Foreign object run-over detection system, vehicle, program, and foreign object run-over detection method
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-01-14
- Publication Date
- 2026-08-13
Smart Images
Figure JP2026000914_13082026_PF_FP_ABST
Abstract
Description
Foreign Object Treading Detection System, Vehicle, Program, and Foreign Object Treading Detection Method
[0001] The present invention relates to a foreign object treading detection system, a vehicle, a program, and a foreign object treading detection method.
[0002] Patent Document 1 describes detecting a tire with insufficient air pressure by monitoring the pressure of the suspension of a work vehicle. Patent Document 2 describes determining road conditions using operation parameters related to a work machine. [Prior Art Documents] [Patent Documents] [Patent Document 1] U.S. Patent No. 4,866,419 [Patent Document 2] U.S. Patent Application Publication No. 2004 / 122580
[0003] The tires of a vehicle may be damaged by stepping on foreign objects. Therefore, it is desired to be able to detect that a tire has stepped on a foreign object.
[0004] In one embodiment, a foreign object treading detection system including at least one processor is provided. The at least one processor acquires behavior information indicating the behavior of a tire provided in a vehicle, detects that the tire has stepped on a foreign object based on the behavior information, and outputs a detection result when it is detected that the tire has stepped on a foreign object.
[0005] Note that the above summary of the invention does not list all the features of the present invention. Sub-combinations of these feature groups can also be inventions.
[0006] Shows the configuration of the vehicle management system 100. Shows the configuration of the vehicle 102. Shows the configuration of the management device 108. An example of the pressure of the hydraulic suspension 204 is shown. An example of the pressure of the hydraulic suspension 204 is shown. An example of the processing flow of the control device 240 is shown. An example of the computer 1200 is shown.
[0007] The following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential for the solution means of the invention.
[0008] Various embodiments may be described with reference to flowcharts or configuration diagrams. Each block in a flowchart or functional configuration diagram may represent (1) a stage in a process in which an operation is performed, or (2) a section of equipment that has the role of performing the operation. Certain stages and sections may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits, including logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other memory elements.
[0009] Computer-readable media may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, computer-readable media having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks (registered trademark), diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray (registered trademark) disc, memory stick, integrated circuit card, etc.
[0010] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk®, Java®, C++, and conventional procedural programming languages such as the C programming language or similar programming languages.
[0011] Computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the internet to the processor or programmable circuit of a programmable data processing device such as a computer. The computer may execute computer-readable instructions to create means for performing operations specified in a flowchart or configuration diagram. Here, the computer may be a PC (personal computer), tablet computer, smartphone, workstation, server computer, general-purpose computer, or special-purpose computer, and may also be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system and is a computer in a broad sense. In a distributed computing system, multiple computers execute a part of the program, and as needed, data during program execution is passed between computers, so that multiple computers execute the program collectively.
[0012] Examples of processors include computer processors, central processing units (CPUs), processing units, microprocessors, digital signal processors, controllers, and microcontrollers. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of the program, and the processors collectively execute the program by passing program execution data between them as needed. For example, in the execution of multitasks, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at each time slice. In this case, which part of a program each processor executes changes dynamically. Which part of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.
[0013] Figure 1 shows the configuration of a vehicle management system 100 according to one embodiment. The vehicle management system 100 comprises a vehicle 102, a communication network 106, a management device 108, a data server 110, and another vehicle 112. Vehicle 102, the management device 108, the data server 110, and vehicle 112 are connected to each other via the communication network 106. The vehicle management system 100 is an example of a foreign object intrusion detection system. Each of the vehicle 102, the management device 108, and vehicle 112, or any combination thereof, may be an example of a foreign object intrusion detection system. Vehicles 102 and 112 are work vehicles equipped with front wheels and rear wheels. Vehicles 102 and 112 operate and perform work, for example, at a work site such as a mine. Vehicles 102 and 112 are, for example, mining vehicles or construction vehicles such as dump trucks, wheel loaders, or motor graders. Note that each of the vehicles 102 and 112 may be a manned or unmanned vehicle. A manned vehicle is a vehicle that is driven and operated by an occupant. An unmanned vehicle is a vehicle that operates without the operation of an occupant and can function even without an occupant.
[0014] The management device 108 may be located in a different location from the work site where vehicles 102 and 112 are working. In this case, the management device 108 communicates with vehicles 102 and 112 via a communication network 106 such as the Internet, a cellular network such as 4G, 5G, or 6G, or a satellite communication network. The management device 108 may be located at the work site where vehicles 102 and 112 are working. In this case, the management device 108 communicates with vehicles 102 and 112 via a communication network 106 such as a local network (LAN). The management device 108 may also communicate with vehicles 102 and 112 using short-range wireless communication such as Bluetooth®. Vehicles 102 and 112 communicate with each other via the communication network 106 or using short-range wireless communication such as Bluetooth®. The work site may include a loading area or a soil disposal area.
[0015] Vehicle 102 collects data about vehicle 102 or the external environment and detects the presence of foreign objects 104 based on the collected data. Vehicle 102 transmits the collected data or the detection result of the presence of foreign objects 104 to the management device 108, data server 110, or vehicle 112 via the communication network 106. Vehicle 102 may transmit the detection result of the presence of foreign objects to a portable terminal held by the operator of vehicle 102, the operator of vehicle 112, or other workers. Examples of other workers include the operator of a maintenance vehicle or the operator of a loading vehicle. Foreign objects 104 are, for example, fallen objects such as rocks or stones that have fallen from the vehicle.
