Warning device, warning method, and warning program

Abstract

To provide a warning device, a method for warning, and a warning program that evaluate the danger that a user of a vehicle will have to face when the user is driving on a road which not limited to places where an event has been detected before, and issue a warning properly to the user or the manager.SOLUTION: The warning device, the method for warning, and the warning program acquire state data showing the state of a warning region on a road where a vehicle with a loading unit runs and the state of the loading unit, the state data also including information showing the presence or absence of a first mark existing in the warning region or near the warning region. If there is the first mark, the warning region of the warning region and the loading unit is determined to be in a non-notification target state on the basis of the state data when which of the notification target state and the non-notification target state one of the warning region and the loading unit is determined to be in. If one of the warning region and the loading unit is determined to be in the notification target state, a notification is issued.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a warning device, a warning method, and a warning program. [Background technology]

[0002] According to the technology disclosed in Patent Document 1, data on a specific vehicle, including at least information on the position and acceleration of each event detected in the past, is classified into risk level groups based on the magnitude of acceleration. Then, whether or not the event data to be processed includes information indicating a sudden deceleration state or a sudden turn state is identified, and hazard map information including information indicating the risk level classification and the positions of danger points is generated based on the result. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-190398 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 extracts dangerous points based on events (sudden acceleration or deceleration) detected in the past. Therefore, it is not possible to evaluate the degree of danger when a vehicle is traveling in places other than where the event actually occurred.

[0005] The present invention has been made in consideration of the problems inherent in the conventional technology, and an object of the present invention is to provide a warning device, a warning method, and a warning program that can evaluate the danger of a vehicle traveling on a road surface, not limited to locations where events have been detected in the past, and issue an appropriate warning to a user or manager of the vehicle. [Means for solving the problem]

[0006] A warning device according to a first aspect of the present invention includes an input unit for receiving status data representing a state of a security area on a road surface on which a vehicle having a luggage loading unit runs and a state of the luggage loading unit, a controller for determining whether the security area or the luggage loading unit is in a state to be notified or a non-notification state that is distinguished from the notification state based on the status data, a first sign detection unit for detecting a first sign present in the security area or in the vicinity of the security area based on an image obtained by capturing an image of the surroundings of the vehicle and transmitting information indicating the presence or absence of the first sign as status data, and a notification unit for issuing a notification to a user. The controller determines that the security area is in a non-notification state when the first sign detection unit detects the first sign, and the notification unit issues a notification when it is determined that the security area or the luggage loading unit is in a notification state.

[0007] A warning method according to a second aspect of the present invention is executed by a computer and acquires status data representing the status of a security area on a road surface on which a vehicle having a luggage carrying unit travels and the status of the luggage carrying unit, the status data including information indicating the presence or absence of a first sign present in the security area or in the vicinity of the security area. When determining whether the security area or the luggage carrying unit is in a state that is subject to notification or a state that is not subject to notification that is distinguished from the state that is subject to notification based on the status data, if the first sign is present, the security area is determined to be in a state that is not subject to notification. Then, when it is determined that the security area or the luggage carrying unit is in a state that is subject to notification, a notification is issued.

[0008] A warning program according to a third aspect of the present invention causes a computer to execute a process of acquiring status data representing a state of a security area on a road surface on which a vehicle having a luggage carrying unit travels and a state of the luggage carrying unit, the status data including information indicating the presence or absence of a first sign present in the security area or in the vicinity of the security area. When determining whether the security area or the luggage carrying unit is in a state that is subject to notification or a state that is not subject to notification that is distinguished from the state that is subject to notification based on the status data, the computer executes a process of determining that the security area is in a state that is not subject to notification if the first sign is present. Then, the computer executes a process of issuing a notification when it is determined that the security area or the luggage carrying unit is in a state that is subject to notification. Effect of the Invention

[0009] According to the present invention, it is possible to evaluate the danger of a vehicle traveling on a road surface, not limited to locations where events have been detected in the past, and to issue an appropriate warning to the user or manager of the vehicle. [Brief description of the drawings]

[0010] [Figure 1] 1 is a side view showing a forklift to which a warning device according to an embodiment of the present invention is applied; [Diagram 2] 1 is a block diagram showing an example of the configuration of a warning device according to an embodiment of the present invention; [Diagram 3] 5 is a flowchart showing an example of a process of the warning device according to the present embodiment. [Figure 4] FIG. 2 is a schematic diagram showing a first example of a first marker. [Diagram 5] FIG. 13 is a schematic diagram showing a second example of the first marker. [Figure 6] FIG. 2 is a schematic diagram showing an example of a second marker. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Next, the warning device according to the present embodiment will be described in detail with reference to the drawings. In the description, the same components are designated by the same reference numerals and duplicated description will be omitted.

