CN105072413B - A kind of intelligent travelling crane monitoring system and control method thereof based on DVR - Google Patents
A kind of intelligent travelling crane monitoring system and control method thereof based on DVR Download PDFInfo
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- CN105072413B CN105072413B CN201510511123.6A CN201510511123A CN105072413B CN 105072413 B CN105072413 B CN 105072413B CN 201510511123 A CN201510511123 A CN 201510511123A CN 105072413 B CN105072413 B CN 105072413B
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Abstract
The present invention discloses a kind of intelligent travelling crane monitoring system based on DVR, comprises DVR video recorder and 360 degree rotatable cameras; DVR video recorder comprises photographing module, wireless communication module, data acquisition module and acceleration sensor module; 360 degree rotatable cameras comprise rotation control module; Data acquisition module is connected with the CAN bus of vehicle, and data acquisition module is for the CAN bus data of collection vehicle; Rotation control module is connected with acceleration sensor module, and rotation control module, for according to the output data of acceleration sensor module, is controlled 360 degree rotatable camera rotations; Image capture module is connected with the photographing module of DVR video recorder, and photographing module is for encoding and preserve described picture signal. The invention also discloses the control method of described intelligent travelling crane monitoring system. The present invention can effectively improve the security monitoring of vehicle in the time travelling and park state.
Description
Technical field
The present invention relates to automotive safety monitoring field, particularly relate to a kind of monitoring of the intelligent travelling crane based on DVRSystem and control method thereof.
Background technology
Along with the continuous rising of Chinese automobile recoverable amount, the automobile on highway and in residence district also more and moreBlock up, therefore, the traffic accident on road is also on the increase, simultaneously automobile in community or parking lot in stoppingThe event being scratched while putting state is not obvious increasing also, therefore, how to improve automotive safety monitoring, just becomesPeople need the problem of solution badly. In the prior art, be by monitoring at installation drive recorder at automobileRunning video recording, and existing drive recorder only has DVR recording function, and save the data in thisIn the internal memory or SD card on ground. Therefore existing automotive safety monitoring has the following disadvantages:
1, the camera of existing driving recording ceremony is fixed, maybe can only pass through manual adjustments, shootingField range is narrow, and visual is limited in scope;
2, video recording when driving is only recorded in existing driving recording ceremony, cannot provide the peace under storing cycle stateFull monitoring;
3, the data of existing drive recorder are only saved in this locality, and the data of accident cannot report in timeSurveillance center or car owner.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of intelligent travelling crane monitoring system based on DVR, useIn improving the security monitoring of vehicle in the time travelling and park state.
The present invention is achieved in that
An intelligent travelling crane monitoring system based on DVR, comprises DVR video recorder and rotatable the taking the photograph of 360 degreePicture head;
Described DVR video recorder comprises photographing module, wireless communication module, locating module, data acquisition moduleAnd acceleration sensor module;
Described 360 degree rotatable cameras comprise rotation control module and image capture module;
Described data acquisition module is connected with the CAN bus of vehicle, and data acquisition module is for collection vehicleCAN bus data;
Acceleration sensor module comprises 3-axis acceleration sensor and three-axis gyroscope, 3-axis acceleration sensingDevice is for the acceleration analysis of three axles, and three-axis gyroscope is for the angular speed of three axles, the measurement of angle;
Described rotation control module is connected with acceleration sensor module, and rotation control module can be according to accelerationThe output data of sensor assembly, control 360 degree rotatable camera rotations;
Described image capture module is connected with the photographing module of DVR video recorder, and image capture module will be for adoptingThe image signal transmission that collection arrives is to photographing module, and photographing module is for encoding and protect described picture signalDeposit;
Described locating module is for obtaining the geographical location information of vehicle;
Described DVR video recorder comprises driving monitoring mode and two kinds of mode of operations of parking monitoring mode;
In the time of driving monitoring mode, DVR video recorder records driving video recording by 360 degree rotatable cameras,And detect vehicle by acceleration sensor module and whether clashed into, in the time detecting that vehicle is subject to clashing into,Rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impact direction, records percussion figure;
In the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor module and shakes,In the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impactDirection, records percussion figure.
Further, described intelligent travelling crane monitoring system also comprises Cloud Server and mobile terminal;
Described wireless communication module is connected with Cloud Server, mobile terminal communication respectively, and Cloud Server passes through instituteState wireless communication module for DVR video recorder provides cloud service function, comprise cloud data sharing and cloud memory function;Mobile terminal carries out Long-distance Control by described wireless communication module to DVR video recorder, comprise monitoring arrange andThe camera anglec of rotation arranges.
