Surroundings monitoring system, work vehicle, and surroundings monitoring method
A surroundings monitoring system includes: a detection device that is disposed in a work vehicle and configured to be able to detect an object around the work vehicle; an acquisition unit that acquires a command signal indicating an operation checking mode for inspecting the detection device; a determining unit that determines a quality of an operating state of the detection device based on a detection result of the detection device after the command signal is acquired; and a display device that displays identification information of the detection device of which the operating state is determined to be not good by the determining unit.
1. A surroundings monitoring system comprising:
an image capturing device mounted on a work vehicle so as to image an area around the work vehicle;
radar devices mounted on the work vehicle so as to detect different areas around the work vehicle respectively, and configured to detect an object around the work vehicle when the object is within detection areas thereof;
a mode control unit configured to switch mode of the work vehicle to an operation checking mode for determining whether or not the radar devices can detect an object used for checking of operation, when the object is within the detection areas of the radar devices;
a determining unit configured to determine that an operating state of a radar device is good when the radar device can detect the object within the detection area thereof, and that an operating state of a radar device is not good when the radar device cannot detect the object within the detection area thereof, among the radar devices in the operation checking mode; and
a display device configured to display the work vehicle, and a bird's-eye image around the work vehicle generated based on an image captured by the image capturing device, on a screen thereof,
wherein the display device is configured to continue to display the detection area of the radar device of which the operating state is not good, so as to be distinguishable from the detection area of the radar device of which the operating state is good, on the bird's-eye image, during the operation checking mode.
2. The surroundings monitoring system according to claim 1 , wherein the display device is configured to display identification information indicative of the detection area of the radar device of which the operating state is not good on the bird's-eye image.
3. The surroundings monitoring system according to claim 1 , wherein
the identification information includes a detection area of the radar device of which the operating state is determined to be not good, and
the display device displays the work vehicle on a screen and displays the detection area around the work vehicle on the screen.
4. The surroundings monitoring system according to claim 3 , wherein
a plurality of the radar devices is disposed so that different areas around the work vehicle are detected,
the determining unit determines the quality of the operating states of the respective radar devices, and
the display device displays the detection area of the radar device of which the operating state is determined to be not good and does not display the detection area of the radar device of which the operating state is determined to be good.
5. The surroundings monitoring system according to claim 4 , wherein after the command signal is acquired, the display device displays the detection areas of the respective radar devices and removes the detection area of the radar device of which the operating state is determined to be good by the determining unit.
6. The surroundings monitoring system according to claim 1 , further comprising:
a control unit that starts the operation checking mode when the command signal is acquired in a parking state of the work vehicle and ends the operation checking mode when the parking state is cleared.
7. The surroundings monitoring system according to claim 1 , wherein
after the operation checking mode ends, the display device displays warning information indicating a presence of the radar device of which the operating state is determined to be not good in the operation checking mode.
8. The surroundings monitoring system according to claim 1 , wherein
the display device displays identification information of the respective radar device that has detected an object in a normal operation state before the operation checking mode starts or after the operation checking mode ends and identification information of the respective radar device of which the operating state is determined to be not good in the operation checking mode in different forms.
9. The surroundings monitoring system according to claim 1 , further comprising:
a storage unit that stores an execution period of the operation checking mode and a detection result of the respective radar device in the operation checking mode.
10. A work vehicle comprising the surroundings monitoring system according to claim 1 .
11. The surroundings monitoring system according to claim 1 , wherein
the operation checking mode is a mode of determining the operating state of the respective radar devices when the work vehicle is in a parking state, and
the mode control unit does not switch the mode of the work vehicle to the operation checking mode when the work vehicle is in a non-parking state.
12. The surroundings monitoring system according to claim 1 , wherein
the display device is configured to remove identification information indicative of the detection area of the radar device of which the operating state is good from the bird's-eye image, and
the display device is configured to leave identification information indicative of the detection area of the radar device of which the operating state is not good on the bird's-eye image.
13. The surroundings monitoring system according to claim 1 , wherein
the object is a reflecting member which is capable of reflecting electromagnetic waves emitted from the radar devices.
14. The surroundings monitoring system according to claim 1 , wherein
the object is movable so that the object is sequentially arranged within the detection area of the respective radar devices in the operation checking mode.
15. A surroundings monitoring method comprising:
imaging an area around a work vehicle by an image capturing device mounted on the work vehicle;
detecting an object within detection areas of radar devices mounted on the work vehicle so as to detect different areas around the work vehicle respectively;
switching mode of the work vehicle to an operation checking mode for determining whether or not the radar devices can detect an object used for checking of operation, when the object is within the detection areas of the radar devices;
determining that an operating state of a radar device is good when the radar device can detect the object within the detection area thereof, and that an operating state of a radar device is not good when the radar device cannot detect the object within the detection area thereof, among the radar devices in the operation checking mode; and
displaying the work vehicle, and a bird's-eye image around the work vehicle generated based on an image captured by the image capturing device, on a screen of a display device; and
continuing to display the detection area of the radar device of which the operating state is not good, so as to be distinguishable from the detection area of the radar device of which the operating state is good, on the bird's-eye image, during the operation checking mode.