[0016] The management device 108 manages the received data or the detection result of foot traffic. The management device 108 may detect foot traffic by a foreign object 104 based on the received data. The management device 108 transmits the foot traffic detection result to vehicle 102, data server 110, or vehicle 112. The management device 108 may transmit the foot traffic detection result to a mobile terminal held by the operator of vehicle 102, the operator of vehicle 112, or other workers. The management device 108 may broadcast the detection result to multiple vehicles and multiple mobile terminals.
[0017] The data server 110 stores the received data or the detection result of foot traffic. The data server 110 may transmit the stored data or the detection result of foot traffic to vehicle 102, the management device 108, or vehicle 112. The data server 110 may also transmit the stored data or the detection result of foot traffic to a mobile terminal held by the operator of vehicle 102, the user of the management device 108, the operator of vehicle 112, or other workers. The data server 110 may broadcast the detection result to multiple vehicles, management devices, and multiple mobile terminals. Vehicle 112 receives the detection result of foot traffic. Vehicles 102 and 112 may have the same configuration or functions.
[0018] According to this embodiment, when vehicle 102 detects that a foreign object 104 has been driven over, the operator of vehicle 102 can recognize that there is a possibility that damage has occurred to the vehicle's tires. Therefore, the operator of vehicle 102 can inspect the vehicle's tires thoroughly and repair or replace the tires without overlooking any damage. In addition, when vehicle 102 transmits the detection result of the foreign object 104 being driven over to the management device 108, data server 110, or vehicle 112, persons other than the operator of vehicle 102, such as the administrator of the management device 108, can recognize the presence of the foreign object 104. If vehicle 102 is an unmanned vehicle, there is no one who can feel the foreign object 104 being driven over, but the administrator of the management device 108 can recognize the presence of the foreign object 104. As a result, persons other than the operator of vehicle 102 can inspect the vehicle's tires thoroughly and repair or replace the tires without overlooking any damage, and persons other than the operator of vehicle 102 can remove the foreign object 104. Furthermore, the operator of the vehicle 112 can operate the vehicle 112 while paying attention to the foreign object 104.
[0019] In other words, the vehicle management system 100 makes it possible to detect and prevent tire damage caused by foreign objects 104 being driven over. Therefore, the lifespan of the tires can be extended, improving cost efficiency and work efficiency. Particularly in work sites such as mines, where loose rocks may fall onto the road surface from vehicles 102 or 112, the vehicle management system 100 is effective in improving cost efficiency and work efficiency.
[0020] Figure 2 shows the configuration of a vehicle 102 according to this embodiment. The vehicle 102 includes a plurality of tires 202, a plurality of fluid pressure suspensions 204, a frame 206, a tire-side measuring device 210, a vehicle-side measuring device 220, a control device 240, a communication device 260, and an output device 270. The control device 240 is an example of a foreign object intrusion detection system. The control device 240 may be implemented by a single controller or by a plurality of controllers.
[0021] A fluid-pressure suspension 204 is connected to all or some of the multiple tires 202. The fluid-pressure suspension 204 is connected to the frame 206, which is the skeleton of the vehicle 102.
[0022] The tire-side measuring device 210 measures the behavior of the tire 202 and transmits behavioral information indicating the behavior of the tire 202 to the control device 240. The behavioral information includes information indicating the acceleration of the tire 202, information indicating the pressure of the fluid pressure suspension 204, or information indicating the strain of the frame 206. The behavioral information may be time-series data indicating the behavior of the tire 202. The behavioral information may indicate the behavior of multiple tires 202 on the vehicle 102. The information indicating the acceleration of the tire 202 may indicate the acceleration in the vertical direction. The pressure of the fluid pressure suspension 204 fluctuates as the tire 202 moves relative to the frame 206. Therefore, fluctuations in the pressure of the fluid pressure suspension 204 indicate the behavior of the tire 202. The strain of the frame 206 fluctuates as the movement of multiple tires 202 is transmitted to the frame 206 via the fluid pressure suspension 204. Therefore, fluctuations in the strain of the frame 206 indicate the behavior of the tire 202.
[0023] The tire-side measuring device 210 has at least one acceleration sensor 212, at least one pressure sensor 214, and at least one strain sensor 216. The tire-side measuring device 210 may have at least one of the acceleration sensor 212, the pressure sensor 214, and the strain sensor 216. The acceleration sensor 212 is attached to the tire 202 and measures the acceleration of the tire 202. The acceleration sensor 212 may measure vertical acceleration. The pressure sensor 214 measures the pressure of the fluid-pressure suspension 204. The strain sensor 216 is attached to the frame 206 and measures the strain of the frame 206.
[0024] The vehicle-side measuring device 220 measures the driving state of the vehicle 102 and transmits driving state information indicating the driving state of the vehicle 102 to the control device 240. The driving state information includes information indicating the speed of the vehicle 102, information indicating the acceleration of the vehicle 102, information indicating the angular velocity of the vehicle 102, information indicating the steering angle of the vehicle 102, position information indicating the position of the vehicle 102, or information indicating the outside temperature of the vehicle 102. The driving state information may be time-series data indicating the driving state of the vehicle 102.
[0025] The vehicle-side measuring device 220 includes a speed sensor 222, an acceleration sensor 224, an angular velocity sensor 226, a steering angle sensor 228, a position sensor 230, and a temperature sensor 232. The speed sensor 222 measures the speed of the vehicle 102. The acceleration sensor 224 measures the acceleration of the vehicle 102. The angular velocity sensor 226 measures the angular velocity of the vehicle 102. The steering angle sensor 228 measures the steering angle of the vehicle 102. The position sensor 230 measures the position of the vehicle 102. The temperature sensor 232 measures the ambient temperature of the vehicle 102.