Further, described DVR video recorder also comprises voice module, is arranged at that car is outer to be connected with voice moduleLoudspeaker and be arranged at the outer car being connected with voice module of car sound pick-up outward;
In the time of parking monitoring mode, the described DVR video recorder voice messaging that also mobile terminal receive sends, andOutside car, play in real time voice messaging by voice module and described loudspeaker;
DVR video recorder also gathers the source of sound outside car, and by voice module and described loudspeaker, sound pick-up and carRealize intercommunication outward.
Further, in the time detecting that vehicle is clashed into or vehicle shakes, acceleration sensor module outputX-axis, Y-axis, Z axis three-dimensional acceleration data, rotation control module according to described three-dimensional acceleration dataCalculate Vehicular impact or cause the direction of the external force of vehicle vibrations, and derive according to the direction of described external forceThe point of application of described external force, and control the point of application of 360 degree rotatable camera rotations to described external force.
Further, described DVR video recorder also comprises collision anticipation module, collision anticipation module respectively with revolveTurn control module, data acquisition module connection;
Be respectively arranged with more than two radar for backing car in the front, rear, left and right of vehicle, described data acquisition modulePiece is connected with described radar for backing car, and data acquisition module is also for sending to collision by the radar signal collectingAnticipation module, collision anticipation module is for having judged whether that according to radar signal object is at close vehicle and thingThe distance of body and vehicle is less than predeterminable range, is if so, judged to be to bump, and controls by rotationModule controls 360 processed is spent rotatable camera rotation to described object place direction and is recorded a video.
Further, described DVR video recorder is provided with reserve battery.
For solving the problems of the technologies described above, the present invention also provides the control method of above-mentioned intelligent travelling crane monitoring system,This control method comprises the following steps:
By the CAN bus data of described data collecting module collected vehicle;
Judge that according to described CAN bus data vehicle is in transport condition or parking flameout state, if carIn transport condition, control DVR video recorder and enter driving monitoring mode; If vehicle is flame-out in parkingState, controls DVR video recorder and enters parking monitoring mode;
In the time of driving monitoring mode, DVR video recorder records driving video recording by 360 degree rotatable cameras,And detect vehicle by acceleration sensor module and whether clashed into, in the time detecting that vehicle is subject to clashing into,Rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impact direction, records percussion figure;
In the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor module and shakes,In the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impactDirection, records percussion figure.
Beneficial effect of the present invention is: the present invention includes 360 degree rotatable cameras and DVR video recorder, DVRVideo recorder is connected with the CAN bus of vehicle, can carry out 360 degree to vehicle by 360 degree rotatable camerasTake without dead angle, in DVR video recorder, be provided with acceleration sensor module, can calculate vehicle and be hitThe direction of hitting, and control 360 degree rotatable camera rotation to the directions that bump and make a video recording, greatlyImproved the control and monitoring of vehicle in the time of transport condition, meanwhile, DVR video recorder be provided with car monitoring mode andTwo kinds of mode of operations of parking monitoring mode, DVR video recorder work in the time of dead ship condition, and can be according to accelerationThe vehicle vibration signal that sensor detects, controls 360 degree rotatable cameras vibrations direction is taken,Thereby the control and monitoring of vehicle in the time of parking state are further improved.
Brief description of the drawings
Fig. 1 is the module frame chart of the intelligent travelling crane monitoring system of embodiment of the present invention based on DVR;
Fig. 2 is the control flow chart of the control method of embodiment of the present invention intelligent travelling crane monitoring system.
Detailed description of the invention
By describing technology contents of the present invention, structural feature in detail, being realized object and effect, below in conjunction withEmbodiment also coordinates accompanying drawing to be explained in detail.
Refer to Fig. 1, the intelligent travelling crane monitoring system of embodiment of the present invention based on DVR, this intelligent travelling craneMonitoring system comprises DVR video recorder, 360 degree rotatable camera Cloud Server and mobile terminals, and vehicle is establishedBe equipped with CAN bus, loudspeaker, sound pick-up and radar for backing car, described DVR video recorder and 360 degree can revolveTurning camera is arranged on vehicle.
