Information processing device and information processing method

Abstract

To efficiently measure the degree of plant growth.SOLUTION: An information processing device 27 includes a work platform 7 on which a worker can ride and a left-right axis vibration sensor 19 that detects vibrations of the left-right axis of the work platform 7, and is capable of executing processing related to a work vehicle 6 that can be used when a worker riding on the work platform 7 works on plants that are located on at least one of the left and right sides of the work platform. The information processing device 27 also includes an information processing unit 28 that derives a work target part altitude, which is an estimate of the height of the part of the plant that is the target of work by the worker, based on a left-right axis spectrum, which is a frequency spectrum of vibrations detected by the left-right axis vibration sensor 19, during a work period in which the worker works on the work platform 7 on plants with the work vehicle 6 stopped moving and the work platform 7 stopped rising and falling.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to an information processing apparatus capable of executing processing related to a work vehicle including a liftable work platform, and an information processing method by the information processing apparatus.

Background Art

[0002] In recent years, facility horticulture, especially large-scale facility horticulture in which facility horticulture has been scaled up, has attracted attention. Facility horticulture is horticulture in which plants are cultivated while controlling the environment in which the plants grow in a house covered with a vinyl sheet, plastic, or other material. In facility horticulture (especially large-scale facility horticulture), a large number of plants (for example, peppers or tomatoes) can be intensively managed and grown under a stable environment. In this facility horticulture, for fruit harvesting and other work related to plants, a work vehicle capable of traveling inside the facility may be used in order to reduce the work load and improve the work efficiency and shorten the working time. The work vehicle is a vehicle having a liftable work platform, a function of traveling inside the facility, and a function of raising and lowering the work platform.

[0003] Also, in facility horticulture, in order to manage the growth status of plants, it is required to appropriately measure the degree of growth of the plants. Regarding the measurement of the degree of growth of plants, the following technique is described in Patent Document 1. That is, a camera is provided on a work moving vehicle 3 (work vehicle). Then, while work is being performed using the work moving vehicle 3, the plants are photographed by the camera, or the work moving vehicle 3 is automatically driven at night when no work is being performed, and the plants are photographed by the camera at a predetermined position. Then, the photographing result of the photographing by the camera is analyzed by an information processing means, and the degree of growth of the plants is measured. The above technique is described in Patent Document 1.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Regarding the measurement of the degree of plant growth in protected horticulture, it is required to perform the measurement as efficiently as possible. This is because in protected horticulture, there are cases where a large number of plants are cultivated, and efficient measurement can reduce the labor required for measurement and shorten the time required for measurement.

[0006] The present invention has been made to solve such problems, and an object thereof is to enable efficient measurement of the degree of plant growth.

Means for Solving the Problems

[0007] In order to solve the above problems, the present invention derives a working target site height, which is the height of the part of the plant that is the target of the work by the worker during the working period, based on the frequency spectrum of the vibration detected by the sensor during the working period when the running of the work vehicle and the raising and lowering of the working platform have stopped, and the worker performs work on the plant on the working platform.

Effects of the Invention

[0008] As a result of experiments, the inventors have found that there is a correlation between the frequency spectrum of the vibration of the working platform in the left-right direction axis and the height of the part of the plant that is the target of the work by the worker on the working platform (working target site height), and it is possible to derive the height of the part based on the frequency spectrum of the vibration of the working platform in the left-right direction axis. Further, when the part of the plant that is the target of the work by the worker is a part whose height varies according to the growth of the plant, the height of the working target site can be used as an index value for the degree of plant growth.

[0009] According to the present invention configured as described above based on the above, the height of the work target part that can be used as an index value of the degree of plant growth is obtained based on the vibration of the workbench detected by the sensor during the working period. Therefore, when an operator performs work on a plant, it becomes possible to measure the degree of plant growth accordingly, and the degree of plant growth can be measured efficiently.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing a simplified view from above of a part of the large-scale facility horticulture 1 according to this embodiment. For the large-scale facility horticulture 1 in FIG. 1, for the sake of convenience of explanation, a first direction and a second direction orthogonal thereto are defined as shown in FIG. 1.

[0012] The large-scale facility horticulture 1 according to this embodiment is a facility horticulture for cultivating bell peppers (plants). Facility horticulture is horticulture in which plants are cultivated while controlling the environment in which the plants grow within a house covered with a vinyl sheet, plastic, or other materials. The large-scale facility horticulture 1 is a large-scale version of facility horticulture, and enables the simultaneous cultivation and centralized management of a large amount of bell peppers.

[0013] As shown in Fig. 1, in the large-scale facility horticulture 1, a plurality of cultivation beds 2 extending in the first direction are arranged side by side. A plurality of paprika plants 3 are arranged side by side in the first direction on one cultivation bed 2. In Fig. 1, one plant 3 is simply shown by a dotted circle. As shown in Fig. 1, a passage 4 is provided adjacent to the cultivation bed 2. A rail 5 extending in the first direction is provided in the passage 4. That is, the cultivation bed 2 extends along the rail 5 on both sides or one side of the rail 5. A work vehicle 6 described later is installed on the rail 5, and the work vehicle 6 can travel on the rail 5.

[0014] In the large-scale facility horticulture 1 according to the present embodiment, paprika is cultivated. And in the process of cultivating paprika, various operations on the plant 3 will be performed. The operations performed on the plant 3 are, for example, harvesting fruits or removing unnecessary leaves. Here, the large-scale facility horticulture 1 according to the present embodiment has the characteristics that the scale is large and the number of plants 3 to be worked on is large, and that when the plant 3 grows, its height becomes higher than that of an average adult. Based on this, the operator can perform operations using the following work vehicle 6.

