JP7693453B2 - Warning device, warning method, and warning program - Google Patents

Description

The present invention relates to a warning device, a warning method, and a warning program.

According to the technology disclosed in Patent Document 1, when traveling on a curved road, the risk of the vehicle tipping over is evaluated based on the magnitude of the centrifugal force acting on the vehicle's center of gravity and information on the center of gravity. Then, the driver is always presented with a risk assessment based on the road conditions ahead, based on the current driving position along the planned route.

JP 2012-38238 A

The technology disclosed in Patent Document 1 evaluates the risk of a vehicle tipping over based on the magnitude of centrifugal force that occurs when the vehicle travels along a pre-set planned travel route. Therefore, even if the technology disclosed in Patent Document 1 is used, it is not possible to evaluate the risk of a vehicle tipping over for which a planned travel route is not set.

The present invention has been made in consideration of the problems inherent in the conventional technology. The object of the present invention is to provide a warning device, a warning method, and a warning program that can evaluate the risk of rollover of a vehicle that does not have a planned driving route set, and issue an appropriate warning to the user or manager of the vehicle.

The warning device according to the first aspect of the present invention includes an input unit to which load information indicating the load on each of a plurality of wheels of a vehicle having a luggage carrying section and road surface information indicating steps or slopes on the road surface on which the vehicle is traveling is input, a controller, and a notification unit that issues a notification to a user. The controller acquires the location of the step or slope based on the road surface information, and calculates center of gravity information of the vehicle based on the load information. Furthermore, the controller determines whether the vehicle is in a state that requires a warning based on the location and center of gravity information. The notification unit issues a notification when it is determined that the vehicle is in a state that requires a warning.

The warning method according to the second aspect of the present invention is executed by a computer, and acquires load information representing the load on each of multiple wheels of a vehicle having a luggage carrying section, and acquires road surface information representing uneven or inclined parts of the road surface on which the vehicle is traveling. The location of the uneven or inclined parts is acquired based on the road surface information, and center of gravity information of the vehicle is calculated based on the load information. Then, based on the location and center of gravity information, it is determined whether the vehicle is in a state that requires a warning, and if it is determined that the vehicle is in a state that requires a warning, a notification is issued to the user.

The warning program according to the third aspect of the present invention causes a computer to execute a process of acquiring load information representing the load on each of multiple wheels of a vehicle having a luggage carrying section, and acquiring road surface information representing steps or slopes on the road surface on which the vehicle is traveling. The computer executes a process of acquiring the location of the step or slope based on the road surface information, and calculating center of gravity information of the vehicle based on the load information. The computer then executes a process of determining whether the vehicle is in a state that requires a warning based on the location and center of gravity information, and notifying the user if it is determined that the vehicle is in a state that requires a warning.

According to the present invention, it is possible to evaluate the risk of a vehicle tipping over when a planned travel route is not set, and to issue an appropriate warning to the vehicle user or manager.

1 is a side view showing a forklift to which a warning device according to an embodiment of the present invention is applied; 1 is a bottom view showing a forklift to which a warning device according to an embodiment of the present invention is applied; 1 is a block diagram showing an example of the configuration of a warning device according to an embodiment of the present invention; 5 is a flowchart showing a first example of a process of the warning device according to the present embodiment. 10 is a flowchart showing a second example of the process of the warning device according to the embodiment.

Next, the warning device according to this embodiment will be described in detail with reference to the drawings. In the description, the same parts will be given the same reference numerals and duplicate explanations will be omitted.

[Vehicle configuration example]
A forklift F to which the warning device according to the present embodiment is applied will be described with reference to Figures 1 and 2. Figure 1 is a side view of the forklift to which the warning device according to the present embodiment is applied. Figure 2 is a bottom view of the forklift to which the warning device according to the present embodiment is applied.

The forklift F (vehicle) is equipped with a fork section 51 that can be raised and lowered, a backrest section 52, a mast section 53, front wheels (left front wheel TY1, right front wheel TY2) that are wheels for driving, and rear wheels (left rear wheel TY3, right rear wheel TY4) that are drive wheels.

The forklift F may be an engine vehicle powered by an internal combustion engine such as a gasoline engine, or a battery vehicle powered by an electric motor driven by electricity supplied from a secondary battery that can be charged by a generator, etc.