[0026] The driving state information may include information indicating the tilt of the vehicle 102. An example of information indicating the tilt of the vehicle 102 is the lateral acceleration of the vehicle 102. The lateral acceleration of the vehicle 102 may be measured by the acceleration sensor 224. An example of the lateral acceleration of the vehicle 102 is the centrifugal acceleration of the vehicle. When the vehicle 102 is turning, it experiences lateral acceleration, i.e., outward centrifugal acceleration. The magnitude of the centrifugal acceleration is calculated from the speed of the vehicle 102 measured by the speed sensor 222 and the steering angle of the vehicle 102 measured by the steering angle sensor 228. The angular velocity of the vehicle 102 may be used instead of either the speed or the steering angle of the vehicle 102. The speed, steering angle, and angular velocity of the vehicle 102, or any combination thereof, are other examples of information indicating the tilt of the vehicle 102.
[0027] The control device 240 includes an information acquisition unit 242, an information storage unit 244, a foreign object intrusion detection unit 246, a communication control unit 248, and an output control unit 250. The information acquisition unit 242 acquires at least one of the behavior information and driving state information of at least one tire 202. The information acquisition unit 242 may acquire behavior information indicating the behavior of multiple tires 202. The information storage unit 244 stores the behavior information and driving state information acquired by the information acquisition unit 242. The foreign object intrusion detection unit 246 detects that any of the multiple tires 202 have run over a foreign object 104 based on at least one of the behavior information and driving state information stored in the information storage unit 244. The foreign object intrusion detection unit 246 may detect that a tire 202 has run over a foreign object 104 based on the behavior information of one tire 202, or it may detect that any of the multiple tires 202 have run over a foreign object 104 based on the behavior information of multiple tires 202.
[0028] The foreign object intrusion detection unit 246 may detect that the vehicle 102 has stepped on a foreign object 104 based on the acceleration of the tire 202 measured by the acceleration sensor 212. When the tire 202 steps on a foreign object 104, an upward acceleration occurs in the tire 202. Therefore, the foreign object intrusion detection unit 246 may detect that the tire 202 has stepped on a foreign object 104 when an upward acceleration is measured in the tire 202.
[0029] The foreign object intrusion detection unit 246 may detect that the tire 202 has stepped on the foreign object 104 based on the pressure of the fluid pressure suspension 204 measured by the pressure sensor 214. When the tire 202 steps on the foreign object 104, an upward acceleration occurs in the tire 202, and the fluid pressure suspension 204 receives a downward inertial force, causing the pressure of the fluid pressure suspension 204 to rise. Therefore, the foreign object intrusion detection unit 246 may detect that the tire 202 has stepped on the foreign object 104 when an increase in the pressure of the fluid pressure suspension 204 is measured.
[0030] The foreign object intrusion detection unit 246 may detect that the tire 202 has stepped on the foreign object 104 based on the strain of the frame 206 measured by the strain sensor 216. When the tire 202 steps on the foreign object 104, an upward acceleration occurs in the tire 202, and the frame 206 receives a downward inertial force at the connection point with the fluid pressure suspension 204, so the strain of the frame 206 increases. Therefore, the foreign object intrusion detection unit 246 may detect that the tire 202 has stepped on the foreign object 104 when an increase in the strain of the frame 206 is measured.
[0031] The foreign object intrusion detection unit 246 may correct the pressure of the fluid pressure suspension 204 measured by the pressure sensor 214 based on information indicating the tilt of the vehicle 102. For example, the foreign object intrusion detection unit 246 may subtract more from the pressure of the fluid pressure suspension 204 that is lower, or add more to the pressure of the fluid pressure suspension 204 that is higher, depending on the tilt of the vehicle 102. The foreign object intrusion detection unit 246 may correct the information indicating the pressure of the fluid pressure suspension 204 measured by the pressure sensor 214 based on information indicating the ambient temperature measured by the temperature sensor 232. Since the pressure of the fluid pressure suspension 204 increases with higher ambient temperatures, for example, the pressure of the fluid pressure suspension 204 may be corrected to be lower when the ambient temperature is higher. Based on the corrected pressure, the foreign object intrusion detection unit 246 may detect that the tire 202 has driven over the foreign object 104.
[0032] According to this embodiment, the foreign object intrusion detection unit 246 can more accurately determine the behavior of the tire 202 by using not only behavior information but also driving state information. Specifically, the behavior of the tire 202 can be more accurately determined by correcting the pressure of the fluid pressure suspension 204 using the vehicle speed, steering angle, or angular velocity of the vehicle 102. Since the foreign object intrusion detection unit 246 can more accurately determine the behavior of the tire 202, it can more accurately detect the intrusion of the foreign object 104.
[0033] The foreign object detection unit 246 may detect the attributes of a foreign object 104 that has been stepped on by any of the multiple tires 202, based on at least one of the behavior information and driving state information stored in the information storage unit 244. The attributes of the foreign object 104 are, for example, the size, hardness, or shape of the foreign object 104. The foreign object detection unit 246 outputs a detection result that includes information indicating that a tire 202 has stepped on a foreign object 104 and information indicating the attributes of the stepped-on foreign object 104.
[0034] The foreign object detection unit 246 identifies the position where the tire 202 has stepped on the foreign object 104, based on position information indicating the position of the vehicle 102 measured by the position sensor 230. The foreign object detection unit 246 outputs a detection result that includes information indicating that the tire 202 has stepped on the foreign object 104 and position information indicating the position where the tire 202 has stepped on the foreign object 104.
[0035] Based on the detection result of the foreign object detection unit 246, the output control unit 250 causes the output device 270 to output a notification to the operator of the vehicle 102 indicating that the tire 202 has run over a foreign object 104. The output device 270 is, for example, a display device that displays the location of the foreign object 104 on a map. The output device 270 may also be an audio output device that outputs an audio message indicating that a foreign object 104 has been detected.