[0015] FIG. 2 is a side view of the work vehicle 6 with the workbench 7 in the bottom position (described later) as viewed from the right side of the vehicle body (described later). FIG. 3 is a side view of the work vehicle 6 with the workbench 7 in the top position (described later) as viewed from the right side of the vehicle body. FIG. 4 is a plan view of the work vehicle 6 installed on the rail 5 as viewed from above. However, FIG. 4 is mainly for explaining the direction and orientation with respect to the work vehicle 6 (vehicle body 8), and the work vehicle 6 is drawn in a simplified manner. As shown in FIGS. 2 to 4, with reference to the vehicle body 8, the direction in which the work vehicle 6 moves forward is referred to as "the front of the vehicle body", and the opposite direction to the front of the vehicle body is referred to as "the rear of the vehicle body". Also, the direction extending in the front and rear directions of the vehicle body is referred to as "the longitudinal direction of the vehicle body". Also, the direction toward the right in the front direction of the vehicle body is referred to as "the right side of the vehicle body", and the opposite direction to the right side of the vehicle body is referred to as "the left side of the vehicle body". Also, the direction extending in the right and left directions of the vehicle body is referred to as "the lateral direction of the vehicle body". Also, the direction upward with respect to the vehicle body 8 is referred to as "the upper side of the vehicle body", and the direction downward is referred to as "the lower side of the vehicle body". Also, the direction extending in the upper and lower directions of the vehicle body is referred to as "the vertical direction of the vehicle body". The vertical direction of the vehicle body coincides with the vertical direction when the work vehicle 6 is placed on a horizontal plane in a normal manner.

[0016] The work vehicle 6 is a so-called aerial work vehicle, and has a function of traveling in the longitudinal direction of the vehicle body on the rail 5 and a function of raising and lowering the workbench 7 on which an operator can board in the vertical direction of the vehicle body. The work vehicle 6 can be used when an operator boarding the workbench 7 performs work on plants existing in at least one of the left and right directions of the workbench 7. As shown in FIGS. 2 and 3, the work vehicle 6 includes a vehicle body 8 having four traveling wheels 9. The traveling wheels 9 are fitted to the rail 5 and rotate to move the work vehicle 6 on the rail 5. Inside the vehicle body 8, a battery for supplying power to various loads of the work vehicle 6 is provided. Also, inside the vehicle body 8, a traveling mechanism 10 (FIG. 5) including a motor and a power transmission mechanism for transmitting the power of the motor to the traveling wheels 9 is provided to rotate the traveling wheels 9 and move the vehicle body 8 in the longitudinal direction.

[0017] As shown in FIGS. 2 and 3, the vehicle body 8 is provided with a support member 12 and a workbench 7 supported by the support member 12. The support member 12 is a hydraulic scissor mechanism, and moves the workbench 7 between the bottom position (FIG. 2), which is the lowest position, and the top position (FIG. 3), which is the highest position. The vehicle body 8 includes a hydraulic pump, a motor for driving the hydraulic pump, a power transmission mechanism (such as a lift cylinder) for operating the support member 12 according to the discharge pressure oil of the hydraulic pump, etc., and is provided with a lifting mechanism 13 (FIG. 5) for driving the support member 12 to raise and lower the workbench 7 in the vertical direction of the vehicle body. The vehicle body 8 is also provided with a control unit 14 (FIG. 5) for at least controlling the traveling mechanism 10 and the lifting mechanism 13.

[0018] As shown in FIGS. 2 and 3, the workbench 7 includes a base portion 15 that serves as a platform for an operator to place their feet, and a fence 16 provided around the base portion 15. An operation panel 17 is provided on the base portion 15 in a state of being supported by a column member 21. The operation panel 17 is provided with switches for instructing the traveling of the work vehicle 6, the raising and lowering of the workbench 7, and other operations of the work vehicle 6. The control unit 14 and the operation panel 17 are communicably connected, and the control unit 14 can control each part of the work vehicle 6 based on the instructions input to the operation panel 17.

[0019] A sensor unit 18 is provided on the workbench 7 via a dedicated fixing member. That is, the sensor unit 18 is fixed to the base portion 15 of the workbench 7. The sensor unit 18 is provided with a left - right axis vibration sensor 19 (sensor) (FIG. 5). The left - right axis vibration sensor 19 is an acceleration sensor that detects the acceleration (vibration) of an axis extending in the left - right direction of the vehicle body (hereinafter referred to as the "left - right axis"). The left - right axis vibration sensor 19 is attached to the workbench 7 in an appropriate posture so that the acceleration of the left - right axis can be detected. Since the sensor unit 18 (left - right axis vibration sensor 19) is fixed to the workbench 7, the left - right axis vibration sensor 19 detects the acceleration acting on the workbench 7. An arithmetic processing unit 20 is provided on the base portion 15 integrally with the sensor unit 18. The detection value of the left - right axis vibration sensor 19 is output to the arithmetic processing unit 20.

[0020] The configuration of the work vehicle 6 has been described above. However, the work vehicle 6 is a very simplified one, and it goes without saying that the configuration of the work vehicle 6 is not limited to the illustrated configuration. As an example, the work vehicle 6 may not travel on the rail 5 but may be a vehicle that travels on a plane. Also, members other than those described in this embodiment and necessary for executing the processing are naturally provided in the work vehicle 6. As an example, various sensors for detecting the state and abnormality of the work vehicle 6 are provided in the work vehicle 6. Also, the positions where the sensor unit 18 and other members are provided are not limited to the positions illustrated in the embodiment. Further, the sensor unit 18 may be a mobile general-purpose machine and may be configured to be attached to the mounting base each time measurement is performed.