The fork section 51 and the backrest section 52 are attached so as to be movable up and down relative to a mast section 53 fixed to the body of the forklift F. The fork section 51 and the mast section 53 together are referred to as the load carrying section.

An on-board camera CM1 is provided above the mast section 53, which supports the fork section 51 and the mast section 53. The on-board camera CM1 captures an image of the road surface in front of the forklift F. In addition, an on-board camera CM2 is provided above the rear of the forklift F. The on-board camera CM2 captures an image of the road surface behind the forklift F.

The positions at which the vehicle-mounted cameras CM1 and CM2 are installed need only be such that they can capture an image of the road surface around the forklift F, and are not limited to the examples given here. In addition, the vehicle-mounted cameras CM1 and CM2 may capture an image of the road surface to the side of the forklift F.

A measuring unit 11 is attached to the body of the forklift F to measure the load applied to the front and rear wheels of the forklift F and the rotation speed of the front and rear wheels. In FIG. 2, sensors WS1, WS2, WS3, and WS4 are shown as the measuring unit 11. Sensor WS1 measures the load applied to the left front wheel TY1 and the rotation speed. Sensor WS2 measures the load applied to the right front wheel TY2 and the rotation speed. Sensor WS3 measures the load applied to the left rear wheel TY3 and the rotation speed. Sensor WS4 measures the load applied to the right rear wheel TY4 and the rotation speed.

Sensor WS1 and sensor WS2 may measure the load and rotation speed applied to the left front wheel TY1 and the right front wheel TY2, respectively, via the axle 61. Sensor WS3 and sensor WS4 may measure the load and rotation speed applied to the left rear wheel TY3 and the right rear wheel TY4, respectively, via the axle 62.

In addition, an acceleration sensor (G sensor) that detects acceleration (front-back G, left-right G, and up-down G) during movement may be attached to the body of the forklift F. The measurement unit 11 may include an acceleration sensor.

A position sensor that acquires position information of the forklift F may be attached to the body of the forklift F. For example, the position sensor may be a GPS sensor. The GPS sensor receives radio waves from multiple GPS (Global Positioning System) satellites and performs a predetermined calculation process to acquire latitude and longitude information representing the current position of the forklift F from the received signal. This makes it possible to acquire position information (vehicle position) of the forklift F. The measurement unit 11 may include a position sensor.

The operator (driver) of the forklift F operates the steering wheel 71, the gear shift lever 72, and pedals such as an accelerator pedal and a brake pedal (not shown). By operating the forklift F in this manner, the fork section 51 is raised and lowered, and the forklift F is caused to move forward, backward, turn right, turn left, etc., to perform loading and unloading operations.

The vehicle to which the warning device according to this embodiment is applied is not limited to a forklift F. The vehicle may be a vehicle used for loading and unloading or transporting luggage, products, etc. within the premises of a factory, warehouse, etc.

[Example of warning device configuration]
The configuration of the warning device 1 according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the configuration of the warning device according to this embodiment. The warning device 1 may be mounted on the forklift F, for example, or may be mounted on a terminal carried by a user or manager of the forklift F.

As shown in FIG. 3, the warning device 1 includes an input unit 21, a controller 100, and an alarm unit 400. Additionally, the warning device 1 may include a measurement unit 11, a road surface condition detection unit 13, and a database 15. The measurement unit 11 is mounted on the forklift F, but the road surface condition detection unit 13 and the database 15 may be mounted on the forklift F or installed outside the forklift F.

The measurement unit 11, road surface condition detection unit 13, and database 15 are connected to the input unit 21, and the input unit 21 and the notification unit 400 are connected to the controller 100. Here, "connection" may be either a wired or wireless connection.

The measurement unit 11 measures the load applied to the front and rear wheels of the forklift F and the rotation speed of the front and rear wheels. Information regarding the load applied to the front and rear wheels acquired by the measurement unit 11 is transmitted to the input unit 21 as load information representing the load on each of the multiple wheels of the forklift F. Information regarding the rotation speed of the front and rear wheels acquired by the measurement unit 11 is also transmitted to the input unit 21 as rotation speed information representing the rotation speed of each of the multiple wheels of the forklift F.