[0036] According to this embodiment, the operator of vehicle 102 can recognize that vehicle 102 has run over a foreign object 104, and can drive carefully to prevent further tire damage. Furthermore, the tire 202 can be inspected promptly. Additionally, the operator of vehicle 102 can remove the foreign object 104, preventing other vehicles from running over it. Therefore, flexible and highly efficient maintenance can be achieved in response to the road surface conditions at work sites such as mines.
[0037] The communication control unit 248 transmits the detection result from the foreign object detection unit 246 from the communication device 260 to the management device 108, data server 110, vehicle 112, or other workers. The output devices of the management device 108 or vehicle 112, or the portable terminals held by the user of the management device 108, the operator of the vehicle 112, or other workers, output a notification to the user of the management device 108, the operator of the vehicle 112, or other workers indicating that the tire 202 has run over a foreign object 104, based on the received detection result. The data server 110 stores the received detection result and provides the detection result to the management device 108, vehicle 112, or the portable terminals held by the user of the management device 108, the operator of the vehicle 112, or other workers upon request.
[0038] The communication control unit 248 may transmit at least one of the behavior information and driving state information stored in the information storage unit 244 from the communication device 260 to another foreign object detection system provided in the management device 108. The other foreign object detection system provided in the management device 108 detects from the received behavior information and driving state information that the vehicle 102 has run over a foreign object 104 and outputs a notification indicating that the tire 202 has run over a foreign object 104 to the user of the management device 108, the operator of the vehicle 112, or other workers.
[0039] According to this embodiment, the user of the control device 108 or the operator of the vehicle 112 can be made aware that vehicle 102 has run over a foreign object 104. Therefore, the operator of vehicle 112 can drive while avoiding the foreign object 104. In addition, the user of the control device 108, the operator of vehicle 112, or other workers can be made to remove the foreign object 104, thereby preventing other vehicles from running over the foreign object 104.
[0040] The communication control unit 248 obtains the detection result of foreign object encroachment by vehicle 112 from the management device 108, data server 110, or vehicle 112 via the communication device 260. The communication control unit 248 forwards the detection result of foreign object encroachment by vehicle 112 to the output control unit 250. Based on the detection result of foreign object encroachment by vehicle 112, the output control unit 250 causes the output device 270 to output a notification to the operator of vehicle 102 indicating that the tires of vehicle 112 have encroached on foreign object.
[0041] According to this embodiment, the operator of vehicle 102 can be made aware that vehicle 112 has run over a foreign object. Therefore, the operator of vehicle 102 can drive while avoiding the foreign object. In addition, the operator of vehicle 102 can be made to remove the foreign object, thereby preventing vehicle 102 and other vehicles from running over the foreign object.
[0042] Figure 3 shows the configuration of the management device 108 according to this embodiment. The management device 108 includes a communication unit 310, an information acquisition unit 342, an information storage unit 344, a foreign object detection unit 346, and an output unit 320. The information acquisition unit 342, the information storage unit 344, and the foreign object detection unit 346 may each have the same functions as the information acquisition unit 242, the information storage unit 244, and the foreign object detection unit 246.
[0043] When the management device 108 detects that the vehicle 102 has driven over a foreign object 104, the communication unit 310 receives information on the behavior of the vehicle 102's tires 202 and driving status information from the vehicle 102 or the data server 110 via the communication network 106. The communication unit 310 then transfers the information on the behavior of the vehicle 102's tires 202 and driving status information to the information acquisition unit 342.
[0044] The foreign object intrusion detection unit 346 transfers the detection result of the intrusion of the foreign object 104 to the output unit 320. Based on the detection result of the intrusion of the foreign object 104 acquired from the foreign object intrusion detection unit 346, the output unit 320 outputs a notification indicating that the tire 202 has stepped on the foreign object 104 to the user of the management device 108. The output unit 320 is, for example, a display device that displays the position of the foreign object 104 on a map. The output unit 320 may be an audio output device that outputs the detection of the foreign object 104 by voice.
[0045] When the management device 108 provides the detection result to the vehicle 102, the data server 110, or the vehicle 112, the foreign object intrusion detection unit 346 transfers the detection result of the intrusion of the foreign object 104 to the communication unit 310. The communication unit 310 transmits the detection result of the intrusion of the foreign object 104 acquired from the foreign object intrusion detection unit 346 to the vehicle 102, the data server 110, the vehicle 112, or other operators via the communication network 106. The data server 110 stores the received detection result and may provide the detection result in response to a request from the management device 108, the vehicle 102, the vehicle 112, or the operator of the vehicle 102, the user of the management device 108, the operator of the vehicle 112, or other operators, or a mobile terminal possessed by them.
[0046] When the vehicle 102 detects the intrusion of the foreign object 104, the communication unit 310 receives the detection result of the intrusion of the foreign object 104 from the vehicle 102 or the data server 110 via the communication network 106 and transfers it to the output unit 320. Based on the result of the intrusion of the foreign object 104 acquired from the communication unit 310, the output unit 320 outputs a notification indicating that the tire 202 has stepped on the foreign object 104 to the user of the management device 108.
[0047] According to the present embodiment, the management device 108 can comprehensively monitor the intrusion of foreign objects by a plurality of vehicles. Further, when the management device 108 has a function of detecting the intrusion of foreign objects by a vehicle, the vehicle does not necessarily need to have a function of detecting the intrusion of foreign objects. Thereby, the functions mounted on the vehicle can be reduced, and the maintenance load can be reduced.