Described DVR video recorder comprise photographing module, wireless communication module, locating module, data acquisition module,Voice module, collision anticipation module and acceleration sensor module;
Described 360 degree rotatable cameras comprise rotation control module and image capture module;
Described data acquisition module is connected with the CAN bus of vehicle, and data acquisition module is for collection vehicleCAN bus data;
Described acceleration sensor module comprises 3-axis acceleration sensor and three-axis gyroscope, 3-axis accelerationSensor is for the acceleration analysis of three axles, and three-axis gyroscope is for the angular speed of three axles, the measurement of angle;
Described rotation control module is connected with acceleration sensor module, and rotation control module is used for according to accelerationThe output data of degree sensor assembly, control 360 degree rotatable camera rotations;
Described image capture module is connected with the photographing module of DVR video recorder, and image capture module will be for adoptingThe image signal transmission that collection arrives is to photographing module, and photographing module is for encoding and protect described picture signalDeposit;
Described locating module, for obtaining the geographical location information of vehicle, can be GPS locating module, also canTo be Big Dipper locating module.
In the present embodiment, 360 degree rotatable cameras are positioned at car and (also can in another embodiment,So that camera part is arranged to vehicle roof, and be connected with data processing section by lead-in wire), comprise pedestalBe arranged on pedestal can 360 degree rotations camera, 360 degree rotatable cameras can be by eventually mobileAPP on end arranges the angle of camera rotation in car, and this camera is by image processing techniques, Neng GoushiOther tableaux and dynamic menu.
Described wireless communication module is connected with Cloud Server, mobile terminal communication respectively, and Cloud Server passes through instituteState wireless communication module for DVR video recorder provides cloud service function, comprise cloud data sharing and cloud memory function;Mobile terminal carries out Long-distance Control by described wireless communication module to DVR video recorder, comprise monitoring arrange andThe camera anglec of rotation arranges.
Described Cloud Server can provide the function such as cloud data sharing, cloud storage to client, and Cloud Server also canWith the road monitoring video data networking of the Ministry of Public Security, near the road can provide accident to client time parking stallRoad monitor video.
Mobile terminal can be computer, mobile phone or PAD, at mobile terminal, APP software is installed, and APP is softPart provides human-computer interaction interface, can be to DVR video recorder and rotatable the taking the photograph of 360 degree by APP softwarePicture head carries out long-range setting, and also can obtain the monitoring record of 360 degree rotatable cameras by APP softwarePicture.
Described CAN bus data comprises air bag state, engine condition and vehicle door status, described DVRVideo recorder is according to the weight grade of gathered CAN bus data division accident. The weight grade of accident canDivide minor accident, ordinary accident, major accident and serious accident etc. Open and can set as air bagFor major accident, automobile overturns can be set as serious accident etc.
Described DVR video recorder comprises driving monitoring mode and two kinds of mode of operations of parking monitoring mode;
In the time of driving monitoring mode, 360 degree rotatable cameras are when driving just to headstock, and DVR recordsWhether camera records the video data in driving process, and detect vehicle by acceleration sensor module and be subject toTo clashing into, in the time detecting that vehicle is subject to clashing into, rotation control module control 360 is spent rotatable camera and is revolvedGo to Vehicular impact direction, record percussion figure.
Described acceleration sensor module is demarcated x, y, z three direction of principal axis in the time of vehicle stationary, when there being burst thingWhen part occurs, acceleration sensor module detects that the acceleration of vehicle is greater than the default acceleration of normally travellingDegree (being to there is anxious acceleration or anxious deceleration in a direction of acceleration transducer detection), or car detectedSide acceleration, in the ordinary course of things, the preset value of described acceleration is 6g-8g, the value that acceleration is defaultLess acceleration transducer detects sensitiveer, the angle of x, y, z three axles of sense acceleration sensor assembly,Acceleration, then the acceleration collecting and angle pass to rotation control module, rotation control module is according to accelerationThe direction that the data of degree sensor output calculate acceleration (or according to the accekeration of x, y, z three axles isCan calculate the direction of acceleration), control the angle that camera rotates, what real time record camera photographed looksAudio data. When acceleration is during towards vehicle front, the afterbody that can derive vehicle has been subject to shock,Knocked into the back, now controlled 360 degree rotatable cameras and rotate to vehicle tail and make a video recording, worked as accelerationFor when the rear view of vehicle, the head that can derive vehicle has been subject to shock, and now controlling 360 degree can revolveTurning camera rotates to vehicle head and makes a video recording. In the time that vehicle occurs to clash into, the locking of DVR video recorder and guarantorDeposit the vehicle condition data of accident moment automobile.
Meanwhile, DVR video recorder also can gather the situation of accident, will send out short by wireless communication moduleThe associated user of letter notification call center and car owner binding, they according to the content of notice can take effectively,In time, correctly, assistance validly. The user of call center and car owner's binding can transfer by APP is long-rangeCamera carries out real time inspection field condition, also can check the historical record inquiry of DVR video recorder.