The measurement unit 11 may include an acceleration sensor that detects the acceleration of the forklift F when it is moving. Information on the acceleration of the forklift F when it is moving is transmitted to the input unit 21 as acceleration information. The measurement unit 11 may also include a position sensor that acquires position information of the forklift F. The position information of the forklift F is transmitted to the input unit 21.

The road surface condition detection unit 13 (detection unit) detects steps or slopes on the road surface around the forklift F based on images captured by the vehicle-mounted camera CM1 or vehicle-mounted camera CM2. For example, the road surface condition detection unit 13 may detect steps or slopes based on image analysis. The road surface condition detection unit 13 generates road surface information that represents the detected steps or slopes. The road surface information includes position information of the step or slope, the size of the step at the step, and the size of the slope at the slope. The road surface information is transmitted to the input unit 21.

The position information included in the road surface information may be position information that represents the position of the forklift F when the road surface condition detection unit 13 detects a step or a slope. Alternatively, the position information included in the road surface information may be calculated based on the positional relationship between the road surface condition detection unit 13 and the step or slope, and the position information that represents the position of the forklift F.

The road surface condition detection unit 13 may generate road surface information representing steps or slopes based on point cloud data representing the shape of the road surface around the forklift F acquired by a 3D laser measurement device mounted on the forklift F.

The database 15 (storage unit) stores the road surface information generated by the road surface condition detection unit 13. The database 15 may store not only road surface information generated by one specific road surface condition detection unit 13, but also road surface information generated by multiple road surface condition detection units 13. The road surface information stored in the database 15 is transmitted to the input unit 21 as necessary.

The input unit 21 acquires information transmitted from the measurement unit 11, the road surface condition detection unit 13, and the database 15. The various information acquired by the input unit 21 is transmitted to the controller 100.

The notification unit 400 notifies the user when the controller 100, which will be described later, determines that the forklift F is in a state that requires a warning.

For example, the notification unit 400 notifies the driver that there is a step or a slope on the road surface on which the forklift F is traveling. In addition, the notification unit 400 notifies the driver that caution is required when traveling with the forklift F. The notification unit 400 may be a liquid crystal display, an organic EL display, or the like.

The notification unit 400 is not limited to presenting various types of information through visual information. The notification unit 400 may present information to the user through auditory information, or may generate vibrations and present information to the user through vibration stimulation. For example, the notification unit 400 may be a sound source, an amplifier, a speaker, etc. for generating and emitting sound.

The controller 100 is a general-purpose microcomputer equipped with a CPU (Central Processing Unit), memory, and an input/output unit. A computer program (alarm program) for functioning as part of the warning device 1 is installed in the controller 100. By executing the computer program, the controller 100 functions as multiple information processing circuits (110, 120, 130).

Here, an example is shown in which the multiple information processing circuits (110, 120, 130) provided in the controller 100 are realized by software. However, it is also possible to configure the information processing circuits (110, 120, 130) by preparing dedicated hardware for executing each of the information processes described below. Also, the multiple information processing circuits (110, 120, 130) may be configured by individual hardware.

The controller 100 includes multiple information processing circuits (110, 120, 130), including a center of gravity calculation unit 110, a position acquisition unit 120, and a determination unit 130.

The center of gravity calculation unit 110 calculates center of gravity information of the forklift F based on the load information. More specifically, the center of gravity calculation unit 110 calculates the total load applied to all wheels of the forklift F (the total load measured by sensors WS1 to WS4), and calculates the proportion of the load applied to each wheel in the total load as center of gravity information.

The center of gravity calculation unit 110 calculates, as center of gravity information, the proportion of the load applied to the front wheels (front wheel load: sum of loads measured by sensors WS1, WS2) in the total load applied to all wheels of the forklift F. The center of gravity calculation unit 110 also calculates, as center of gravity information, the proportion of the load applied to the rear wheels (rear wheel load: sum of loads measured by sensors WS3, WS4) in the total load applied to all wheels of the forklift F.

The center of gravity calculation unit 110 may also calculate the total load applied to the front wheels of the forklift F (the total load measured by the sensor WS1 and the sensor WS2). The center of gravity calculation unit 110 may also calculate, as center of gravity information, the proportion of the load (left load, right load) applied to each front wheel (left front wheel TY1, right front wheel TY2) in the total load.