[0048] FIG. 4 shows an example of the pressure of the hydraulic suspension 204 connected to the tire 202 that has stepped on the foreign object 104. The pressure with respect to time when the tire 202 steps on the foreign object 104 at time t is plotted. A method for detecting the stepping on of the foreign object 104 will be described with reference to FIG. 4. However, the foreign object intrusion detection unit 246 is not limited to these methods, and the stepping on of the foreign object 104 may be detected by any other method.
[0049] The pressure of the hydraulic suspension 204 is constant at P0 until time t. This indicates that there is no significant up and down movement in the tire 202 of the vehicle 102, and the vehicle 102 is traveling on a flat road surface. The pressure of the hydraulic suspension 204 rises from time t and reaches a maximum of P1. This indicates that the tire 202 of the vehicle 102 has stepped on the foreign object 104 at time t. Thereafter, the pressure of the hydraulic suspension 204 decreases and becomes constant at P0.
[0050] The foreign object intrusion detection unit 246 detects the stepping on of the foreign object 104 based on the pressure or pressure fluctuation of the hydraulic suspension 204. The foreign object intrusion detection unit 246 may detect the stepping on of the foreign object 104 when the pressure of the hydraulic suspension 204 exceeds a predetermined value. The foreign object intrusion detection unit 246 may detect the stepping on of the foreign object 104 when the amount of pressure fluctuation of the hydraulic suspension 204 exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the stepping on of the foreign object 104 when the value obtained by subtracting P0 from P1 exceeds a predetermined value.
[0051] The foreign object intrusion detection unit 246 may detect the stepping on of the foreign object 104 based on the moving average value of the pressure of the hydraulic suspension 204. For example, the foreign object intrusion detection unit 246 detects that the tire 202 has stepped on the foreign object 104 at time t when the moving average value of the pressure of the hydraulic suspension 204 exceeds a predetermined value at time t.
[0052] The foreign object intrusion detection unit 246 may detect the intrusion of a foreign object 104 based on the derivative of the pressure of the fluid pressure suspension 204 with respect to time. For example, the foreign object intrusion detection unit 246 detects that the tire 202 has intruded upon the foreign object 104 at time t if the derivative of the pressure of the fluid pressure suspension 204 with respect to time exceeds a predetermined value at time t.
[0053] The foreign object intrusion detection unit 246 may detect the intrusion of a foreign object 104 based on a moving average value of the derivative of the pressure of the fluid pressure suspension 204 with respect to time. For example, the foreign object intrusion detection unit 246 detects that the tire 202 has intruded upon a foreign object 104 at time t if the moving average value of the derivative of the pressure of the fluid pressure suspension 204 with respect to time exceeds a predetermined value at time t.
[0054] When vehicle 102 drives over foreign object 104, the pressure in the fluid pressure suspension 204 rises rapidly. According to this embodiment, the foreign object detection unit 246 can distinguish between the rise in pressure in the fluid pressure suspension 204 due to rising ambient temperature or increased vehicle load, and the rise in pressure in the fluid pressure suspension 204 due to driving over foreign object 104. Therefore, the foreign object detection unit 246 can accurately detect that vehicle 102 has driven over foreign object 104.
[0055] The foreign object detection unit 246 detects the attributes of the foreign object 104 based on the pressure or pressure fluctuations of the fluid pressure suspension 204. For example, the foreign object detection unit 246 detects that the larger the pressure fluctuation of the fluid pressure suspension 204, the larger the size of the foreign object 104 or the higher the hardness of the foreign object 104.
[0056] The foreign object detection unit 246 may detect the attributes of the foreign object 104 based on the derivative of the pressure of the fluid pressure suspension 204 with respect to time. For example, the foreign object detection unit 246 detects that the larger the derivative of the pressure of the fluid pressure suspension 204 with respect to time is at time t, the larger the size of the foreign object 104 or the harder the foreign object 104 is.
[0057] The foreign object detection unit 246 may detect the attributes of the foreign object 104 based on the moving average value of the derivative of the pressure of the fluid pressure suspension 204 with respect to time. For example, the foreign object detection unit 246 detects that the larger the moving average value of the derivative of the pressure of the fluid pressure suspension 204 with respect to time is at time t, the larger the size of the foreign object 104 or the harder the foreign object 104 is.
[0058] According to this embodiment, the foreign object detection unit 246 detects the size or hardness of the foreign object 104 that the vehicle 102 has stepped on. Therefore, the operator of the vehicle 102 or another person can focus their inspection on the tire 202 that has stepped on a foreign object 104 that is larger or harder. Furthermore, the operator of the vehicle 102 or another person can find and remove the foreign object 104 by considering the detected size or hardness.
[0059] Figure 5 shows an example of the pressure in a fluid-pressure suspension 204 connected to a tire 202 that has run over a foreign object 104. Four fluid-pressure suspensions 204 are connected to each of the four tires 202, and the pressure against time is plotted when the front right (FR) tire 202 runs over the foreign object 104 at time t1.
[0060] The pressure in the fluid-pressure suspension 204 connected to the left front wheel (FL) tire 202 is constant at P0(FL) until time t1. The pressure in the fluid-pressure suspension 204 connected to the right front wheel (FR) tire 202 is constant at P0(FR) until time t1. The pressure in the fluid-pressure suspension 204 connected to the left rear wheel (RL) tire 202 is constant at P0(RL) until time t1. The pressure in the fluid-pressure suspension 204 connected to the right rear wheel (RR) tire 202 is constant at P0(RR) until time t1. This indicates that no significant vertical movement is occurring in any of the four tires 202, and that the vehicle 102 is traveling on a flat road surface. Note that P0(FL), P0(FR), P0(RL), and P0(RR) may each be different values.
