Vehicle sentry monitoring method, system, monitoring device and controller

Abstract

The application provides a vehicle sentry monitoring method, system, monitoring device and controller, the monitoring method comprising: acquiring the residual capacity of the vehicle; if the residual capacity is greater than or equal to a preset threshold, entering a first sentry mode; in the first sentry mode, monitoring the vehicle according to a capacitive sensor and a vibration sensor; if the residual capacity is less than the preset threshold, entering a second sentry mode; in the second sentry mode, monitoring the vehicle according to the vibration sensor. In the application, the camera can be awakened in advance by the capacitive sensor before an accident occurs, and the picture at the time of the accident can be captured, so that the camera is not always in an open state to reduce power consumption, and through the advance matching of the non-contact capacitive sensor and the camera, only the corresponding matched camera is awakened when a certain non-contact capacitive sensor is awakened, so that the power consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile electronics, and particularly relates to a vehicle sentinel monitoring method, system, monitoring device and controller. BACKGROUND

[0002] With the development of automobile intelligence, it has become a new trend to further improve automobile safety through intelligent means. In addition to the personal safety problem in intelligent driving, automobile safety also includes vehicle safety in the parking situation. In order to improve the user experience in this regard, some automobile manufacturers have proposed a sentinel mode for ensuring vehicle safety in the parking state, and other manufacturers have also successively proposed sentinel modes with different principles. The common sentinel mode at present is to continuously monitor the surrounding environment through perception sensors such as cameras or radars, and when a potential threat is detected by the perception sensor, the sentinel system gives an alarm response, the sentinel starts the camera to record the surrounding environment, and notifies the vehicle owner through a mobile phone message.

[0003] However, the existing sentinel mode has certain requirements for the vehicle state, for example, some manufacturers require that the vehicle power must be maintained above 20%, and if the power is too low, the sentinel mode will be automatically turned off. When the vehicle is parked in an area with high human traffic, the sentinel mode will be frequently awakened, causing additional power consumption of the vehicle and affecting the remaining mileage of the vehicle. This is particularly serious for new energy vehicles. At the same time, the perception sensors such as cameras and radars are greatly affected by weather, light and other factors, and cannot stably guarantee vehicle safety. For example, in rainy and snowy weather, the camera may be covered by snowflakes or mud, and in windy weather, foreign matter may cover the camera, resulting in the loss of monitoring pictures, which is more serious in the case of single camera recording, but multiple cameras recording will cause higher energy consumption; in addition, the perception sensors such as cameras and radars have low monitoring sensitivity to vibration and collision, resulting in insufficient reliability of the sentinel system, which cannot respond quickly when the vehicle safety is threatened. SUMMARY

[0004] In view of the above shortcomings of the prior art, the purpose of the present application is to provide a vehicle sentinel monitoring method, system, monitoring device and controller to improve the problem that multiple cameras recording in the existing sentinel mode of the automobile will cause higher energy consumption, and the monitoring sensitivity of the perception sensors such as cameras and radars to vibration and collision is not high enough, resulting in insufficient reliability of the sentinel system, which cannot respond quickly when the vehicle safety is threatened.

[0005] To achieve the above object and other related objects, the present application provides a monitoring method of a vehicle sentinel monitoring device, comprising:

[0006] acquiring the remaining power of the vehicle;

[0007] If the remaining power is greater than or equal to a preset threshold, a first sentinel mode is entered;

[0008] In the first sentinel mode, the vehicle is monitored according to the capacitive sensor and the vibration sensor;

[0009] If the remaining power is less than the preset threshold, a second sentinel mode is entered;

[0010] In the second sentinel mode, the vehicle is monitored according to the vibration sensor.

[0011] In an embodiment of the present application, the step of monitoring the vehicle according to the capacitive sensor and the vibration sensor in the first sentinel mode comprises:

[0012] obtaining the capacitance detected by the capacitive sensor at each position on the vehicle;

[0013] starting the camera to record according to the capacitance;

[0014] obtaining the vibration intensity detected by the vibration sensor at each position on the vehicle, and determining whether the vibration intensity is greater than a preset threshold;

[0015] If yes, an alarm is started;

[0016] If no, the alarm is not started.

[0017] In an embodiment of the present application, the step of monitoring the vehicle according to the vibration sensor in the second sentinel mode comprises:

[0018] obtaining the vibration intensity detected by the vibration sensor at each position on the vehicle;

[0019] If the vibration intensity is greater than a preset threshold, an alarm is started, and the camera is started to record.

