CWhen both the ultrasonic probes on the left and right sides of the vehicle trigger obstacle signals, it is first determined whether to start the second priority, that is, whether to start the timer 800, and determine the triggering time of the next screen switching instruction based on the timing information. When the second priority is not activated, the detection distances of the ultrasonic probes on the left and right sides of the vehicle body are compared, and the controller 300 controls the display screen 400 to switch the default monitoring screen to the monitoring screen of the corresponding direction of the ultrasonic probe with the minimum detection distance, that is, when the detection distance of the ultrasonic probe on the left side of the vehicle body is smaller than the detection distance of the ultrasonic probe on the right side of the vehicle body, the controller 300 sends a corresponding screen switching instruction to control the display screen 400 to switch the default monitoring screen to the 3D bird's-eye view of the left side of the vehicle body; and when the second priority is activated, for example, when the ultrasonic probes on the left and right sides of the vehicle body trigger obstacle signals within 5 seconds, and the ultrasonic probe on the left side of the vehicle body triggers the obstacle signal first, the controller 300 sends a screen switching instruction to control the display screen 400 to display the 3D bird's-eye view of the left side of the vehicle body, and does not send any screen switching instructions other than the first forced screen switching instruction within 5 seconds after the controller 300 sends the screen switching instruction, that is, if it is detected that the vehicle gear is switched to reverse gear within 5 seconds, the controller 300 sends the first forced screen switching instruction to control the display screen 400 to display the shooting image of the camera 100 on the rear side of the vehicle body. If the vehicle gear is not detected to be switched to reverse gear within the 5 seconds, the screen switching will continue according to the above determination method after the 5-second countdown ends.

[0085] It should be noted that when the ultrasonic probes on the left and right sides of the vehicle body trigger obstacle signals within the same detection cycle, that is, obstacles are detected on both sides at the same time within the same detection cycle, the controller 300 sends a second forced screen switching instruction based on the right side priority principle, and controls the display screen 400 to display a 3D bird's-eye view of the right side of the vehicle body.

[0086] The panoramic image, the 3D bird's-eye view of the front of the vehicle, the 3D bird's-eye view of the left side of the vehicle, and the 3D bird's-eye view of the right side of the vehicle displayed on the display screen 400 all show a virtual image of the vehicle and display the set range around the virtual image of the vehicle. If there is an obstacle within the set range, the partial range where the obstacle exists will be flashed according to the partial range into which the detection distance of the ultrasonic probe for the obstacle falls, to alert the driver.

[0087] The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner unless there is any contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0088] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A video monitoring system for a transport vehicle, characterized in that: The system comprises: A plurality of cameras are respectively arranged on at least two sides of the transport vehicle body, for photographing at least two sides of the vehicle body; A plurality of ranging sensors are respectively arranged on at least two sides of the vehicle body in the same orientation as the plurality of cameras, and are used to detect obstacles on at least two sides of the vehicle body; a controller, configured to receive monitoring information from the plurality of ranging sensors, and send a screen switching instruction when the detection distance of any of the ranging sensors falls within a set range; and A display screen is used to switch the monitoring screen to the monitoring screen in the direction corresponding to the ranging sensor that detects the minimum obstacle distance according to the screen switching instruction, The controller is further configured to obtain the gear information of the transport vehicle, and is further configured to perform the following operations: When the gear information indicates reverse gear, a first forced screen switching instruction is sent to control the display screen to preferentially display the image captured by the camera on the rear side of the vehicle body; When the gear information indicates non-reverse gear and the detection distances of the distance measuring sensors on both sides of the vehicle body fall within the set range, a second forced screen switching instruction is sent to control the display screen to preferentially display the monitoring image of the right side of the vehicle body; and When the gear information indicates non-reverse gear, if the detection distances of the distance measuring sensors on both sides of the vehicle body fall within the set range, no screen cutting instructions other than the first forced screen cutting instruction are sent within the set time after the previous screen cutting instruction is sent. The camera on the rear side of the vehicle body includes a driving device, and the controller is further used to control the driving device to drive the camera on the rear side of the vehicle body to swing up and down to adjust the shooting angle. The controller is also used to perform the following operations: Only when the detection distance of the distance measuring sensor above the rear of the vehicle body falls within the set range, controlling the driving device to drive the camera above the rear of the vehicle body to swing upward by a set angle, so that the display screen displays the monitoring image above the rear of the vehicle body; and When the gear information indicates a non-reverse gear, the driving device is controlled to drive the camera above the rear of the vehicle body to reset.