[0021] FIG. 5 is a diagram showing the hardware configuration of the work vehicle 6 according to the present embodiment. As shown in FIG. 5, the work vehicle 6 includes an operation panel 17, a control unit 14, a traveling mechanism 10, a lifting mechanism 13, a sensor unit 18 having left and right shaft vibration sensors 19, an arithmetic processing unit 20, a storage unit 23, and a wireless communication unit 24.

[0022] The control unit 14 is configured to include a computer and controls each part of the work vehicle 6. In particular, the control unit 14 controls the traveling mechanism 10 and the lifting mechanism 13 based on the input from the operation panel 17. The operator can drive the work vehicle 6 in a desired manner or raise and lower the work platform 7 in a desired manner by operating the operation panel 17. An arithmetic processing unit 20 is communicably connected to the control unit 14. The arithmetic processing unit 20 is configured to include a computer and executes various arithmetic processes / information processes. The detected value of the left-right axis vibration sensor 19 is input to the arithmetic processing unit 20. A storage unit 23 is connected to the arithmetic processing unit 20. The storage unit 23 is configured to include a rewritable non-volatile memory such as a flash memory and stores various data in a rewritable and non-volatile manner. A wireless communication unit 24 is also connected to the arithmetic processing unit 20. The wireless communication unit 24 performs wireless communication with the mobile terminal 25 according to a predetermined wireless communication standard under the control of the arithmetic processing unit 20. The mobile terminal 25 is a terminal carried by an operator boarding the work platform 7. The mobile terminal 25 is a tablet-type terminal and is provided with a touch panel 26 in a wide area on the front surface.

[0023] Next, a simplified example (hereinafter referred to as "the first example of the present case") of a series of high-place work procedures performed using the work vehicle 6 and the processing of the arithmetic processing unit 20 associated therewith will be described. In the first example of the present case, a simplified area AR1 shown in FIG. 6 is assumed. In the area AR1, cultivation beds 2X are provided along the passage 4. Rails 5 are provided on the passage 4. On the cultivation bed 2X, pepper plants 3X1, 3X2, and 3X3 are installed. It is assumed that the total length of each of these plants 3X1 to 3X3 exceeds the height of an average adult.

[0024] Fig. 7 is a diagram used to explain a series of elevated work procedures. Fig. 7 shows a simplified view of looking at plants 3X1 to 3X3 from point P1 in Fig. 6 toward arrow Y1. The series of elevated work procedures means a series of procedures carried out using the work vehicle 6 for the purpose of harvesting the fruits borne at the uppermost fruiting part of each target plant 3. The uppermost fruiting part is a limited part to which the fruits borne at the highest location on the plant 3 belong. In the series of elevated work procedures according to the first example of this case, the fruits are harvested in the order of the uppermost fruiting part JX1 of plant 3X1 → the uppermost fruiting part JX2 of plant 3X2 → the uppermost fruiting part JX3 of plant 3X3. Thus, in the series of elevated work processes, the uppermost fruiting part of each plant 3 is the target of harvesting, and a plurality of plants 3 belonging to one cultivation bed 2 are successively targeted. This is considered in view of the growth pattern of the pepper (especially the way the fruits grow) and the efficiency of the work using the work vehicle 6.

[0025] In the first example of this case, it is assumed that before the start of the series of elevated work procedures, the work vehicle 6 is located at the standby position PS1 shown in Fig. 6. And it is assumed that the series of elevated work procedures starts when the power of the work vehicle 6 located at the standby position PS1 is turned on. In response to the turning on of the power of the work vehicle 6, the output of the detection value from the left - right axis vibration sensor 19 to the arithmetic processing unit 20 is started. Also, it is assumed that when all the work on all plants 3 by the operator is completed, the work vehicle 6 is returned to the standby position PS1 and the power of the work vehicle 6 is turned off, the series of elevated work procedures ends. In response to the turning off of the power of the work vehicle 6, the output of the detection value from the left - right axis vibration sensor 19 to the arithmetic processing unit 20 ends. Thus, in the series of elevated work procedures, acceleration (vibration) is detected by the left - right axis vibration sensor 19 (sensor) during the series of periods when the work vehicle 6 is used. Hereinafter, the series of periods when the work vehicle 6 is used in the series of elevated work procedures is referred to as the "series of periods".

[0026] FIG. 8 is a diagram showing various timings related to a series of high-place work procedures according to the first case of the present invention. Timing T0 in FIG. 8 indicates the timing at which a series of high-place work procedures is started. As described above, before the start of a series of high-place work procedures (that is, before timing T0), the work vehicle 6 is located at the standby position PS1 shown in FIG. 6. For the work vehicle 6 located at the standby position PS1, the work platform 7 is in the bottom position (FIG. 2), and it is assumed that the worker is boarding the work platform 7 while carrying the portable terminal 25. Further, it is assumed that the worker starts a predetermined application installed in the portable terminal 25 and displays a work start notification screen (described later) on the touch panel 26. Also, it is assumed that a case (not shown) for accommodating the harvested fruits is placed on the work platform 7. Although not described in detail below, the worker appropriately operates the operation panel 17 to control the traveling of the work vehicle 6, the raising and lowering of the work platform 7, and other operations of the work vehicle 6.