The reason why the center of gravity calculation unit 110 calculates the total and the percentage for the front wheels is that the fork section 51, which serves as the cargo carrying section, is located on the front wheel side of the forklift F (particularly, forward of the front wheels when viewed from the body of the forklift F). This is because the load applied to the front wheels of the forklift F is useful for evaluating the risk of the forklift F tipping over.

When the luggage loading section is located on the rear wheel side of the vehicle (particularly behind the rear wheels), the center of gravity calculation unit 110 may calculate the total load applied to the rear wheels of the forklift F (the total of the loads measured by the sensors WS3 and WS4). The center of gravity calculation unit 110 may also calculate, as the center of gravity information, the proportion of the load applied to each rear wheel (left rear wheel TY3, right rear wheel TY4) in the total load.

The position acquisition unit 120 acquires the locations of steps or slopes around the forklift F based on the road surface information. The position acquisition unit 120 may extract only steps where the step size is equal to or greater than a predetermined value, and acquire the locations of the extracted steps. The position acquisition unit 120 may extract only slopes where the slope size is equal to or greater than a predetermined value, and acquire the locations of the extracted slopes. By performing the extraction, the calculation load on the determination unit 130, which will be described later, can be reduced.

The predetermined value used to extract the step and inclined locations may be changed according to the height positions of the fork section 51 and the mast section 53, or the weight of the load loaded on the fork section 51. For example, the greater the height positions of the fork section 51 and the mast section 53, the smaller the predetermined value may be set. Also, the heavier the load loaded on the fork section 51, the smaller the predetermined value may be set. By changing the predetermined value, the calculation load on the determination section 130 can be reduced while accurately determining the risk of tipping over of the forklift F.

In addition, the position acquisition unit 120 may acquire the vehicle position of the forklift F via the input unit 21.

The determination unit 130 determines whether the forklift F is in a state that requires a warning based on the location and center of gravity information. For example, the determination unit 130 may determine that the forklift F is in a state that requires a warning when the proportion of the load applied to the rear wheels of the forklift F (rear wheel load) in the total load applied to all wheels of the forklift F is less than a first threshold value.

The determination unit 130 may determine that the forklift F is in a state subject to a warning when the proportion of the left load in the sum of the left load applied to the left front wheel TY1 and the right load applied to the right front wheel TY2 of the forklift F is less than a second threshold value. The determination unit 130 may determine that the forklift F is in a state subject to a warning when the proportion of the right load in the sum of the left load and the right load is less than a second threshold value.

Here, the first threshold value may be set to a smaller value than the second threshold value. This allows for a stricter assessment of the risk of the forklift F tipping forward and backward compared to the risk of the forklift F tipping sideways.

The first and second thresholds may be changed according to the height positions of the fork section 51 and the mast section 53, or the weight of the load loaded on the fork section 51. For example, the higher the height positions of the fork section 51 and the mast section 53, the smaller the first and second thresholds may be set. Also, the heavier the load loaded on the fork section 51, the smaller the first and second thresholds may be set. By changing the first and second thresholds, the risk of tipping over of the forklift F can be accurately determined.

In addition, the determination unit 130 may determine that the forklift F is in a state subject to a warning when the distance between the vehicle position of the forklift F and the location of the step or slope is equal to or less than a predetermined distance. Here, the predetermined distance may be set in advance based on the size of the body of the forklift F, or may be set based on the size of the step at the step or the size of the slope at the slope.

The determination unit 130 may perform a process of determining whether the forklift F is in a state subject to a warning by combining one or more of the above-mentioned processes. When combining a plurality of processes, the determination unit 130 may hold a warning flag and set or clear the warning flag based on the result of the process. Details will be described later using the flowcharts in Figures 4 and 5.

The determination unit 130 may stop control of the fork section 51 and the backrest section 52, which are the cargo loading section, when it is determined that the forklift F is in a state that requires a warning. For example, the determination unit 130 may stop the lifting and lowering operation of the fork section 51 when it is determined that the forklift F is in a state that requires a warning.