[0020] In an embodiment of the present application, the step of starting the camera to record according to the capacitance comprises:

[0021] obtaining the capacitance, and starting all the cameras to record according to the capacitance.

[0022] In an embodiment of the present application, the step of starting the camera to record according to the capacitance comprises:

[0023] obtaining the capacitance, and starting the camera corresponding to the capacitive sensor according to the capacitance;

[0024] The camera is self-checked to determine whether the camera is normal;

[0025] If yes, the recording is continued;

[0026] If no, all cameras are turned on to record.

[0027] In an embodiment of the present application, the step of self-checking the camera to determine whether the camera is normal includes:

[0028] Obtaining picture information captured by the camera after the camera is woken up;

[0029] Obtaining a gray value and a corner point number of the picture according to the picture information;

[0030] Determining whether the camera is normal according to the gray value and the corner point number;

[0031] If both the gray value and the corner point number are greater than a set threshold value, the camera is normal.

[0032] Otherwise, the camera is not normal.

[0033] In an embodiment of the present application, in the first sentinel mode, if the vibration intensity is greater than a preset threshold value, an alarm is turned on and alarm information including at least a vibration position is sent to a user.

[0034] In an embodiment of the present application, further comprising: if the vibration intensity detected by the vibration sensor is not greater than a preset threshold value, deleting the video recorded by the camera or deleting the video recorded by the camera at a preset time interval.

[0035] The present application further provides a vehicle sentinel monitoring system, comprising:

[0036] A power detection module for obtaining a remaining power of the vehicle;

[0037] A sentinel mode selection module for selecting a first sentinel mode or a second sentinel mode according to the remaining power;

[0038] A control module for monitoring the vehicle according to the capacitive sensor and the vibration sensor in the first sentinel mode, and monitoring the vehicle according to the vibration sensor in the second sentinel mode.

[0039] The present application further provides a vehicle sentinel monitoring device applying the monitoring method of any one of the above embodiments, comprising: a plurality of capacitive sensors, a plurality of vibration sensors, a plurality of cameras and a controller, the plurality of capacitive sensors and the plurality of vibration sensors are installed on a vehicle body of the vehicle and are in communication connection with the controller, the plurality of cameras are in communication connection with the controller,

[0040] The controller controls the camera according to the capacitance detected by the capacitance sensor and / or the vibration intensity detected by the vibration sensor.

[0041] In an embodiment of the present application, an alarm device is further included, which is in communication connection with the controller, and the controller controls the alarm device to alarm according to the vibration intensity detected by the vibration sensor.

[0042] In an embodiment of the present application, the same capacitance sensor corresponds to one or more cameras, or the same camera corresponds to one or more capacitance sensors.

[0043] The present application further provides a controller for executing the steps of the monitoring method of the vehicle sentinel monitoring device.

[0044] The present application provides a vehicle sentinel monitoring method, system, device and controller, which monitors the surrounding environment in real time through a non-contact sensor, and when the non-contact sensor detects that an object is approaching and may cause potential threat to the vehicle, the sentinel system starts an alert mode to wake up the camera to record the surrounding environment, so that the camera is not always in an open state to cause greater power consumption, that is, the camera is woken up in advance through the capacitance sensor before an accident occurs to capture the picture when the accident occurs.

[0045] The present application provides a vehicle sentinel monitoring method, system, device and controller, which wakes up the corresponding matched camera when a certain non-contact capacitance sensor is woken up through the advance matching of the non-contact capacitance sensor and the camera, thereby reducing power consumption, and the intelligent wake-up of the camera can reduce power consumption.

[0046] The present application provides a vehicle sentinel monitoring method, system, device and controller, which can select the corresponding sentinel mode according to the remaining power to reduce power consumption. In addition, the camera self-checking function is added to solve the problem of missing important pictures due to the camera being covered. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 The structural block diagram of the vehicle sentinel monitoring device provided in an embodiment of the present application is shown in the figure;

[0049] Figure 2 A flowchart of a monitoring method of a vehicle sentry monitoring device according to an embodiment of the present application is provided;

[0050] Figure 3 A flowchart of a monitoring method of a vehicle sentry monitoring device according to an embodiment of the present application is provided;

[0051] Figure 4 A flowchart of a monitoring method of a vehicle sentry monitoring device according to an embodiment of the present application is provided;

[0052] Figure 5 A flowchart of a monitoring method of a vehicle sentry monitoring device according to an embodiment of the present application is provided;

[0053] Figure 6 A flowchart of a monitoring method of a vehicle sentry monitoring device according to an embodiment of the present application is provided; DETAILED DESCRIPTION

[0054] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the present description can be modified or changed based on different views and applications without departing from the spirit of the present application.