[0027] Referring to FIG. 8, at timing T0, the power of the work vehicle 6 is turned on and a series of high-place work procedures is started. Along with the start of a series of high-place work procedures, the output of the detection value from the left-right axis vibration sensor 19 to the arithmetic processing unit 20 is started. After a series of high-place work procedures is started at timing T0, at timing T1, the worker starts the forward movement of the work vehicle 6. The period from timing T0 to timing T1 is a period during which the traveling of the work vehicle 6 and the raising and lowering of the work platform 7 are stopped while no work is being done by the worker on the plant (in this example, the paprika plant 3). Hereinafter, such a period will be referred to as a "stop period". The worker adjusts the traveling of the work vehicle 6 so that the work vehicle 6 is located at a position facing the first target, the plant 3X1, and stops the forward movement of the work vehicle 6 at timing T2. The period from timing T1 to timing T2 is a period during which the work vehicle 6 is traveling. Hereinafter, such a period will be referred to as a "traveling period". FIG. 9(A) shows the position of the work vehicle 6 at timing T2.

[0028] The operator starts to raise the workbench 7 at timing T3 after the stop period from timing T2. The operator stops the raising of the workbench 7 at timing T4 when the workbench 7 reaches an appropriate position from the perspective of harvesting the fruits borne on the uppermost fruiting part JX1 of the stock 3X1. The operator visually checks the stock 3X1 and determines whether the workbench 7 has reached the appropriate position while taking into account the degree of its growth. The period from timing T3 to timing T4 is a period during which the workbench 7 is rising while the running of the work vehicle 6 has stopped. Hereinafter, such a period is referred to as the "raising period".

[0029] After stopping the raising of the workbench 7 at timing T4, the operator refers to the work start notification screen displayed on the touch panel 26 of the mobile terminal 25. The work start notification screen is a screen for notifying the start of direct work on the plant (in this case, harvesting the fruits of the bell pepper), and is provided with a start button that can be touched. The operator selects the start button on the work start notification screen at timing T5 after the stop period from timing T4. In response to the selection, the screen of the touch panel 26 switches from the work start notification screen to the work end notification screen (described later). After selecting the start button, the operator starts the work related to harvesting the fruits borne on the uppermost fruiting part JX1 of the stock 3X1. The fruits harvested here are stored in the case placed on the workbench 7. Hereinafter, the direct work related to the harvesting of fruits performed by the operator on the workbench 7 is referred to as "plant-related work". That is, the plant-related work is work that the operator actually moves his body on the workbench 7 for the purpose of harvesting fruits. When the operator moves his body on the workbench 7, the movement is transmitted to the workbench 7 and becomes a factor in the shaking of the workbench 7.

[0030] When the plant-related work is completed, the operator refers to the work completion notification screen displayed on the touch panel 26 of the mobile terminal 25. The work completion notification screen is a screen that notifies the completion of plant-related work and is provided with an end button that can be touched. The operator selects the end button on the work completion notification screen at timing T6. In response to this selection, the screen of the touch panel 26 switches from the work completion notification screen to the work start notification screen. The period from timing T5 to timing T6 is the period during which the operator performed work (plant-related work) on the plants on the workbench 7 with the running of the work vehicle 6 and the raising and lowering of the workbench 7 stopped. Hereinafter, such a period is referred to as the "working period". After selecting the end button at timing T6, the operator starts the forward movement of the work vehicle 6 at timing T7 after a stop period. The operator adjusts the running of the work vehicle 6 so that the work vehicle 6 is positioned at a location facing the stock 3X2 which is the next target, and stops the forward movement of the work vehicle 6 at timing T8. (B) of FIG. 9 shows the position of the work vehicle 6 at timing T8.

[0031] Here, for the operator, the height of the workbench 7 suitable for harvesting the fruits of the uppermost fruiting part JX1 of the stock 3X1 may be different from the height of the workbench 7 suitable for harvesting the fruits of the uppermost fruiting part JX2 of the stock 3X2 which is the next target after the stock 3X1. In the first example of this case, after stopping the work vehicle 6, the operator visually recognizes the stock 3X2 and considers that it is better to lower the workbench 7 slightly in order to appropriately perform the work related to harvesting the fruits of the uppermost fruiting part JX2. Based on this, the operator starts to lower the workbench 7 at timing T9 after a stop period from timing T8, lowers the workbench 7 slightly, and then stops the lowering of the workbench 7 at timing T10. Hereinafter, a period during which the workbench 7 is lowered with the running of the work vehicle 6 stopped, such as the period from timing T9 to T10, is referred to as the "lowering period".

[0032] Thus, in the first case of this invention, when working on plant 3X2, the worker lowered the workbench 7 slightly (of course, there are also cases where it is raised), and adjusted the height of the workbench 7. However, in a series of high-altitude operations, when different plants 3 belonging to the same cultivation bed 2 are successively targeted for work, in many cases, such adjustment of the height of the workbench 7 is not carried out. That is, after a certain plant 3-1 becomes the target of work, subsequently, when work on plant 3-2 belonging to the same cultivation bed 2 as this plant 3-1 is carried out, in many cases, the height of the workbench 7 is not adjusted, and the work on plant 3-2 is carried out with the height of the workbench 7 remaining as it is. This is due to the following reasons.