The determination unit 130 may stop control of the travel of the forklift F when it is determined that the forklift F is in a state that requires a warning. For example, the determination unit 130 may stop operations of the forklift F that involve changes in the vehicle position and vehicle attitude, such as forward movement, backward movement, right turn, left turn, etc., when it is determined that the forklift F is in a state that requires a warning.

Additionally, the determination unit 130 may determine whether the acceleration when the forklift F passes over a step or slope is equal to or greater than a predetermined value based on the vehicle position of the forklift F, the location of the step or slope, and acceleration information. Here, the concept of "passing" may include cases where the forklift F passes over a step or slope, as well as cases where the forklift F passes through (passes nearby) an area where the distance to the step or slope is less than a predetermined distance.

When the determination unit 130 determines that the acceleration is equal to or greater than a predetermined value, the controller 100 may output the road surface information generated by the road surface condition detection unit 13 to the database 15 in association with the vehicle position. The database 15 may store the road surface information output from the controller 100 in association with the vehicle position.

[Warning device processing procedure]
Next, a processing procedure of the vehicle operation state detection device according to this embodiment will be described with reference to the flowcharts of FIGS.

The processes shown in the flowcharts of Figures 4 and 5 may be started when the ignition of the forklift F is turned on, and may be executed repeatedly while the ignition is on. Furthermore, the processes shown in the flowchart of Figure 3 and the processes shown in the flowchart of Figure 5 may be executed in parallel, or may be executed alternately.

Figure 4 is a flowchart showing a first example of the processing of the warning device according to this embodiment. In step S101, the input unit 21 acquires load information.

In step S103, the center of gravity calculation unit 110 calculates center of gravity information of the forklift F based on the load information.

In step S105, the determination unit 130 determines whether the proportion of the load applied to the rear wheels of the forklift F (rear wheel load) in the total load applied to all wheels of the forklift F is less than a first threshold value.

If the rear wheel load ratio is less than the first threshold value (YES in step S105), in step S107, the determination unit 130 determines that the forklift F is in a state that requires a warning ("front unbalanced load"). The notification unit 400 also notifies the user that there is a "front unbalanced load". Then, the process proceeds to step S123.

If the rear wheel load ratio is not less than the first threshold value (NO in step S105), in step S109, the determination unit 130 determines whether the ratio of the left side load to the total left side load and right side load of the forklift F is less than the second threshold value.

If the left load ratio is less than the second threshold value (YES in step S109), in step S111, the determination unit 130 determines that the forklift F is in a state that requires a warning ("right-biased load"). The notification unit 400 also notifies the user that there is a "right-biased load". Then, the process proceeds to step S123.

If the proportion of the left side load is not less than the second threshold (NO in step S109), in step S113, the determination unit 130 determines whether the proportion of the right side load of the total of the left side load and the right side load of the forklift F is less than the second threshold.

If the right-side load ratio is less than the second threshold value (YES in step S113), in step S115, the determination unit 130 determines that the forklift F is in a state that requires a warning ("left-side load"). The notification unit 400 also notifies the user that there is a "left-side load". Then, the process proceeds to step S123.

If the right-side load ratio is not less than the second threshold (NO in step S113), in step S121, the determination unit 130 clears the warning flag.

On the other hand, if the determination unit 130 determines that the forklift F is in a state that requires a warning, in step S123, the determination unit 130 sets a warning flag.

Next, FIG. 5 is a flowchart showing a second example of the processing of the warning device according to this embodiment. In step S201, the input unit 21 acquires road surface information.

The road surface information may be input from the road surface condition detection unit 13 or from the database 15.

In step S203, the position acquisition unit 120 acquires the location of the step or slope based on the road surface information.

In step S205, the position acquisition unit 120 acquires the vehicle position of the forklift F.

In step S207, the determination unit 130 determines whether the distance between the vehicle position of the forklift F and the location of the step or slope is less than or equal to a predetermined distance.

If the distance between the positions of the step or inclined portion is not equal to or less than the predetermined distance (NO in step S207), the process in the flowchart of FIG. 5 ends.

On the other hand, if the distance between the positions of the step or inclined portion is equal to or less than the predetermined distance (YES in step S207), in step S209, the determination unit 130 determines whether a warning flag is set.