[0012] [Vehicle configuration example] A forklift F to which a warning device according to this embodiment is applied will be described with reference to Fig. 1. Fig. 1 is a side view showing a forklift to which a warning device according to this embodiment is applied.

[0013] The forklift F (vehicle) includes a fork portion 51 that moves up and down, a backrest portion 52, a mast portion 53, front wheels that serve as running wheels, rear wheels that serve as drive wheels, and the like.

[0014] The forklift F may be an engine vehicle powered by an internal combustion engine such as a gasoline engine, or it may be a battery vehicle powered by an electric motor driven by power supplied from a secondary battery (battery) that can be charged from a generator, etc.

[0015] The fork portion 51 and the backrest portion 52 are attached so as to be vertically movable relative to a mast portion 53 fixed to the body of the forklift F. The fork portion 51 and the mast portion 53 are collectively referred to as a load carrying portion.

[0016] An on-vehicle camera CM1 is provided above the mast portion 53 that supports the fork portion 51 and the mast portion 53. The on-vehicle camera CM1 captures an image in front of the forklift F (including the road surface and signs in front of the forklift F). In addition, an on-vehicle camera CM2 is provided above the rear of the forklift F. The on-vehicle camera CM2 captures an image in the rear of the forklift F (including the road surface and signs in the rear of the forklift F).

[0017] The positions at which the vehicle-mounted cameras CM1 and CM2 are installed are not limited to the examples given here, as long as they can capture images of the road surface and signs around the forklift F. In addition, the vehicle-mounted cameras CM1 and CM2 may capture images of the sides of the forklift F (including the road surface and signs on the sides).

[0018] A measuring unit 11 is attached to the body of the forklift F, which detects the height of the fork section 51 and the backrest section 52 and transmits information indicating the height as status data. The height detected by the measuring unit 11 may be a height based on the road surface on which the body of the forklift F runs, or a height based on the body of the forklift F. The information indicating the height of the fork section 51 and the backrest section 52 is status data that indicates the status of the luggage loading section.

[0019] Additionally, 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.

[0020] Further, a position sensor (position detection unit) that acquires the vehicle position 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 a plurality of GPS (Global Positioning System) satellites and acquires latitude and longitude information representing the current position of the forklift F from the received signals by performing a predetermined calculation process. This makes it possible to acquire the vehicle position of the forklift F as vehicle position data. The measurement unit 11 may include the position sensor.

[0021] An 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), etc. Through these operations, 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 work, etc.

[0022] The vehicle to which the warning device according to this embodiment is applied is not limited to the forklift F. The vehicle may be a vehicle that loads and unloads or transports luggage, products, etc. in the premises of a factory, warehouse, etc.

[0023] [Warning device configuration example] The configuration of the warning device 1 according to this embodiment will be described with reference to Fig. 2. Fig. 2 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.

[0024] 2, the warning device 1 includes an input unit 21, a controller 100, and a notification unit 400. In addition, the warning device 1 may include a measurement unit 11, a database 15 (storage unit), a sign detection unit 17 (first sign detection unit, second sign detection unit), and a road obstacle detection unit 19. The measurement unit 11 is mounted on the forklift F, but the database 15, the sign detection unit 17, and the road obstacle detection unit 19 may be mounted on the forklift F or may be installed outside the forklift F.

[0025] The measurement unit 11, the database 15, and the sign detection unit 17 are connected to the input unit 21, and the input unit 21 and the notification unit 400 are connected to the controller 100. Here, the "connection" may be a wired or wireless connection.