[0033] That is, each of the plants 3 belonging to one cultivation bed 2 is basically grown in an equivalent environment until it is installed on the cultivation bed 2. Also, even after being installed on the cultivation bed 2, it basically grows in an equivalent environment (as an example, sunlight conditions, water supply conditions, nutrient supply conditions, or maintenance conditions). For this reason, the degree of growth at any given time of each of the plants 3 belonging to one cultivation bed 2 is generally the same. Therefore, for a plurality of different plants 3 belonging to the same cultivation bed 2, the height of the workbench 7 appropriate for harvesting the fruits borne on the uppermost fruiting part of the plant 3 is generally the same. As a result, there is no need to adjust the height of the workbench 7 at the start of work, and such adjustment will not be carried out. Also, even when adjustment is carried out, the vertical movement distance of the workbench 7 is often very small. One of the reasons for successively carrying out work on a plurality of plants 3 belonging to one cultivation bed 2 in a series of high-altitude operations lies in the above points. That is, as described above, when a plurality of plants 3 belonging to the same cultivation bed 2 are successively targeted for work, in many cases, adjustment of the height of the workbench 7 is not required when working on each plant 3. For this reason, the work efficiency is good, and the working time can be shortened. On the other hand, for plants 3 with different cultivation beds 2, there are cases where the environment before / after being installed on the cultivation bed 2 differs to such an extent that it affects the degree of growth. In such cases, the degree of growth of the plant 3 varies considerably depending on the cultivation bed 2.

[0034] Now, referring to FIG. 8, after stopping the descent of the workbench 7 at timing T10, the operator selects the start button on the work start notification screen at timing T11 after the stop period and starts the plant-related work. When the plant-related work is completed, the operator selects the end button on the work end notification screen at timing T12. Then, after the stop period from timing T12 to T13, the operator moves the work vehicle 6 forward until it reaches the position corresponding to the stock 3X3 during the travel period from timing T13 to T14. (C) in FIG. 9 shows the position of the work vehicle 6 at timing T14. After the stop period from timing T14 to T15, the operator performs plant-related work on the stock X3 at timing T15 - T16. At timing T15, the start button on the work start notification screen is selected, and at timing T16, the end button on the work end notification screen is selected. After the stop period from timing T16 to T17, the operator lowers the workbench 7 to the bottom position during the descent period from timing T17 to T18. After the stop period from timing T18 to T19, the operator reverses (backs) the work vehicle 6 until it reaches the standby position PS1 during the travel period from timing T19 to T20. Then, after the stop period, the power of the work vehicle 6 is turned off at timing T21. Thus, a series of high-altitude work procedures are completed. At timing T21, the output of the detection value from the left and right axis vibration sensor 19 to the arithmetic processing unit 20 stops.

[0035] During the series of periods in which the series of high-altitude work procedures related to the first case of this document are carried out, the left-right axis vibration sensor 19 continuously outputs the detected values to the arithmetic processing unit 20. As described above, the left-right axis vibration sensor 19 detects the acceleration (vibration) about the left-right axis. The left-right axis vibration sensor 19 according to this embodiment detects the magnitude (detected value) of the acceleration on the plus side or the minus side (however, the expressions of plus and minus are for convenience) with respect to the state where no acceleration is acting on the left-right axis as a reference (zero) at a predetermined period. The left-right axis vibration sensor 19 outputs the detected values to the arithmetic processing unit 20 at a predetermined period. The arithmetic processing unit 20 inputs the detected values from the left-right axis vibration sensor 19 at a predetermined period and records them in the series of left-right axis vibration data DTy stored in the storage unit 23 according to the format. As a result, when the series of high-altitude work procedures related to the first case of this document are completed, the series of left-right axis vibration data DTy records the acceleration detected at a predetermined period about the left-right axis in the series of periods from timing T0 to timing T21.

[0036] In a series of high-altitude work processes, when the start button on the work start notification screen is selected on the mobile terminal 25, the mobile terminal 25 sends a start notification indicating this to the arithmetic processing unit 20. Also, when the end button on the work end notification screen is selected on the mobile terminal 25, the mobile terminal 25 sends an end notification indicating this to the arithmetic processing unit 20. When the arithmetic processing unit 20 receives the start notification and the end notification from the mobile terminal 25, it records a log in the series of period log data LG stored in the storage unit 23 according to the format. Specifically, when the arithmetic processing unit 20 receives the start notification, it records, in the series of period log data LG according to the format, information indicating the start of the plant-related work and timing information indicating the timing when the notification was received. Note that the timing information is information for specifying the timing by the elapsed time starting from the start point of the series of high-altitude work processes (timing T0 in the first example of this case). The elapsed time may be expressed in a unit of time such as "ms (milliseconds)", or may be expressed in the form of how many cycles from the start point with the detection cycle of the left-right axis vibration sensor 19 as one cycle. Similarly, when the arithmetic processing unit 20 receives the end notification, it records, in the series of period log data LG according to the format, information indicating the end of the plant-related work and timing information indicating the timing when the notification was received. As a result, when the series of high-altitude work processes ends, the start timing and the end timing are recorded in the series of period log data LG for each of the work periods that occurred. Note that in the following, even when not particularly explained, the fact that information regarding a predetermined timing is recorded in the series of period log data LG may be simply expressed as "timing is recorded in the series of period log data LG". Even when not particularly explained, the information regarding the predetermined timing includes information indicating the event that occurred at the predetermined timing and timing information indicating the predetermined timing. Also, in the following description, the start timing of the work period is referred to as "work start timing", and the end timing is referred to as "work end timing".

[0037] The above described an example of simplifying a series of operations for elevated work. However, this is merely an example, and a part of the operations may be different. As an example, the workbench 7 may be raised at the standby position PS1, and then the work vehicle 6 may be moved. However, regardless of the mode in which the series of elevated work operations are performed, during the series of elevated work operations, in addition to the working period, a stop period, a traveling period, a raising period, and a lowering period are assumed to occur. Hereinafter, the working period, the traveling period, the stop period, the raising period, and the lowering period may be collectively referred to as the "configuration period".