Described collision anticipation module is connected with rotation control module, data acquisition module respectively;
Be respectively arranged with more than two radar for backing car in the front, rear, left and right of vehicle, described data acquisition modulePiece is connected with described radar for backing car, and data acquisition module is also for sending to collision by the radar signal collectingAnticipation module, collision anticipation module is for having judged whether that according to radar signal object is at close vehicle and thingThe distance of body and vehicle is less than predeterminable range, and (in the ordinary course of things, described predeterminable range is 0.5m, at otherIn embodiment, described predeterminable range can be other values), be if so, judged to be will bump (When having detected that object is close to direction of traffic, and both distances are while being less than 0.5m, and judging willBump), and spend the extremely described object of rotatable camera rotation institute by rotation control module control 360Record a video in direction.
In the time of driving monitoring mode, whether collision anticipation module can also bump in anticipation, and may send outThe direction of raw collision, and before not bumping, control 360 degree rotatable camera rotations to touchingThe direction of hitting is recorded a video.
In the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor module and shakes,In the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impactDirection, records percussion figure. Whether described acceleration sensor module exists by the vehicle relatively detectingInstantaneous acceleration judges whether to occur vehicle vibrations, when acceleration sensor module detects instantaneous accelerationWhile spending (instantaneous acceleration is greater than at 0 o'clock), judge and have vehicle vibrations, and according to the side of instantaneous accelerationTo the point of application that calculates the external force that causes vehicle vibrations, meanwhile, control 360 degree rotatable camera rotationsExtremely the described point of application is made a video recording. In the time of parking monitoring mode, 360 spend the rotation controlling party of rotatable cameraMethod is similar during to driving states. When instantaneous acceleration is during towards headstock, and judge that the point of application is at the tailstock, nowControlling 360 degree rotatable cameras rotates to vehicle tail and makes a video recording. Other situations by that analogy.
After vehicle parking, DVR video recorder postpones a period of time shutdown, and 360 degree rotatable cameras detectThe motion state in front, if camera detects is static images, the power supply control CPU of DVR video recorderCan be by the power remove of the power supply of camera, modules, only have acceleration sensor module maintenance work shapeState, and the operating current of acceleration transducer itself is very little, whole system is equivalent to enter low-power consumption mode.System initiatively wakes up by acceleration transducer or switch wakes up.
After parking, what 360 degree rotatable cameras detected is that motion picture or acceleration transducer detectTo vibrations, start at once monitoring mode, the vehicle condition data of vehicle abnormality send note by wireless communication moduleInform car owner. Car owner receives after note, can open real-time monitoring by APP, and car owner can rotate shootingHead is checked the situation that car is inside and outside. Issue voice reminder note to DVR video recorder if be necessary by APP,The outer loudspeaker of car outside DVR video recorder control car send TTS voice reminder. If be necessary, car owner also can enableThe function of speech talkback can issue intercommunication instruction to DVR video recorder by APP, described DVR video recorderBy voice module and described loudspeaker, sound pick-up, realize dialogue outward with car.
As shown in Figure 2, embodiment of the present invention also provides the above-mentioned intelligent travelling crane monitoring system based on DVRControl method, comprise the following steps:
S1, by the CAN bus data of described data collecting module collected vehicle;
S2, judge that according to described CAN bus data vehicle is in transport condition or parking flameout state,If vehicle in transport condition, is controlled DVR video recorder and is entered driving monitoring mode; If vehicle is in parkingFlameout state, controls DVR video recorder and enters parking monitoring mode;
S3, in driving when monitoring mode, DVR video recorder is by 360 degree rotatable cameras record driving recordsPicture, and detect vehicle by acceleration sensor module and whether clashed into, detecting that vehicle is hitWhile hitting, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impact direction, and record clashes intoImage;
S4, in the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor moduleVibrations, in the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to carCrash direction, records percussion figure.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every profitThe equivalent structure of doing by description of the present invention and accompanying drawing content or the conversion of equivalent flow process, or directly or indirectly transportBe used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (7)
1. the intelligent travelling crane monitoring system based on DVR, is characterized in that, comprise DVR video recorder and360 degree rotatable cameras;
Described DVR video recorder comprises photographing module, wireless communication module, locating module, data acquisition moduleAnd acceleration sensor module;
Described 360 degree rotatable cameras comprise rotation control module and image capture module;
Described data acquisition module is connected with the CAN bus of vehicle, and data acquisition module is for collection vehicleCAN bus data;
Acceleration sensor module comprises 3-axis acceleration sensor and three-axis gyroscope, 3-axis acceleration sensingDevice is for the acceleration analysis of three axles, and three-axis gyroscope is for the angular speed of three axles, the measurement of angle;