2. The system according to claim 1, wherein: The camera on the front side of the vehicle body is set in the middle position just below the windshield, the cameras on the left and right sides of the vehicle body are respectively set at the top corners of the left and right rear sides of the outside of the cab, and the camera on the rear side of the vehicle body is set between the feed hopper and the discharge hopper of the transport vehicle.

3. The system according to claim 1, wherein: At least one distance measuring sensor is provided on the front side of the vehicle body, at least one distance measuring sensor is provided on each of the left and right sides of the vehicle body, and at least two distance measuring sensors are provided on the rear side of the vehicle body; Among the at least two ranging sensors on the rear side of the vehicle body, at least one ranging sensor is arranged at the rear lower part of the vehicle body, and at least one ranging sensor is arranged at the rear upper part of the vehicle body.

4. The system according to claim 1, wherein: The multiple cameras are at least 4 cameras, and the controller is also used to receive the shooting images of the at least 4 cameras, synthesize the shooting images of the at least 4 cameras into a panoramic image around the vehicle body, and control the display screen to display the panoramic image in real time.

5. The system according to claim 4, characterized in that The controller is also used to control the display screen to perform split-screen display; wherein, controlling the first display portion of the display screen to display the panoramic image in real time; Controlling the second display portion of the display screen to display a default monitoring screen in the absence of the screen switching instruction, or to display a monitoring screen in a direction corresponding to the ranging sensor with the minimum obstacle distance detected according to the screen switching instruction; The controller is also used to synthesize the following monitoring images of the left side of the vehicle body, the right side of the vehicle body, and the front direction of the vehicle body according to the shooting images of the cameras on the front side and both sides of the vehicle body; The monitoring images in the direction corresponding to the ranging sensor include: the monitoring image of the left side of the vehicle body, the monitoring image of the right side of the vehicle body, the monitoring image in the direction of the front of the vehicle, and the shooting image of the camera on the rear side of the vehicle body; The default monitoring screen is one of the following: the monitoring screen of the left side of the vehicle body, the monitoring screen of the right side of the vehicle body, the monitoring screen in the direction of the front of the vehicle, and the shooting screen of the camera on the rear side of the vehicle body; The panoramic image, the monitoring screen of the left side of the vehicle body, the monitoring screen of the right side of the vehicle body, and the monitoring screen in the direction of the front of the vehicle are all 3D bird's-eye views, and the shooting screen of the camera on the rear side of the vehicle body is a 2D image.

6. The system according to claim 1, wherein: The system further comprises: An alarm, configured to sound an alarm when the detection distance of any of the distance measuring sensors falls within a set range; The set range also includes a plurality of partial ranges, and the controller is further configured to control the alarm to sound an alarm in a preset manner according to the partial range into which the detection distance falls.

7. The system according to claim 6, characterized in that The display screen is further configured to display a virtual image of the vehicle in the panoramic image and to display the set range around the virtual image of the vehicle; Wherein, when there is an obstacle within the set range, the partial range where the obstacle exists is displayed in a flashing manner according to the partial range into which the detection distance of the obstacle by the ranging sensor falls, so as to prompt the driver.

8. A transport vehicle, characterized in that: The transport vehicle comprises the video monitoring system for a transport vehicle according to any one of claims 1 to 7.

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