[0055] It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concepts of the present application, and thus the diagrams only show the components related to the present application, rather than the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0056] The present application provides a vehicle sentry monitoring method, system, monitoring device and controller to improve the problem that the simultaneous recording of multiple cameras in the sentry mode of the existing car will cause higher energy consumption, and the monitoring sensitivity of the cameras, radars and other perception sensors to vibration and collision is not high enough, causing insufficient reliability of the sentry system, and the vehicle cannot respond quickly when the vehicle safety is threatened. For details, please refer to Figure 1 shown, Figure 1The structural block diagram of the vehicle sentry monitoring device provided in an embodiment of the present application comprises a plurality of capacitive sensors 10, a plurality of vibration sensors 20, a plurality of cameras 30 and a controller 40. The plurality of capacitive sensors 10 and the plurality of vibration sensors 20 are both mounted on the vehicle body, and the plurality of capacitive sensors 10 and the plurality of vibration sensors 20 are respectively in communication connection with the controller 40. The plurality of cameras 30 are in communication connection with the controller 40. For example, the vibration sensors 20 are usually arranged on both sides of the front and rear bumpers of the vehicle, and can be arranged on the vehicle body according to different vehicle models. The capacitive sensors are usually arranged around the vehicle body, and can correspond to different forms of capacitive sensors according to different vehicle models. The cameras are usually distributed at positions such as the two side rearview mirrors, the rearview mirror, the front and rear vehicle body, etc. The sentry mode shares the cameras with other functions. The controller 40 controls the cameras 30 according to the capacitance detected by the capacitive sensors 10 and / or the vibration intensity detected by the vibration sensors 20. For example, the controller 40 can indirectly control the cameras 30 through a vehicle controller 50, i.e. the controller 40 is in communication connection with the vehicle controller 50. After receiving the information of the capacitance detected by the capacitive sensors 10 and / or the vibration intensity detected by the vibration sensors 20, the controller 40 judges whether to turn on the cameras 30 according to the information. If yes, the vehicle controller 50 is notified to control to turn on the cameras 30 to work. Of course, in some other embodiments, the vehicle controller 50 and the controller 40 can be integrated together.

[0057] Please refer to Figure 1 It should be noted that when the vehicle is stationary, a stable electric field is formed between the sensing block and the ground, and the electric field capacitance is constant. At this time, if a pedestrian or a vehicle passes by, the electric field capacitance will be affected and its value will change. The detection range of the capacitive sensor can be defined by the definition of the shape of the capacitor. If it exceeds the set threshold, it will be triggered, and then the signal will be transmitted to the controller 40. The controller 40 can control the cameras 30 to work according to the capacitance.

[0058] Please refer to Figure 1 When the vehicle is stationary, the capacitance between the sensing block and the ground is C1. When the vehicle and the pedestrian pass by, the capacitances C a and C b are respectively formed between the sensing block and the pedestrian and between the pedestrian and the ground. Therefore, the capacitance between the sensing block and the ground changes from C1 to C, wherein, Therefore, the controller 40 can control the cameras 30 by monitoring the change of the capacitance.

[0059] Please refer to Figure 1As shown, in the embodiment, in order to further reduce power consumption, the capacitive sensor 10 can be paired with the camera 30 in advance, and the plurality of capacitive sensors 10 correspond to the plurality of cameras 30 one by one, of course, the same capacitive sensor 10 can also be paired with a plurality of cameras 30, or the same camera 30 is paired with a plurality of capacitive sensors 10, that is, the same capacitive sensor 10 can correspond to one or more cameras 30, or the same camera 30 can correspond to one or more capacitive sensors 10, so that after a certain capacitive sensor 10 is triggered, the camera 30 paired with the capacitive sensor 10 is turned on, and the remaining cameras 30 are not turned on, so as to reduce power consumption.

[0060] Referring to Figure 1 As shown, in the embodiment, the vehicle sentry monitoring device further comprises an alarm device 60, the alarm device 60 is in communication connection with the controller 40, and the controller 40 controls the alarm device 60 to alarm according to the vibration intensity detected by the vibration sensor 30.