[0026] The measurement unit 11 detects the height of the fork portion 51 and the backrest portion 52, and transmits information indicating the height as status data. The measurement unit 11 may also measure the vehicle position of the forklift F, and transmit information on the measured vehicle position as vehicle position data. Alternatively, the measurement unit 11 may measure the acceleration of the forklift F, and transmit information on the measured acceleration as acceleration data.

[0027] The database 15 (storage unit) stores information about a warning area on the road surface on which the forklift F travels. The information about the warning area includes, for example, location information. For example, the warning area stored in the database 15 may be set in advance by a user or manager of the forklift F. For example, the warning area may be set to be a partial area of ​​the road surface on which the forklift F travels, or may be set to be the entire area of ​​the road surface on which the forklift F travels.

[0028] The alert area stored in the database 15 may be an area including a step or a slope detected by a road surface obstacle detection unit 19 described below. The database 15 may store not only an area including a step or a slope detected by one specific road surface obstacle detection unit 19, but also areas including a step or a slope detected by a plurality of road surface obstacle detection units 19.

[0029] Examples of the alert area include areas with low ceiling heights, such as platforms (places where truck beds are parked), elevator entrances and exits, and partitions and hanging lights in warehouses. Other alert areas include places where caution is required when the forklift F is traveling. For example, a user or manager of the forklift F may register places where caution is required when the forklift F is traveling as alert areas in the database 15 in advance. Alert areas are not limited to the examples given here.

[0030] Additionally, the database 15 may store vehicle position data indicating the position of the forklift F when the controller 100, which will be described later, determines that the alert area or the luggage loading section is in a state that requires notification.

[0031] The information regarding the alert area stored in the database 15 is transmitted to the input unit 21 as required.

[0032] The sign detection unit 17 (first sign detection unit, second sign detection unit) detects signs (first sign, second sign) around the forklift F based on an image captured by the vehicle-mounted camera CM1 or the vehicle-mounted camera CM2. Then, the sign detection unit 17 detects signs that are present in the security area or in the vicinity of the security area, and transmits information indicating the presence or absence of the signs as status data.

[0033] Signs may be installed on the road surface or on the walls of buildings, truck beds, etc. Examples of signs are shown below with reference to Figs.

[0034] 4 and 5 show a forklift F positioned on a platform PF, which is a security area. FIG. 4 shows signs MK1 and MK2 installed inside an elevator cage CG as examples of a first sign. Sign MK1 is installed on the inside bottom surface of the cage CG, and sign MK2 is installed on the inside wall surface of the cage CG. FIG. 5 also shows sign MK3 installed on a truck loading platform TD as an example of a first sign. Sign MK3 is installed on the floor surface of the loading platform TD.

[0035] In Fig. 3, when the cage CG is located adjacent to the platform PF (such as when the cage CG is parked on the same floor as the forklift F), the forklift F can travel into the cage CG. However, when the cage CG is not located adjacent to the platform PF (such as when the cage CG is parked on a different floor from the forklift F), the forklift F cannot travel into the cage CG. Whether the cage CG is located adjacent to the platform PF can be determined based on whether the sign detection unit 17 can detect signs MK1 and MK2.

[0036] 5, when the platform PF is adjacent to the loading platform TD (such as when a truck is parked alongside the platform PF within a predetermined distance range), the forklift F can travel into the loading platform TD. However, when the platform TD is not adjacent to the platform PF (such as when a truck is not parked alongside the platform PF within a predetermined distance range), the forklift F cannot travel into the loading platform TD. Whether the loading platform TD is adjacent to the platform PF can be determined based on whether the sign detection unit 17 can detect the sign MK3.

[0037] Whether or not the loading platform TD is located adjacent to the platform PF may be detected by a loading platform detection unit (not shown) installed on the platform PF. For example, the loading platform detection unit may measure the distance between the truck or loading platform TD and the platform PF by a method such as non-contact communication or an optical beacon. When the distance between the truck or loading platform TD and the platform PF is equal to or less than a predetermined distance, the loading platform detection unit may determine that the loading platform TD is located adjacent to the platform PF.

[0038] 6 shows, as an example of the second sign, a sign MK4 that is placed near an entrance TG to an area RG with a low ceiling height. The sign MK4 is placed outside the area RG with a low ceiling height.