If the warning flag is set (YES in step S209), in step S211, the determination unit 130 determines that the forklift F is in a state that requires a warning ("risk of tilt/step"). The notification unit 400 also notifies the user of "risk of tilt/step."

On the other hand, if the warning flag is not set (NO in step S209), in step S213, the determination unit 130 determines that the forklift F is in a warning state ("Watch out for inclines and steps"). In addition, the notification unit 400 notifies the user that "Watch out for inclines and steps."

In step S215, the input unit 21 acquires acceleration information.

In step S217, the determination unit 130 determines whether the acceleration when the forklift F passes over a step or an incline is equal to or greater than a predetermined value.

If the acceleration is equal to or greater than the predetermined value (YES in step S217), in step S219, the controller 100 outputs the road surface information generated by the road surface condition detection unit 13 to the database 15. The database 15 stores the road surface information output from the controller 100.

If the acceleration is not greater than or equal to the predetermined value (NO in step S217), the process in the flowchart of FIG. 5 ends.

[Effects of the embodiment]
As described above in detail, the warning device, warning method, and warning program according to this embodiment obtain load information representing the load on each of multiple wheels of a vehicle having a luggage carrying section, and obtain road surface information representing uneven or inclined parts of the road surface on which the vehicle is traveling. The positions of the uneven or inclined parts are obtained based on the road surface information, and center of gravity information of the vehicle is calculated based on the load information. It is determined whether the vehicle is in a state that requires a warning based on the positions and center of gravity information, and if it is determined that the vehicle is in a state that requires a warning, the user is notified.

This makes it possible to evaluate the risk of a vehicle tipping over when a planned travel route is not set, and to issue an appropriate warning to the vehicle's user or manager. In particular, if the vehicle's center of gravity becomes unbalanced when passing around a step or an incline, a warning can be issued indicating that there is a risk of the vehicle tipping over.

The warning device, warning method, and warning program according to this embodiment may calculate the sum of the loads applied to all wheels of a vehicle that has a luggage carrying section forward of the vehicle's front wheels. Then, when the proportion of the load applied to the rear wheels of the vehicle in the sum is less than a first threshold, the vehicle may be determined to be in a state subject to a warning. This makes it possible to determine the risk of the vehicle tipping over in the forward/rearward direction.

Furthermore, the warning device, warning method, and warning program according to this embodiment may calculate the sum of the right-side load applied to the right front wheel of the vehicle and the left-side load applied to the left front wheel of the vehicle in a vehicle that has a luggage carrying section forward of the front wheels of the vehicle. Then, when the proportion of the right-side load or the proportion of the left-side load in the total is less than a second threshold value, the vehicle may be determined to be in a state subject to a warning. This makes it possible to determine the risk of the vehicle rolling over in a lateral direction.

The warning device, warning method, and warning program according to this embodiment may acquire the vehicle position, and determine that the vehicle is in a state subject to a warning if the distance between the vehicle position and the location is equal to or less than a predetermined distance. This makes it possible to determine the risk of the vehicle tipping over when the vehicle approaches a step or an incline.

Furthermore, according to the warning device, warning method, and warning program of this embodiment, when it is determined that the vehicle is in a state subject to a warning, control of the luggage loading section may be stopped. This makes it possible to prevent an increase in the risk of the vehicle tipping over due to the up and down movement of the luggage loading section, etc., when there is a risk of the vehicle tipping over.

The warning device, warning method, and warning program according to this embodiment may generate road surface information based on an image of the surroundings of the vehicle. This makes it possible to determine the risk of the vehicle rolling over even when the vehicle is traveling on a road surface whose road surface information is not registered in a database or the like.

Furthermore, the warning device, warning method, and warning program according to this embodiment may acquire the vehicle position and the vehicle acceleration. Then, if the acceleration when the vehicle passes over a step or a slope is equal to or greater than a predetermined value, the generated road surface information may be stored in association with the vehicle position. This allows road surface information that has not been registered in a database or the like to be newly registered in a database or the like. In addition, the administrator can check the step or slope after the fact, and use the information to assist in road surface repair work.

Each of the functions described in the above embodiments may be implemented by one or more processing circuits. Processing circuits include programmed processors, electrical circuits, and even devices such as application specific integrated circuits (ASICs), and circuit components arranged to perform the described functions.