[0038] As described above, when a series of elevated work operations are performed, the transition of the acceleration of the left-right axis during the series of elevated work operations is recorded in the left-right axis vibration data DTy for a series of periods. And the information processing device 27 according to the present embodiment at least has a function of deriving the height of each work target part of the stock 3 that is the work target based on the left-right axis vibration data DTy for a series of periods. The work target part height means an estimated value of the height of the "part of the plant" that is the target of the work (plant-related work) by the worker during the working period. For example, referring to FIG. 7, for the stock 3X1, the uppermost fruiting part JX1 (part of the plant) indicated by the broken-line frame is the target of the plant-related work, and when fruits are harvested for this part, the estimated value of the height of this uppermost fruiting part JX1 corresponds to the "work target part height". However, since the "part of the plant" that is the work target is basically a region having a width in the vertical direction, the work target part height indicates a standard of the height of the part.

[0039] Here, in the series of high-altitude work processes, for each plant 3, the uppermost fruiting part thereof becomes the target of the work, and the fruits belonging to the uppermost fruiting part are harvested. And the uppermost fruiting part that is the target of the work is the part to which the fruit that has ripened at the highest location belongs, and the height of the part that has become the target of the work varies according to the growth of the plant. That is to say, it can be said that there is a correlation between the height of the part that has become the target of the work in the series of high-altitude work processes and the degree of growth of the plant 3. Based on the above, the height of the work target part derived for the plant 3 that has become the target in the series of high-altitude work processes can be used as an index value indicating the degree of growth of the plant. Note that regardless of the type of work performed in the series of high-altitude work processes and regardless of the type of plant, when the part of the plant that has become the target of the work by the operator is a part whose height varies according to the growth of the plant, the height of the work target part can be used as an index value of the degree of growth of the plant.

[0040] Hereinafter, the information processing apparatus 27 will be described in detail. FIG. 10 is a block diagram showing a functional configuration example of the information processing apparatus 27 according to the present embodiment. In the present embodiment, the information processing apparatus 27 is a computer different from the arithmetic processing unit 20, but of course, the arithmetic processing unit 20 may function as the information processing apparatus 27. Also, the specific form of the computer of the information processing apparatus 27 is not limited. As an example, a server connected to the Internet, a server connected to a local network, a desktop computer, a mobile computer (such as a notebook personal computer or a tablet-type computer. A so-called smartphone may also be used) can function as the information processing apparatus 27.

[0041] As shown in FIG. 10, the information processing apparatus 27 includes an information processing unit 28 and a storage unit 29 as functional components. The information processing unit 28 includes a processing device and a main storage device. The processing device is a device having an information processing function and includes a CPU. The CPU includes a control device, an arithmetic device, registers, and a cache memory. The main storage device includes a DRAM and other volatile memories. The information processing unit 28 executes processing by reading a program stored in the storage unit 29 (which may be another storage area) into the main storage device and executing it. That is, the information processing unit 28 executes processing through the cooperation of hardware and software. The storage unit 29 includes a hard disk drive (which may be another magnetic storage device), a ROM, a flash memory, and other non-volatile memories. The storage unit 29 stores data in the non-volatile memory.

[0042] Before the processing by the information processing apparatus 27, a series of period left-right axis vibration data DTy of the analysis target and a series of period log data LG are stored in the storage unit 29. These data may be stored in the storage unit 29 by any method. For example, it may be by artificial means, or for example, the information processing unit 28 may directly or indirectly receive these data from the arithmetic processing unit 20 via communication and store them in the storage unit 29. In this configuration, the arithmetic processing unit 20 and the information processing apparatus 27 are provided with communication functions in an appropriate manner. Also, in the present embodiment, the series of period left-right axis vibration data DTy stored in the storage unit 29 is the processing target, but instead, the series of period left-right axis vibration data DTy stored in an external storage device such as a USB memory, or the series of period left-right axis vibration data DTy stored in the storage medium of an externally connected device that can communicate may be the processing target.

[0043] Next, the information processing method of the information processing apparatus 27 when deriving the height of the work target part will be described. FIG. 11 is a diagram showing the processing flow of the information processing apparatus 27. FIG. 11 shows the processing executed by the information processing unit 28 with the series of period left-right axis vibration data DTy and the series of period log data LG generated based on the series of high-place work procedures according to the first example of the present case as the processing targets.

[0044] As shown in FIG. 11, the information processing unit 28 of the information processing apparatus 27 acquires the left-right axis vibration data DTy for a series of periods and the log data LG for a series of periods, and executes a work period extraction process (step SA1). Specifically, the information processing unit 28 extracts data corresponding to the work period from the left-right axis vibration data DTy for a series of periods based on the content of the log data LG for a series of periods. When the work period appears multiple times in a series of periods, the information processing unit 28 extracts the corresponding data for each of the multiple work periods. The data corresponding to one work period records the vibration detected by the left-right axis vibration sensor 19 during the one work period. Note that the log data LG for a series of periods records timing information indicating the timing when the work period starts and timing information indicating the timing when the work period ends. Therefore, it is possible to extract data corresponding to the work period from the left-right axis vibration data DTy for a series of periods based on the content of the log data LG for a series of periods.

[0045] Hereinafter, the data corresponding to one work period extracted from the left-right axis vibration data DTy for a series of periods is referred to as "work period data". Also, referring to FIG. 8, for the first example of the present case, the work period from timing T5 - T6 is referred to as the "first work period", the work period from timing T11 - T12 is referred to as the "second work period", and the work period from timing T15 - T16 is referred to as the "third work period". As shown in FIG. 11, the information processing unit 28 extracts the first to third work period data corresponding to the first to third work periods by the work period extraction process in step SA1.