[0039] 6, when the fork section 51 and the backrest section 52 of the forklift F are at or above a predetermined height, there is a risk that the fork section 51, the backrest section 52, or a load loaded on the fork section 51 may come into contact with the upper part of the entrance / exit TG or the ceiling of the area RG. Whether the forklift F is approaching the area RG with a low ceiling height can be determined by whether the sign detection section 17 can detect the sign MK4.

[0040] In addition, as a method for installing the sign, various methods such as attaching a plate-shaped sign to the installation location, printing, pasting, etc. can be used.

[0041] In addition, when analyzing the image captured by the vehicle-mounted camera CM1 or the vehicle-mounted camera CM2, the shape and color of the sign may be easily distinguished from the shapes and colors of other objects reflected in the image. The shape and color of the sign are not limited to the above examples.

[0042] The road surface obstacle detection unit 19 detects step or slope locations on the road surface around the forklift F based on images captured by the vehicle-mounted camera CM1 or the vehicle-mounted camera CM2. For example, the road surface obstacle detection unit 19 may detect step or slope locations based on image analysis. The road surface obstacle detection unit 19 generates condition data representing the detected step or slope locations. The road surface condition data includes the size of the step at the step location and the size of the slope at the slope location. The road surface condition data is transmitted to the input unit 21.

[0043] The road obstacle detection unit 19 may generate road surface condition data based on point cloud data representing the shape of the road surface around the forklift F acquired by a three-dimensional laser measurement device mounted on the forklift F.

[0044] The input unit 21 acquires information transmitted from the measurement unit 11, the database 15, the sign detection unit 17, and the road obstacle detection unit 19. The various types of information acquired by the input unit 21 are transmitted to the controller 100.

[0045] The notification unit 400 notifies the user when the controller 100, which will be described later, determines that the security area or the luggage loading section is in a state that requires notification.

[0046] For example, when it is determined that the alert area is in a state requiring notification, the notification unit 400 may notify the user of a message conveying a caution or warning, such as "Be careful when driving in the direction of travel." When it is determined that the luggage loading unit is in a state requiring notification, the notification unit 400 may notify the user of a message conveying a caution or warning, such as "There is a height limit in the direction of travel."

[0047] The notification unit 400 may be a liquid crystal display, an organic EL display, etc. The notification unit 400 is not limited to presenting various types of information by visual information.

[0048] The notification unit 400 may present information to the user by auditory information, or may generate vibrations and present information to the user by vibration stimulation. For example, the notification unit 400 may be a sound source, an amplifier, a speaker, etc. for generating and emitting sound.

[0049] The controller 100 is a general-purpose microcomputer equipped with a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (alarm program) for functioning as a part of the warning device 1 is installed in the controller 100. By executing the computer program, the controller 100 functions as a plurality of information processing circuits (120, 141, 143).

[0050] Here, an example is shown in which the multiple information processing circuits (120, 141, 143) included in the controller 100 are realized by software. However, it is also possible to configure the information processing circuits (120, 141, 143) by preparing dedicated hardware for executing each information process described below. Also, the multiple information processing circuits (120, 141, 143) may be configured by individual hardware.

[0051] The controller 100 includes a position acquisition unit 120, an area state determination unit 141, and an operating state determination unit 143 as a plurality of information processing circuits (120, 141, 143).

[0052] The position acquisition unit 120 acquires the vehicle position of the forklift F via the input unit 21. For example, the position acquisition unit 120 may acquire the vehicle position of the forklift F based on position information of the forklift F acquired by a position sensor. Alternatively, the position acquisition unit 120 may acquire the vehicle position of the forklift F by odometry based on the number of rotations of the wheels.

[0053] The area state determination unit 141 determines whether the alert area is in a state to be notified or in a non-notification state that is distinguished from a state to be notified, based on the state data. For example, when the sign detection unit 17 detects the first sign, the area state determination unit 141 determines that the alert area is in a non-notification state.