[0061] Referring to Figure 2 As shown, Figure 2 The flowchart of the monitoring method of the vehicle sentry monitoring device provided in an embodiment of the present application, the present application further provides a monitoring method of a vehicle sentry monitoring device, the monitoring method is applied to the monitoring device described in the above embodiment, and the monitoring method comprises the following steps:

[0062] S1, acquiring the remaining power of the vehicle; for example, the remaining power of the vehicle can be directly read by the controller 40.

[0063] S2, if the remaining power is greater than or equal to a preset threshold, entering a first sentry mode;

[0064] S3, in the first sentry mode, monitoring the vehicle according to the capacitive sensor and the vibration sensor;

[0065] Referring to Figure 3 As shown, Figure 3 The flowchart of the monitoring method in the first sentry mode provided in an embodiment of the present application, in the embodiment, the step of monitoring the vehicle according to the capacitive sensor and the vibration sensor in the first sentry mode comprises the following steps:

[0066] S31, acquiring the capacitance detected by the capacitive sensor at each position on the vehicle; for example, when a pedestrian passes through the vehicle body, the capacitance detected by the capacitive sensor 10 will change, at this time, the capacitance detected by the capacitive sensor at each position on the vehicle is acquired.

[0067] S32, recording according to the camera opened by the capacitance; wherein the step of recording according to the camera opened by the capacitance comprises: acquiring the capacitance, and recording according to the camera opened by the capacitance; that is, when the capacitance detected by any one of the capacitive sensors 30 reaches a preset threshold, all the cameras are controlled to be opened for recording.

[0068] Please refer to Figure 4 as shown, Figure 4 The flowchart of the recording process according to the camera opened by the capacitance provided in an embodiment of the application, in some other embodiments, the camera 30 can be paired with the capacitive sensor 10 in advance, through the matching of the non-contact capacitive sensor and the camera in advance, when a certain non-contact capacitive sensor is woken up, only the corresponding matched camera is woken up, thereby reducing the power consumption, through the intelligent wakening of the camera, the power consumption can be reduced, at this time, the step of recording according to the camera opened by the capacitance comprises:

[0069] S321, acquiring the capacitance, and opening the camera 30 corresponding to the capacitive sensor 10 according to the capacitance; that is, opening the camera 30 paired with the capacitive sensor 10 according to the capacitance.

[0070] S322, the camera 30 performs self-checking to determine whether the camera 30 is normal.

[0071] S323, if yes, continue recording.

[0072] S324, if no, open all the cameras for recording.

[0073] In the embodiment, the camera 30 performs self-checking to solve the problem that the important picture is missed due to the camera being covered, wherein the step of the camera performing self-checking to determine whether the camera is normal comprises:

[0074] S3221, acquiring the picture information captured after the current camera is woken up.

[0075] S3222, acquiring the gray value and the corner point number of the picture according to the picture information.

[0076] S3223, determining whether the current camera is normal according to the gray value and the corner point number.

[0077] S3224, if the gray value and the corner point number are both greater than a set threshold, the camera is normal.

[0078] S3225, otherwise, the camera is not normal.

[0079] S33. Obtain the vibration intensity detected by vibration sensors at various locations of the vehicle, and determine whether the vibration intensity is greater than a preset threshold. For example, when the sentry system is running, the vibration monitoring module continuously monitors the system. When the vibration sensor is triggered, the controller obtains the vibration intensity from the vibration sensor for analysis to determine whether the vibration intensity is greater than a preset threshold.

[0080] S34. If so, then activate the alarm; for example, if a vibration signal exceeding a preset threshold is detected, the vehicle vibration monitoring module wakes up the bus and sends the vibration location and intensity to the controller 40 via the bus. After receiving the vibration location and intensity signal, the controller 40 activates the alarm mode, which automatically plays an alarm sound through the audio system. Alternatively, in other embodiments, if the vibration intensity exceeds the preset threshold, an alarm message including at least the vibration location is sent to the user while activating the alarm.

[0081] S35. If not, then the alarm will not be activated. In some other embodiments, the inspection method further includes: if the vibration intensity detected by the vibration sensor is not greater than a preset threshold, then the video recorded by the camera will be deleted.

[0082] It should be noted that in the first sentry mode, non-contact sensor monitoring is added to the vehicle vibration monitoring. That is, a capacitive sensor is added to the vibration sensor for monitoring. When the vehicle vibration monitoring module is activated, it is considered that the vehicle is facing a serious threat and an alarm mode is activated. However, if the camera is activated after the vehicle vibration monitoring module is triggered, the camera wake-up time will be too long, resulting in the loss of important footage. In the first sentry mode, by adding a capacitive sensor for monitoring, when an object is detected that may pose a potential threat to the vehicle, the sentry system activates an alert mode and activates the camera to record the surrounding environment. In other words, the capacitive sensor can activate the camera in advance before an accident occurs, capturing the footage at the time of the accident.