[0046] After the processing of step SA1, the information processing unit 28 performs spectral analysis processing (step SA2) on each of the work period data to derive a frequency spectrum. Hereinafter, the spectral analysis processing executed by the information processing unit 28 for the first work period data will be described in detail. First, the information processing unit 28 acquires the first work period data. Next, the information processing unit 28 performs spectral analysis on the transition of the acceleration recorded in the first work period data using Fourier transform and other methods to derive a frequency spectrum. The frequency spectrum is a spectrum indicating the amplitude value (intensity) for each frequency. In other words, the frequency spectrum is a spectrum in which the amplitude value (intensity) is associated with the frequency. Hereinafter, the frequency spectrum derived based on the work period data is referred to as the "left-right axis spectrum". The left-right axis spectrum holds the amplitude values for each frequency from the first frequency (for example, 0 Hz) to the m-th frequency. The above is the detail of the spectral analysis processing based on the first work period data. As shown in FIG. 11, the information processing unit 28 performs spectral analysis processing on each of the first to third work period data to derive the first to third left-right axis spectra.

[0047] After deriving each of the left-right axis spectra, the information processing unit 28 executes altitude derivation processing (step SA3) for each of the left-right axis spectra. The altitude derivation processing is a process of deriving the altitude of the work target part based on the left-right axis spectrum. Hereinafter, the altitude derivation processing executed by the information processing unit 28 for the first left-right axis spectrum will be described in detail.

[0048] FIG. 12 is a diagram used for explaining the altitude derivation process. (A) of FIG. 12 shows the first left-right axis spectrum in a manner suitable for explanation. In the altitude derivation process, first, the information processing unit 28 acquires the first left-right axis spectrum. Next, as shown in (A) and (B) of FIG. 12, the information processing unit 28 acquires the amplitude values X1, X2,... Xm of the first frequency, the second frequency,... the m-th frequency for the first left-right axis spectrum. Next, as shown in (B) and (C) of FIG. 12, the information processing unit 28 performs preprocessing (including at least normalization processing) on each of the amplitude values X1, X2,... Xm to derive corrected amplitude values x1, x2,... xm.

[0049] Here, in the present embodiment, the altitude derivation model M1 is stored in the storage unit 29. The altitude derivation model M1 is a model that inputs the corrected amplitude values x1, x2,... xm and outputs the altitude of the work target site. In the present embodiment, the model is a general term for programs, modules, and calculation formulas that have the function of inputting information, processing information, and outputting information. The method / process of generating the model and the type of the model are not limited to any method / process and type. (D) of FIG. 12 is a diagram showing the content of the altitude derivation model M1 according to the present embodiment. However, in (D) of FIG. 12, for clarity of explanation, the altitude derivation model M1 is simplified. In (D) of FIG. 12, the altitude of the work target site, which is the output of the altitude derivation model M1, is denoted as "He". As shown in (D) of FIG. 12, the altitude derivation model M1 is a calculation formula that multiplies each of the corrected amplitude values x1, x2,... xm by weights w1, w2,... wm and adds an adjustment value L.

[0050] After deriving the corrected amplitude values x1, x2,... xm, the information processing unit 28 inputs the corrected amplitude values x1, x2,... xm into the altitude derivation model M1 as shown in (D) of FIG. 12, and obtains the altitude of the work target site as its output. The above is a detailed explanation of the altitude derivation process based on the first left-right axis spectrum. As shown in FIG. 11, the information processing unit 28 performs altitude derivation processing on each of the first to third left-right axis spectra to derive the first to third work target site altitudes.

[0051] Hereinafter, for the frequency spectrum (not limited to the left and right axis spectra), simply extracting the necessary information, performing the necessary preprocessing, and inputting it into the model (not limited to the advanced derivation model M1) will be expressed as simply "inputting the frequency spectrum into the model". That is, when simply expressed as "inputting the frequency spectrum into the model", it is naturally assumed that the information extraction and necessary preprocessing have been executed.

[0052] Note that the advanced derivation model M1 may be a model learned by machine learning. In this case, data including the combination of the left and right axis spectra and the height of the working target part is sufficiently prepared, and the advanced derivation model M1 is learned and evaluated by the prepared data. Also, the advanced derivation model M1 may be a model derived by regression analysis or other statistical methods. Even in this case, data including the combination of the left and right axis spectra and the height of the working target part is sufficiently prepared, and the advanced derivation model M1 is derived by statistical methods using the prepared data. Also, the advanced derivation model M1 shown in (D) of FIG. 12 is a very simplified one. It is natural that the specific content of the advanced derivation model M1 is not limited to the content shown in (D) of FIG. 12.

[0053] Here, the advanced derivation model M1 is a model that inputs the left and right axis spectra and derives the height of the working target part. That is, the advanced derivation model M1 has a function of converting the left and right axis spectra into the height of the working target part. The reason why the advanced derivation model M1 has such a configuration is reasonable for the following reasons. That is, the work vehicle 6 according to the present embodiment is a vehicle that travels electrically by driving a motor and moves forward or backward in the vehicle body front-rear direction on the rail 5. Also, the work platform 7 of the work vehicle 6 is supported and lifted by the support member 12 of the hydraulic scissor mechanism. The work vehicle 6 has the above characteristics and has the following characteristics due to these characteristics. (1) Since it is electric, large vibrations such as those generated during engine driving do not occur, and it is easy to capture the vibrations generated by the work of the operator boarding the work platform 7. (2) Since the support member 12 is configured by a hydraulic scissor mechanism, vibration is likely to occur in the vehicle body lateral direction when the workbench 7 is raised. (3) When considering "fulcrum = traveling wheels", "point of application = workbench 7", and "kinetic energy = operator's movement", it can be regarded that "distance between the fulcrum and the point of application = height of the workbench 7". Therefore, if the operator's movement is the same, the mode of vibration changes as the height of the workbench 7 changes.