[0061] The pressure in the fluid-pressure suspension 204 connected to the right front wheel (FR) tire 202 rises from time t1, reaching a maximum of P1 (FR). This indicates that the right front wheel (FR) tire 202 ran over the foreign object 104 at time t1. Subsequently, the pressure in the right front wheel (FR) fluid-pressure suspension 204 decreases and becomes constant at P0 (FR).
[0062] As the front right (FR) tire 202 runs over the foreign object 104, the frame 206 of the vehicle 102 tilts, and after time t1, the load on the rear left (RL) tire 202 increases. As a result, the pressure in the fluid-pressure suspension 204 connected to the rear left (RL) tire 202 rises from time t2, reaching a maximum of P1(RL). The load on the rear right (RR) tire 202 also increases. As a result, the pressure in the fluid-pressure suspension 204 connected to the rear right (RR) tire 202 rises from time t2, reaching a maximum of P1(RR). After that, the pressures in the fluid-pressure suspensions 204 of the rear left (RL) and rear right (RR) wheels decrease and become constant at P0(RL) and P0(RR), respectively.
[0063] When the right front wheel (FR) tire 202 runs over the foreign object 104, the load on the left front wheel (FL) tire 202 decreases. As a result, the pressure in the fluid-pressure suspension 204 connected to the left front wheel (FL) tire 202 decreases from time t2, reaching a minimum of P1(FL). Subsequently, the pressure in the left front wheel (FL) fluid-pressure suspension 204 increases and becomes constant at P0(FL). Note that P1(FL), P1(FR), P1(RL), and P1(RR) may each be different values.
[0064] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 by the vehicle 102 based on the pressure or pressure fluctuations of the multiple fluid pressure suspensions 204. The foreign object intrusion detection unit 246 may allow the control device 240 to detect the intrusion of a foreign object 104 if the amount of pressure fluctuation of the multiple fluid pressure suspensions 204 exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 if two or more of the following values exceed a predetermined value: the value obtained by subtracting P0(FL) from P1(FL), the value obtained by subtracting P0(FR) from P1(FR), the value obtained by subtracting P0(RL) from P1(RL), and the value obtained by subtracting P0(RR) from P1(RR).
[0065] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 by the vehicle 102 based on the average value of the pressure or pressure fluctuations of the multiple fluid pressure suspensions 204. The foreign object intrusion detection unit 246 may allow the control device 240 to detect the intrusion of a foreign object 104 if the average value of the pressure fluctuations of the multiple fluid pressure suspensions 204 exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 if the average value of the value obtained by subtracting P0(FL) from P1(FL), the value obtained by subtracting P0(FR) from P1(FR), the value obtained by subtracting P0(RL) from P1(RL), and the value obtained by subtracting P0(RR) from P1(RR) exceeds a predetermined value.
[0066] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 based on the derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time. The foreign object intrusion detection unit 246 may detect the intrusion of a foreign object 104 if the derivative of the pressure of a predetermined number of the multiple fluid pressure suspensions 204 with respect to time exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 may detect the intrusion of a foreign object 104 if the derivative of the pressure of two or more of the four fluid pressure suspensions 204 with respect to time exceeds a predetermined value.
[0067] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 based on the moving average value of the derivative of the pressure of a plurality of fluid pressure suspensions 204 with respect to time. The foreign object intrusion detection unit 246 may detect the intrusion of a foreign object 104 if the moving average value of the derivative of the pressure of a predetermined number of fluid pressure suspensions 204 with respect to time exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 if the moving average value of the derivative of the pressure of two or more of the four fluid pressure suspensions 204 with respect to time exceeds a predetermined value.
[0068] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 based on the time at which the derivative of the pressure of the multiple fluid pressure type suspensions 204 with respect to time, or the moving average of the derivative, exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 when the time from time t1 to time t2 is shorter than a predetermined time.
[0069] The foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 based on the position of the fluid pressure suspension 204 where the value obtained by differentiating the pressure with respect to time, or the moving average value of the derivative, exceeds a predetermined value. For example, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 when the value obtained by differentiating the pressure of two fluid pressure suspensions 204 connected to each diagonal of the frame 206 with respect to time, or the moving average value of the derivative, exceeds a predetermined value. The diagonals of the frame 206 refer to the right side of the front wheel (FR) and the left side of the rear wheel (RL), or the right side of the rear wheel (RR) and the left side of the front wheel (FL).
[0070] According to this embodiment, the foreign object intrusion detection unit 246 detects the intrusion of a foreign object 104 based on the pressure of multiple fluid pressure suspensions 204, thereby preventing false detections caused by increased pressure in the fluid pressure suspensions 204 due to abnormalities in a specific tire 202, such as a rise in temperature inside the tire 202. Furthermore, by considering the position of the fluid pressure suspensions 204, the foreign object intrusion detection unit 246 can detect with greater accuracy that the vehicle 102 has driven over a foreign object 104. Increased detection accuracy eliminates the need to refer to the pressure of all fluid pressure suspensions 204, thereby reducing the detection load on the foreign object intrusion detection unit 246.
[0071] The foreign object intrusion detection unit 246 detects which of the multiple tires 202 has stepped on the foreign object 104 based on the pressure or pressure fluctuations of the fluid pressure suspension 204. The foreign object intrusion detection unit 246 may detect that the tire 202 connected to the fluid pressure suspension 204 with the largest pressure fluctuation has stepped on the foreign object 104.