Described rotation control module is connected with acceleration sensor module, and rotation control module is used for according to accelerationThe output data of degree sensor assembly, control 360 degree rotatable camera rotations;
Described image capture module is connected with the photographing module of DVR video recorder, and image capture module will be for adoptingThe image signal transmission that collection arrives is to photographing module, and photographing module is for encoding and protect described picture signalDeposit;
Described locating module is for obtaining the geographical location information of vehicle;
Described DVR video recorder comprises driving monitoring mode and two kinds of mode of operations of parking monitoring mode;
In the time of driving monitoring mode, DVR video recorder records driving video recording by 360 degree rotatable cameras,And detect vehicle by acceleration sensor module and whether clashed into, in the time detecting that vehicle is subject to clashing into,Rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impact direction, records percussion figure;
In the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor module and shakes,In the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impactDirection, records percussion figure;
Described DVR video recorder also comprises collision anticipation module, collision anticipation module respectively with rotation control module,Data acquisition module connects;
Be respectively arranged with more than two radar for backing car in the front, rear, left and right of vehicle, described data acquisition modulePiece is connected with described radar for backing car, and data acquisition module is also for sending to collision by the radar signal collectingAnticipation module, collision anticipation module is for having judged whether that according to radar signal object is at close vehicle and thingThe distance of body and vehicle is less than predeterminable range, is if so, judged to be to bump, and controls by rotationModule controls 360 processed is spent rotatable camera rotation to described object place direction and is recorded a video.
2. the intelligent travelling crane monitoring system based on DVR according to claim 1, is characterized in that,Also comprise Cloud Server and mobile terminal;
Described wireless communication module is connected with Cloud Server, mobile terminal communication respectively, and Cloud Server passes through instituteState wireless communication module for DVR video recorder provides cloud service function, comprise cloud data sharing and cloud memory function;Mobile terminal carries out Long-distance Control by described wireless communication module to DVR video recorder, comprise monitoring arrange andThe camera anglec of rotation arranges.
3. the intelligent travelling crane monitoring system based on DVR according to claim 2, is characterized in that,Described DVR video recorder also comprises voice module, is arranged at the outer loudspeaker that are connected with voice module of car, Yi JisheBe placed in the outer sound pick-up of the outer car being connected with voice module of car;
In the time of parking monitoring mode, the described DVR video recorder voice messaging that also mobile terminal receive sends, andOutside car, play in real time voice messaging by voice module and described loudspeaker;
DVR video recorder also gathers the source of sound outside car, and by voice module and described loudspeaker, sound pick-up and carRealize intercommunication outward.
4. the intelligent travelling crane monitoring system based on DVR according to claim 1, is characterized in that,The CAN bus data of described data collecting module collected comprises air bag state, engine condition and car doorState, described DVR video recorder is according to the weight grade of gathered CAN bus data division accident.
5. the intelligent travelling crane monitoring system based on DVR according to claim 1, is characterized in that,In the time detecting that vehicle is clashed into or vehicle shakes, X-axis, Y-axis, the Z of acceleration sensor module outputAxle three-dimensional acceleration data, rotation control module according to described three-dimensional acceleration data calculate Vehicular impact orCause the direction of the external force of vehicle vibrations, and derive the point of application of described external force according to the direction of described external force,And control 360 degree rotatable cameras and rotate the point of application to described external force.
6. the intelligent travelling crane monitoring system based on DVR according to claim 1, is characterized in that,Described DVR video recorder is provided with reserve battery.
7. the control method of the arbitrary described intelligent travelling crane monitoring system based on DVR of claim 1 to 6,It is characterized in that, comprise the following steps:
By the CAN bus data of described data collecting module collected vehicle;
Judge that according to described CAN bus data vehicle is in transport condition or parking flameout state, if carIn transport condition, control DVR video recorder and enter driving monitoring mode; If vehicle is flame-out in parkingState, controls DVR video recorder and enters parking monitoring mode;
In the time of driving monitoring mode, DVR video recorder records driving video recording by 360 degree rotatable cameras,And detect vehicle by acceleration sensor module and whether clashed into, in the time detecting that vehicle is subject to clashing into,Rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impact direction, records percussion figure;
In the time of parking monitoring mode, whether DVR video recorder detects vehicle by acceleration sensor module and shakes,In the time vehicle vibrations being detected, rotation control module control 360 is spent rotatable camera and is rotated to Vehicular impactDirection, records percussion figure.
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