[0054] 4, the area state determination unit 141 determines that the platform PF, which is the alert area, is in a non-notification target state when the sign detection unit 17 detects the sign MK1 or the sign MK2. That is, when the cage CG is not located adjacent to the platform PF, the area state determination unit 141 determines that the platform PF is in a notification target state, and when the cage CG is located adjacent to the platform PF, the area state determination unit 141 determines that the platform PF is in a non-notification target state.

[0055] 5, the area state determination unit 141 determines that the platform PF, which is the alert area, is in a non-notification target state when the sign detection unit 17 detects the sign MK3. That is, when the platform TD is not located adjacent to the platform PF, the area state determination unit 141 determines that the platform PF is in a notification target state, and when the platform TD is located adjacent to the platform PF, the area state determination unit 141 determines that the platform PF is in a non-notification target state.

[0056] The area state determination unit 141 may determine that the platform PF is in a non-notification target state when a platform TD adjacent to the platform PF is detected by a platform detection unit (not shown).

[0057] Alternatively, the area state determination unit 141 may determine that the alert area is in a state that requires notification when the road obstacle detection unit 19 detects a step or a slope in the alert area.

[0058] The operating state determination unit 143 determines whether the luggage loading unit is in a state that requires notification based on the state data. For example, when the sign detection unit 17 detects the second sign, the operating state determination unit 143 determines whether the luggage loading unit is in a state that requires notification based on the state data.

[0059] 6, when a sign MK4 installed near an entrance TG to an area RG with a low ceiling height is detected, the operation state determination unit 143 determines whether the height of the luggage loading unit is equal to or higher than a predetermined height. When the height of the luggage loading unit is equal to or higher than the predetermined height, the operation state determination unit 143 determines that the luggage loading unit is in a state to be notified.

[0060] Here, the predetermined height is set lower than the ceiling height of the area RG. The predetermined height may be set in advance by a user or an administrator of the forklift F and stored in association with the alert area in the database 15. The predetermined height may also be set to the same value regardless of the alert area.

[0061] In addition, the area state determination unit 141 and the operating state determination unit 143 may perform control to stop the forklift F when it is determined that the alert area or the luggage loading unit is in a state that is to be notified. Furthermore, the area state determination unit 141 and the operating state determination unit 143 may stop control of the fork unit 51 and the backrest unit 52 when it is determined that the alert area or the luggage loading unit is in a state that is to be notified.

[0062] [Warning device handling procedure] Next, a processing procedure of the vehicle operation state detection device according to this embodiment will be described with reference to the flowchart of FIG.

[0063] The process shown in the flowchart of Fig. 3 may be started when the ignition of the forklift F is turned on, and may be repeatedly executed while the ignition is on. The process shown in the flowchart of Fig. 3 may be executed when the forklift F passes through the security area or passes within a predetermined distance from the security area.

[0064] 3 is a flowchart showing an example of the process of the warning device according to this embodiment. In step S101, the input unit 21 acquires the position of the alert area from the database 15.

[0065] In step S103 , the input unit 21 acquires state data from the measurement unit 11 , the sign detection unit 17 , and the road obstacle detection unit 19 .

[0066] In step S105, the area state determination unit 141 determines whether the alert area is in a state to be notified. If it is determined that the alert area is in a state to be notified (YES in step S105), the process proceeds to step S109, and if it is determined that the alert area is not in a state to be notified (NO in step S105), the process proceeds to step S107.

[0067] In step S107, the operating state determination unit 143 determines whether the luggage loading unit is in a state that should be notified. If it is determined that the luggage loading unit is in a state that should be notified (YES in step S107), the process proceeds to step S109, and if it is determined that the luggage loading unit is not in a state that should be notified (NO in step S107), the process ends.

[0068] In step S109, the notification unit 400 notifies the user that the security area or the luggage loading section is in a state that requires notification, and then ends the process.

[0069] [Effects of the embodiment] As described above in detail, the warning device, warning method, and warning program according to the present embodiment obtain status data representing the status of a security area on a road surface on which a vehicle having a luggage loading section travels and the status of the luggage loading section. Then, based on the status data, it is determined whether the security area or the luggage loading section is in a state that requires notification or a state that is not required to be notified and is distinguished from the state that requires notification. If it is determined that the security area or the luggage loading section is in a state that requires notification, a notification is issued to the user.