[0083] S4. If the remaining battery power is less than the preset threshold, then enter the second sentry mode;

[0084] S5. In the second sentry mode, the vehicle is monitored based on the vibration sensor.

[0085] Please see Figure 5 As shown, Figure 5 This is a schematic diagram of the monitoring process in the second sentry mode according to an embodiment of the present invention. Specifically, the step of monitoring the vehicle based on the vibration sensor in the second sentry mode includes:

[0086] S51, acquire vibration intensity detected by each position vibration sensor of the vehicle; that is, in the second sentinel mode, only the vibration sensor 10 works, and the vehicle is monitored by the vibration sensor 30 to reduce power consumption.

[0087] S52, if the vibration intensity is greater than a preset threshold, start an alarm and start the camera to record.

[0088] In summary, the sentinel monitoring device sets the monitoring mode according to the remaining power of the vehicle, and in the case of high power, the capacitive sensor and the vibration monitoring sensor can be selected to monitor together and synchronize the alarm information to the vehicle owner's mobile phone, and in the case of low power, the capacitive sensor can be temporarily closed, and only the vibration monitoring sensor is triggered to start the camera to record, so as to ensure comprehensive monitoring of the vehicle while reducing power consumption.

[0089] Referring to FIG. 1, Figure 2 In this embodiment, the monitoring method further includes: deleting the video recorded by the camera according to a preset time interval.

[0090] Referring to FIG. 1, Figure 6 , Figure 6 The structure block diagram of the vehicle sentinel monitoring system provided in an embodiment of the application, in this embodiment, a vehicle sentinel monitoring system is provided, which corresponds to the monitoring method of the vehicle sentinel monitoring device in the above-mentioned embodiment. The sentinel monitoring system 200 includes a remaining power acquisition module 210, a sentinel mode selection module 220 and a control module 230. The functions of each module are described in detail as follows:

[0091] The remaining power acquisition module 210 is used to acquire the remaining power of the vehicle.

[0092] The sentinel mode selection module 220 is used to select the first sentinel mode or the second sentinel mode according to the remaining power; for example, if the remaining power is greater than or equal to a preset threshold, the first sentinel mode is selected; otherwise, the second sentinel mode is selected.

[0093] The control module 230 is used to monitor the vehicle according to the capacitive sensor and the vibration sensor in the first sentinel mode, and monitor the vehicle according to the vibration sensor in the second sentinel mode.

[0094] Referring to FIG. 1, Figure 6 In this embodiment, the monitoring system 200 further includes a storage module 240, which is used to store the video information recorded by the camera 30.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit, module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units or modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0096] The application also proposes a controller for executing the steps of the monitoring method of the vehicle sentinel monitoring device described in the above embodiments.

[0097] The application proposes a vehicle sentinel monitoring method, system, monitoring device and controller, which monitors the surrounding environment in real time through a non-contact sensor, and the sentinel system starts an alert mode when the non-contact sensor detects that an object is approaching and may pose a potential threat to the vehicle, and wakes up the camera to record the surrounding environment, so that the camera can not be in an open state all the time, causing greater power consumption, that is, the camera can be awakened in advance through the capacitive sensor before an accident occurs, to capture the picture when the accident occurs.

[0098] The application proposes a vehicle sentinel monitoring method, system, monitoring device and controller, which wakes up the corresponding matched camera only when a certain non-contact capacitive sensor is awakened through the advance matching of the non-contact capacitive sensor and the camera, thereby reducing power consumption, and the intelligent awakening of the camera can reduce power consumption.

[0099] The application proposes a vehicle sentinel monitoring method, system, monitoring device and controller, which can select the corresponding sentinel mode according to the remaining power, thereby reducing power consumption. In addition, the camera self-checking function is added to solve the problem of missing important pictures due to the camera being covered.

[0100] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

[0101] In addition to the technical features described in the specification, the remaining technical features are known to those skilled in the art, and in order to highlight the innovative features of the present application, the remaining technical features are not described here.