[0072] For example, if the value obtained by subtracting P0(FL) from P1(FL), the value obtained by subtracting P0(FR) from P1(FR), the value obtained by subtracting P0(RL) from P1(RL), and the value obtained by subtracting P0(RR) from P1(RR) show that the value obtained by subtracting P0(FR) from P1(FR) is the largest, the foreign object intrusion detection unit 246 detects that the right front wheel (FR) tire 202 has stepped on a foreign object 104.
[0073] The foreign object intrusion detection unit 246 detects which of the multiple tires 202 has stepped on the foreign object 104 based on the difference between the pressure of the fluid pressure suspension 204 and a predetermined threshold value for each tire 202. The foreign object intrusion detection unit 246 may detect that the tire 202 connected to the fluid pressure suspension 204 that shows the largest difference between the pressure of the fluid pressure suspension 204 and the predetermined threshold value has stepped on the foreign object 104.
[0074] For example, if the value obtained by subtracting a predetermined threshold from the tires 202 of P0 (FL) and FL from P1 (FL), the value obtained by subtracting a predetermined threshold from the tires 202 of P0 (FR) and FR from P1 (FR), the value obtained by subtracting a predetermined threshold from the tires 202 of P0 (RL) and RL from P1 (RL), and the value obtained by subtracting a predetermined threshold from the tires 202 of P0 (RR) and RR from P1 (RR) shows the largest value, the foreign object intrusion detection unit 246 detects that the tire 202 of the right front wheel (FR) has stepped on a foreign object 104.
[0075] The foreign object intrusion detection unit 246 detects which of the multiple tires 202 has stepped on the foreign object 104 based on the derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time. The foreign object intrusion detection unit 246 may detect that the tire 202 connected to the fluid pressure suspension 204 with the largest derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time has stepped on the foreign object 104.
[0076] The foreign object intrusion detection unit 246 detects which of the multiple tires 202 has stepped on the foreign object 104 based on the moving average value of the derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time. The foreign object intrusion detection unit 246 may detect that the tire 202 connected to the fluid pressure suspension 204 with the largest moving average value of the derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time has stepped on the foreign object 104.
[0077] The foreign object intrusion detection unit 246 detects which of the multiple tires 202 has stepped on the foreign object 104 based on the time at which the derivative of the pressure of the multiple fluid pressure suspensions 204 with respect to time, or the moving average of the derivative, exceeds a predetermined value. The foreign object intrusion detection unit 246 may detect that the tire 202 connected to the fluid pressure suspension 204 whose derivative of the pressure with respect to time, or the moving average of the derivative, first exceeds a predetermined value within a predetermined time range has stepped on the foreign object 104.
[0078] According to this embodiment, the operator of the vehicle 102 or the user of the control device 108 can recognize which tire 202 has run over the foreign object 104. Therefore, the tire 202 that has run over the foreign object 104 can be inspected intensively, and the tire 202 can be repaired or replaced efficiently.
[0079] Figure 6 shows an example of the processing flow of the control device 240 according to this embodiment. In step 600, the information acquisition unit 242 acquires behavior information from the tire-side measuring device 210 and stores it in the information storage unit 244. In step 602, the information acquisition unit 242 may acquire driving state information from the vehicle-side measuring device 220 and store it in the information storage unit 244.
[0080] In step 604, the foreign object intrusion detection unit 246 detects the intrusion of the foreign object 104 based on the behavior information stored in the information storage unit 244. In step 604, the foreign object intrusion detection unit 246 may also detect the intrusion of the foreign object 104 based on the behavior information and driving state information stored in the information storage unit 244. In step 606, the output control unit 250 causes the output device 270 to output a notification of the detection result of the intrusion of the foreign object 104 to the operator of the vehicle 102. In step 608, the communication control unit 248 causes the communication device 260 to transmit the detection result of the intrusion of the foreign object 104 via the communication network 106 to the management device 108, the data server 110, or the vehicle 112.
[0081] Figure 7 shows an example of a computer 1200 in which this embodiment may be embodied in whole or in part. A program installed on the computer 1200 can cause the computer 1200 to function as an operation or one or more sections of the apparatus according to this embodiment, or to execute such operation or one or more sections, and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and configuration diagrams described herein.
[0082] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, a graphics controller 1216, and a display device 1218, which are interconnected by a host controller 1210. The computer 1200 includes a communication interface 1222, a storage device 1224 such as a hard disk drive, an input / output unit such as a DVD-ROM drive 1226, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The computer also includes legacy input / output units such as a ROM 1230 and a keyboard 1242, which are connected to the input / output controller 1220 via an input / output chip 1240.
[0083] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 from the frame buffer provided in the RAM 1214 or from itself, and displays the image data on the display device 1218.
[0084] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD-ROM drive 1226 reads programs or data from the DVD-ROM 1227 and provides them to the storage device 1224 via the RAM 1214. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.
[0085] The ROM 1230 stores boot programs and / or programs that depend on the computer 1200's hardware, which are executed by the computer 1200 when activated. The input / output chip 1240 may connect various input / output units to the input / output controller 1220 via a parallel port, serial port, keyboard port, mouse port, etc.
[0086] The program is provided on a computer-readable medium such as a DVD-ROM 1227 or an IC card. The program is read from the computer-readable medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable mediums, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the manipulation or processing of information in accordance with the use of the computer 1200.
[0087] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 1214, storage device 1224, DVD-ROM 1227, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a receive buffer processing area provided on the recording medium.
[0088] The CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as a storage device 1224, a DVD-ROM drive 1226 (DVD-ROM 1227), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 then writes the processed data back to the external recording medium.
[0089] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1214. The CPU 1212 may search for information in files, databases, etc., within the recording medium. For example, if a plurality of entries having attribute values of a first attribute, each associated with an attribute value of a second attribute, are stored in the recording medium, the CPU 1212 may search among the plurality of entries for an entry that matches the condition for which the attribute value of the first attribute is specified, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.