[0070] This makes it possible to evaluate the danger of the vehicle traveling on the road surface, not limited to locations where events have been detected in the past, and to issue an appropriate warning to the user or manager of the vehicle. In particular, when the alert area or the luggage loading section is in a state subject to notification, a warning can be issued in advance that there is a risk of the vehicle tipping over or colliding with an obstacle.

[0071] Furthermore, the warning device, warning method, and warning program according to the present embodiment may detect a first sign present in the alert area or in the vicinity of the alert area based on an image obtained by capturing an image of the periphery of the vehicle. Then, when the first sign is detected, the alert area may be determined to be in a non-notification state. This allows a warning to be issued in advance when there is a risk of the vehicle tipping over. Furthermore, since a warning is not issued except when the first sign cannot be extracted at the location where the first sign is installed, it is possible to prevent a warning from being issued to a user or manager of the vehicle even when there is no risk.

[0072] Furthermore, the warning device, warning method, and warning program according to the present embodiment may detect a second sign present in the alert area or in the vicinity of the alert area based on an image obtained by capturing an image of the periphery of the vehicle. In addition, when the second sign is detected, it may be determined whether or not the height of the luggage loading section is equal to or greater than a predetermined height. Then, when it is determined that the height of the luggage loading section is equal to or greater than the predetermined height, it may be determined that the luggage loading section is in a state subject to notification. This makes it possible to issue a warning in advance when there is a risk of the vehicle colliding with an obstacle. In addition, since a notification is not issued unless the height of the luggage loading section is equal to or greater than the predetermined height, it is possible to prevent a warning from being issued to a user or manager of the vehicle even when there is no risk.

[0073] Furthermore, the warning device, warning method, and warning program according to the present embodiment may detect a step or inclination that exists in the alert area or in the vicinity of the alert area based on an image obtained by capturing an image of the surroundings of the vehicle. If a step or inclination is detected, the alert area may be determined to be in a state that requires notification. This makes it possible to issue a warning in advance when there is a risk of the vehicle tipping over.

[0074] Furthermore, the warning device, warning method, and warning program according to the present embodiment may obtain information indicating the presence or absence of a cargo bed from a cargo bed detection unit that detects a cargo bed adjacent to the alert area. Then, when a cargo bed is detected by the cargo bed detection unit, the alert area may be determined to be in a non-alert state. This allows a warning to be issued in advance when there is a risk of the vehicle tipping over. Also, in an alert area where a cargo bed can be installed adjacent, no alert is issued unless the cargo bed detection unit detects the cargo bed, so that it is possible to prevent a warning from being issued to a user or manager of the vehicle even when there is no risk.

[0075] Furthermore, according to the warning device, warning method, and warning program of the present embodiment, when it is determined that the alert area or the luggage carrying section is in a state to be notified, the vehicle may be stopped, thereby suppressing an increase in the risk of the vehicle tipping over or colliding with an obstacle caused by the vehicle continuing to travel in the state to be notified.

[0076] Furthermore, according to the warning device, warning method, and warning program of the present embodiment, when it is determined that the security area or the luggage carrying section is in a state to be notified, the control of the luggage carrying section may be stopped, thereby suppressing an increase in the risk of the vehicle tipping over or colliding with an obstacle caused by the vehicle continuing to travel in the state to be notified.

[0077] Furthermore, the warning device, warning method, and warning program according to the present embodiment may acquire vehicle position data indicating the position of the vehicle, and store the vehicle position data when it is determined that the alert area or the luggage loading section is in a state that requires notification. This allows the location where the alert area or the luggage loading section becomes in a state that requires notification to be recorded, and allows the user or manager to extract points that the user or manager should be careful of when driving the vehicle. As a result, this can be useful for safety education for users or managers who drive vehicles.

[0078] Each of the functions described in the above embodiments may be implemented by one or more processing circuits, including a programmed processor, an electrical circuit, or a device such as an application specific integrated circuit (ASIC), or a circuit component arranged to perform the described functions.