Claims

1. A monitoring method of a vehicle sentry monitoring device, characterized by, The method comprises the following steps: acquiring the residual power of the vehicle; if the residual power is greater than or equal to a preset threshold, entering a first sentinel mode; in the first sentinel mode, monitoring the vehicle according to the capacitive sensor and the vibration sensor; if the residual power is less than the preset threshold, entering a second sentinel mode; in the second sentinel mode, monitoring the vehicle according to the vibration sensor; in the first sentinel mode, only awakening the camera that is pre-matched with the capacitive sensor to record according to the capacitive change detected by the capacitive sensor; and after being awakened, performing self-checking on the camera to determine whether the camera is normal; the step of performing self-checking on the camera to determine whether the camera is normal comprises the following steps: acquiring the picture information captured by the camera after being awakened; acquiring the gray value and the number of corners of the picture according to the picture information; determining whether the camera is normal according to the gray value and the number of corners; if the gray value and the number of corners are both greater than a set threshold, determining that the camera is normal, and then continuing to record; otherwise, determining that the camera is not normal, and then starting all cameras to record.

2. The monitoring method of the vehicle sentry monitoring apparatus according to claim 1, characterized by, the step of monitoring the vehicle according to the capacitive sensor and the vibration sensor in the first sentinel mode comprises the following steps: acquiring the capacitance detected by the capacitive sensor at each position of the vehicle; starting the camera to record according to the capacitance; acquiring the vibration intensity detected by the vibration sensor at each position of the vehicle, and determining whether the vibration intensity is greater than a preset threshold; if yes, starting the alarm; if no, not starting the alarm.

3. The monitoring method of the vehicle sentry monitoring apparatus according to claim 1, characterized by, the step of monitoring the vehicle according to the vibration sensor in the second sentinel mode comprises the following steps: acquiring the vibration intensity detected by the vibration sensor at each position of the vehicle; if the vibration intensity is greater than a preset threshold, starting the alarm and starting the camera to record.

4. The monitoring method of the vehicle sentry monitoring apparatus according to claim 2, characterized by, the step of starting the camera to record according to the capacitance comprises the following step: acquiring the capacitance, and starting all cameras to record according to the capacitance.

5. The monitoring method of a vehicle sentry monitoring device according to claim 2, characterized by, in the first sentinel mode, if the vibration intensity is greater than a preset threshold, the alarm is started, and alarm information including at least the vibration position is sent to the user.

6. The monitoring method of a vehicle sentry monitoring device according to claim 2, characterized by, The method further comprises the following steps: if the vibration intensity detected by the vibration sensor is not greater than a preset threshold, deleting the video recorded by the camera, or deleting the video recorded by the camera at a preset time interval.

7. A vehicle sentry monitoring system characterized by, The method comprises the following steps: a residual power acquisition module, configured to acquire the residual power of the vehicle; a sentinel mode selection module, configured to select a first sentinel mode or a second sentinel mode according to the residual power; a control module, configured to monitor the vehicle according to the capacitive sensor and the vibration sensor in the first sentinel mode, and monitor the vehicle according to the vibration sensor in the second sentinel mode; in the first sentinel mode, only awakening the camera that is pre-matched with the capacitive sensor to record according to the capacitive change detected by the capacitive sensor; and after being awakened, performing self-checking on the camera to determine whether the camera is normal; the step of performing self-checking on the camera to determine whether the camera is normal comprises the following steps: Acquiring picture information captured by the current camera after the camera is woken up; Acquiring a gray value and a corner point number of the picture according to the picture information; Determining whether the current camera is normal according to the gray value and the corner point number; If the gray value and the corner point number are both greater than a set threshold, determining that the camera is normal, and continuing recording; Otherwise, determining that the camera is not normal, and starting all cameras to record.

8. A vehicle sentry monitoring device, characterized by, The application of the monitoring method of the vehicle sentinel monitoring device according to any one of claims 1 to 6, comprising: a plurality of capacitive sensors, a plurality of vibration sensors, a plurality of cameras and a controller, the plurality of capacitive sensors and the plurality of vibration sensors are installed on the vehicle body and are in communication connection with the controller, and the plurality of cameras are in communication connection with the controller. The controller controls the camera according to the capacitance detected by the capacitive sensor and / or the vibration intensity detected by the vibration sensor.

9. The vehicle sentry monitoring device of claim 8, wherein, The application further comprises an alarm device, which is in communication connection with the controller, and the controller controls the alarm device to alarm according to the vibration intensity detected by the vibration sensor.

10. The vehicle sentry monitoring apparatus of claim 8, wherein, The same capacitive sensor corresponds to one or more cameras, or the same camera corresponds to one or more capacitive sensors.

11. A controller characterized by comprising: The controller is used to execute the steps of the monitoring method of the vehicle sentinel monitoring device according to any one of claims 1 to 6.

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