Although the present embodiment has been described above, the present embodiment is not limited to these, and various modifications are possible within the scope of the gist of the present embodiment.

1 Warning device 11 Measurement unit 13 Road surface condition detection unit (detection unit)
15 Database (storage unit)
21 Input section 51 Fork section (luggage loading section)
52 Backrest section 53 Mast section 100 Controller 110 Center of gravity calculation section 120 Position acquisition section 130 Determination section 400 Notification section F Forklift (vehicle)
TY1 Left front wheel TY2 Right front wheel TY3 Left rear wheel TY4 Right rear wheel

Claims (7)

an input unit for inputting load information representing loads on each of a plurality of wheels of a vehicle having a luggage carrying section and road surface information representing uneven or inclined portions of a road surface on which the vehicle is traveling;
A controller;
A notification unit that notifies a user;
A detection unit that generates the road surface information based on an image captured around the vehicle;
A storage unit;
A warning device comprising:
The controller:
acquiring a location of the step or the slope based on the road surface information;
Calculating center of gravity information of the vehicle based on the load information;
determining whether the vehicle is in a state subject to a warning based on the location and the center of gravity information;
The notification unit issues a notification when it is determined that the vehicle is in the warning target state,
The input unit receives a vehicle position of the vehicle and an acceleration of the vehicle,
The storage unit stores the road surface information generated by the detection unit in association with the vehicle position when the acceleration when the vehicle passes over the step portion or the slope portion is equal to or greater than a predetermined value.
Warning device. the vehicle has the luggage carrying section forward of a front wheel of the vehicle,
2. The warning device according to claim 1, wherein the controller determines that the vehicle is in the warning target state when a ratio of a load applied to a rear wheel of the vehicle to a total load applied to all wheels of the vehicle becomes less than a first threshold value. the vehicle has the luggage carrying section forward of a front wheel of the vehicle,
3. The warning device according to claim 1, wherein the controller determines that the vehicle is in the warning target state when a proportion of the right-side load or a proportion of the left-side load of a sum of a right-side load applied to a right front wheel of the vehicle and a left-side load applied to a left front wheel of the vehicle is less than a second threshold value. The input unit receives a vehicle position of the vehicle,
The controller:
4. The warning device according to claim 1, wherein the vehicle is determined to be in the warning target state when a distance between the vehicle position and the existence position is equal to or shorter than a predetermined distance. The warning device according to any one of claims 1 to 4, wherein the controller stops control of the luggage carrying section when it is determined that the vehicle is in the warning target state. 1. A computer implemented alert method, comprising:
Obtaining load information representing loads on each of a plurality of wheels of a vehicle having a luggage carrying section;
Obtaining road surface information indicating uneven or inclined portions of a road surface on which the vehicle is traveling;
acquiring a location of the step or the slope based on the road surface information;
Calculating center of gravity information of the vehicle based on the load information;
determining whether the vehicle is in a state subject to a warning based on the location and the center of gravity information;
When it is determined that the vehicle is in the warning state, a notification is given to a user.
generating the road surface information based on an image captured around the vehicle;
Accepting an input of a vehicle position of the vehicle and an acceleration of the vehicle;
If the acceleration when the vehicle passes over the step portion or the slope portion is equal to or greater than a predetermined value, the generated road surface information is stored in association with the vehicle position.
Warning method. Obtaining load information representing loads on each of a plurality of wheels of a vehicle having a luggage carrying section;
Obtaining road surface information indicating uneven or inclined portions of a road surface on which the vehicle is traveling;
acquiring a location of the step or the slope based on the road surface information;
Calculating center of gravity information of the vehicle based on the load information;
determining whether the vehicle is in a state subject to a warning based on the location and the center of gravity information;
When it is determined that the vehicle is in the warning state, a notification is given to a user.
generating the road surface information based on an image captured around the vehicle;
Accepting an input of a vehicle position of the vehicle and an acceleration of the vehicle;
If the acceleration when the vehicle passes over the step portion or the slope portion is equal to or greater than a predetermined value, the generated road surface information is stored in association with the vehicle position.
A warning program that causes a computer to execute a process.

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