[0079] Although the present embodiment has been described above, the present embodiment is not limited to this, and various modifications are possible within the scope of the gist of the present embodiment. [Explanation of symbols]

[0080] 1 Warning device 11 Measurement section 15 Database (storage section) 17 Sign detection unit (first sign detection unit, second sign detection unit) 19 Road surface obstacle detection unit 21 Input section 51 Fork section (luggage carrying section) 52 Backrest section 53 Mast section 100 Controller 120 Position acquisition part 141 Area status determination unit 143 Operation status determination unit 400 Notification Department F Forklift (vehicle)

Claims

1. an input unit for inputting status data representing a status of a security area on a road surface on which a vehicle having a luggage carrying section is traveling and a status of the luggage carrying section; a controller that determines whether the security area or the luggage carrying section is in a state that is subject to notification or a state that is not subject to notification and is distinguished from the state that is subject to notification, based on the state data; a first sign detection unit that detects a first sign that is present in the security area or in the vicinity of the security area based on an image obtained by capturing an image of the surroundings of the vehicle, and transmits information indicating the presence or absence of the first sign as the status data; A notification unit that notifies a user; A warning device comprising: The controller: When the first sign is detected by the first sign detection unit, it is determined that the alert area is in the non-notification target state; The notification unit is a warning device that issues a notification when it is determined that the security area or the luggage loading unit is in the notification target state.

2. a second sign detection unit that detects a second sign that is present in the security area or in the vicinity of the security area based on an image obtained by capturing an image of the surroundings of the vehicle, and transmits information indicating the presence or absence of the second sign as the status data; A measuring unit that detects a height of the luggage loading section and transmits information indicating the height as the status data, The controller: When the second marker is detected by the second marker detection unit, it is determined whether or not the height is equal to or greater than a predetermined height; 2. The warning device according to claim 1, further comprising: a determining unit configured to determine that the luggage carrying section is in the state to be notified when the height is determined to be equal to or greater than the predetermined height.

3. a road obstacle detection unit that detects a step or a slope that exists in the alert area or in the vicinity of the alert area based on an image obtained by capturing an image of the surroundings of the vehicle, and transmits information indicating the presence or absence of the step or the slope as the condition data; The controller:

3. The warning device according to claim 1, further comprising: a road obstacle detection unit that detects the step or the inclination of the road surface; and a warning device that determines that the alert area is in the state that should be notified.

4. The input unit receives, as the status data, information indicating the presence or absence of a cargo bed from a cargo bed detection unit that detects the cargo bed adjacent to the security area, 4. The warning device according to claim 1, wherein the controller determines that the alert area is in the non-notification state when the loading platform is detected by the loading platform detection unit.

5. 5. The warning device according to claim 1, wherein the controller stops the vehicle when it is determined that the alert area or the luggage carrying section is in the state to be notified.

6. 6. The warning device according to claim 1, wherein the controller stops control of the luggage loading section when it is determined that the alert area or the luggage loading section is in the state to be notified.

7. a position detection unit that acquires vehicle position data representing a position of the vehicle; 7. The warning device according to claim 1, further comprising a storage unit configured to store the vehicle position data when it is determined that the alert area or the luggage carrying section is in the state to be notified.

8. 1. A computer implemented alert method, comprising: acquiring status data representing a state of a security area on a road surface on which a vehicle having a luggage carrying section is traveling and a state of the luggage carrying section, the status data including information indicating the presence or absence of a first sign present in the security area or in the vicinity of the security area; when determining whether the security area or the luggage carrying section is in a state to be notified or a state not to be notified that is distinguished from the state to be notified based on the state data, if the first sign is present, determining that the security area is in the state not to be notified; A warning method for issuing a warning when it is determined that the security area or the luggage loading section is in the warning target state.

9. acquiring status data representing a state of a security area on a road surface on which a vehicle having a luggage carrying section is traveling and a state of the luggage carrying section, the status data including information indicating the presence or absence of a first sign present in the security area or in the vicinity of the security area; when determining whether the security area or the luggage carrying section is in a state to be notified or a state not to be notified that is distinguished from the state to be notified based on the state data, if the first sign is present, determining that the security area is in the state not to be notified; A warning program for causing a computer to execute a process of issuing a warning when it is determined that the alert area or the luggage loading section is in the warning target state.

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