[0090] The programs or software modules described above may be stored on or near the computer 1200 on a computer-readable medium. A recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable medium, thereby providing the programs to the computer 1200 via the network.
[0091] Although the invention has been described using embodiments, the technical scope of the present invention is not limited to the scope described in the embodiments above. It will be apparent to those skilled in the art that various modifications or improvements can be made to the embodiments described above. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.
[0092] It should be noted that the execution order of operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc., for convenience, this does not mean that it is mandatory to perform the operations in that order.
[0093] 100 Vehicle management system, 102 Vehicle, 104 Foreign object, 106 Communication network, 108 Management device, 110 Data server, 112 Vehicle, 202 Tire, 204 Fluid pressure suspension, 206 Frame, 210 Tire-side measuring device, 212 Acceleration sensor, 214 Pressure sensor, 216 Strain sensor, 220 Vehicle-side measuring device, 222 Speed sensor, 224 Acceleration sensor, 226 Angular velocity sensor, 228 Steering angle sensor, 230 Position sensor, 232 Temperature sensor, 240 Control device, 242 Information acquisition unit, 244 Information storage unit, 246 Foreign object intrusion detection unit, 248 Communication control unit, 250 Output control unit, 260 Communication device, 270 Output device, 310 Communication unit, 320 Output unit, 342 Information acquisition unit, 344 Information storage unit, 346; Foreign object detection unit, 1200; Computer, 1210; Host controller, 1212; CPU, 1214; RAM, 1216; Graphics controller, 1218; Display device, 1220; Input / output controller, 1222; Communication interface, 1224; Storage device, 1226; DVD-ROM drive, 1227; DVD-ROM, 1230; ROM, 1240; Input / output chip, 1242; Keyboard
Claims
1. A foreign object intrusion detection system comprising at least one processor, wherein the at least one processor acquires behavioral information indicating the behavior of a tire of a vehicle, detects that the tire has run over a foreign object based on the behavioral information, and outputs a detection result when it is detected that the tire has run over a foreign object.
2. The foreign object intrusion detection system according to claim 1, wherein the behavioral information includes information indicating the pressure of a fluid pressure suspension connected to the tire.
3. The foreign object intrusion detection system according to claim 1, wherein the behavior information includes information indicating the acceleration of the tire.
4. The foreign object intrusion detection system according to claim 1, wherein the behavioral information includes information indicating the strain of the vehicle's frame.
5. The foreign object intrusion detection system according to claim 1, wherein the behavior information includes time-series data indicating the behavior of the tire.
6. The foreign object intrusion detection system according to any one of claims 1 to 5, wherein the at least one processor acquires behavior information indicating the behavior of a plurality of tires provided by the vehicle, and detects that any of the plurality of tires has stepped on a foreign object based on the behavior information.
7. The foreign object intrusion detection system according to any one of claims 1 to 5, wherein the at least one processor acquires driving state information indicating the driving state of the vehicle, and detects that the tire has run over a foreign object based on the driving state information and the behavior information.
8. The foreign object intrusion detection system according to claim 7, wherein the driving state information includes information indicating the tilt of the vehicle.
9. The foreign object intrusion detection system according to any one of claims 1 to 5, wherein the at least one processor acquires location information indicating the position of the vehicle, identifies the location where the tire has stepped on a foreign object based on the location information, and outputs the detection result including location information indicating the identified location.
10. The foreign object intrusion detection system according to any one of claims 1 to 5, wherein the at least one processor causes an output device to output a notification indicating that the tire has run over a foreign object based on the detection result.
11. A vehicle comprising the tire, a measuring device for measuring the behavior of the tire, and the foreign object intrusion detection system according to claim 1.
12. The vehicle according to claim 11, further comprising a fluid pressure suspension connected to the tire, wherein the measuring device has a pressure sensor for measuring the pressure of the fluid pressure suspension, and the behavioral information includes information indicating the pressure of the fluid pressure suspension.
13. The vehicle according to claim 11, wherein the measuring device has an acceleration sensor attached to the tire for measuring the acceleration of the tire, and the behavior information includes information indicating the acceleration of the tire.
14. The vehicle according to claim 11, wherein the measuring device has a strain sensor for measuring the strain of the vehicle's frame, and the behavioral information includes information indicating the strain of the vehicle's frame.
15. The vehicle according to any one of claims 11 to 14, further comprising an output device, wherein the at least one processor causes the output device to output a notification indicating that the tire has run over a foreign object, based on the detection result.
16. The vehicle according to any one of claims 11 to 14, further comprising a communication device for communicating with other foreign object detection systems provided in other vehicles, wherein the at least one processor causes the communication device to transmit the detection result to the other foreign object detection system.
17. A program for causing a computer to function as a foreign object intrusion detection system according to any one of claims 1 to 5.
18. A method for detecting foreign object entrapment, comprising: acquiring behavioral information indicating the behavior of a vehicle's tires; detecting that the tire has run over a foreign object based on the behavioral information; and outputting a detection result when it is detected that the tire has run over a foreign object.
19. A method for detecting foreign object entrapment according to claim 18, comprising acquiring behavioral information including time-series data of the pressure of a plurality of fluid-pressure suspensions connected to each of the plurality of tires of the vehicle, and detecting, based on the behavioral information, that one of the plurality of tires has run over a foreign object.
20. A method for detecting foreign object entrapment according to claim 18, comprising: acquiring location information indicating the position of the vehicle; identifying the position where the tire has run over a foreign object based on the location information; outputting the detection result including the identified position; and causing an output device to output a notification indicating that the tire has run over a foreign object and the identified position based on the detection result.