[0054] Under the above premises, the inventors conducted experiments and found that there is a correlation between the frequency spectrum of the vibration of the left - right axis of the workbench 7 and the height of the part of the plant (working target part height) that is the target of the work by the operator riding on the workbench 7, and based on the frequency spectrum of the vibration of the left - right axis of the workbench 7, the height of the said part can be derived. Then, after generating the height derivation model M1, the inventors evaluated the height derivation model M1 using the test data prepared based on the detection result of the actual left - right axis vibration sensor 19 and the actual working target part height, and confirmed that its output has an accuracy of a certain level or more. For the above reasons, the configuration of the height derivation model M1 is reasonable.

[0055] Here, in this embodiment, the information processing unit 28 derives the working target part height by the above - described method, rather than the height of the workbench 7 (or a value uniquely determined from the height of the workbench 7) as an index value of the degree of plant growth. The significance of this will be explained below. FIG. 13 is a diagram showing how two strains 3Y1 and 3Y2 are seen from a certain point for explaining this significance. As shown in FIG. 13, the height of the uppermost fruiting part JY1 of the strain 3Y1 is sufficiently higher than the height of the uppermost fruiting part JY2 of the strain 3Y2. Suppose the operator performed plant - related work targeting the uppermost fruiting part JY1 of the strain 3Y1 with the height of the workbench 7 being the height LS, while stretching the back and hands and sometimes stretching the back. Also, suppose the operator performed plant - related work targeting the uppermost fruiting part JY2 of the strain 3Y2 with the height of the workbench 7 being the same height LS, while bending the waist and sometimes bending the knees.

[0056] In this case, when the height of the working target part of stock 3Y1 is derived by the method of this embodiment, it is expected that the height LY1 corresponding to the uppermost fruiting part JY1 of stock 3Y1 will be derived, and it has been experimentally confirmed that at least its value tends to approach the height LY1. This is due to the following reasons. That is, the actual height of the part of the plant that is the working target affects the actual body movements made by the operator on the workbench 7, and the actual body movements made on the workbench 7 strongly affect the sway of the left-right axis of the workbench 7. Therefore, by deriving the height of the working target part while reflecting the sway of the left-right axis of the workbench 7, the height of the working target part is derived while reflecting the "actual height of the part of the plant that is the working target" based on the height of the workbench 7 and the body movements on the workbench 7. For the above reasons. For the same reason, when the height of the working target part of stock 3Y2 is derived by the method of this embodiment, it is expected that the height LY2 corresponding to the uppermost fruiting part JY2 of stock 3Y2 will be derived, and it has been experimentally confirmed that at least its value tends to approach the height LY2.

[0057] On the other hand, if, as an index value for the degree of growth of stock 3, a value obtained by adding a fixed value to the height of the workbench 7 (height LS in the example of FIG. 13) (hereinafter referred to as the "value derived from the workbench") is adopted. In this case, for both stock 3Y1 and stock 3Y2 in FIG. 13, since the height of the workbench 7 when plant-related work is performed is the same, the value derived from the workbench for stock 3Y1 and the value derived from the workbench for stock 3Y2 are the same. That is, for each of stock 3Y1 and stock 3Y2, the index value for the degree of growth becomes the same. Stock 3Y1 and stock 3Y2 have different heights of the uppermost fruiting parts, and therefore different degrees of growth, and in this way, the degree of growth cannot be appropriately measured. From the above, in this embodiment, it is meaningful that the height of the working target part is derived based on the left-right axis spectrum derived from the detection result of the left-right axis vibration sensor 19 as an index value for the degree of growth of the plant, and there is an advantage compared to the case where the height of the workbench 7 (or a value uniquely determined from the height of the workbench 7) is derived as an index value for the degree of growth of the plant.

[0058] Now, referring to FIG. 11, after deriving the height of the work target part for each of the left and right axis spectra, the information processing unit 28 executes a processing result data generation process (step SA4). Specifically, the information processing unit 28 generates processing result data RD based on the derived height of the work target part and stores it in the storage unit 29. The processing result data RD is data in which each of the derived target part heights is recorded according to a format. In the first example of this case, the processing result data generated in the processing result data generation process of step SA4 records the first to third work target part heights for each of the first to third work periods. The first work target part height related to the first work period is an estimated value of the height of the part targeted for work in the work on stock 3X1 targeted in the first work period, and as described above, it can be used as an index value for measuring the degree of growth of stock 3X1. The same applies to the second and third work target part heights related to the second and third work periods.

[0059] The above is the processing executed by the information processing unit 28. The processing result data RD generated as described above is utilized, for example, in the following manner. That is, based on the information recorded in the processing result data RD, it is possible to grasp the estimated value of the degree of growth for each of the target stocks 3. As a result, when there are stocks 3 with a low / high degree of growth or other matters that need attention, the relevant parties can accurately recognize such matters and conduct an investigation into the cause or take measures (such as supplying fertilizers or moisture in a predetermined manner) to adjust the degree of growth. In particular, for each cultivation bed 2, the relevant parties can derive the average value of the height of the work target part related to the stocks 3 belonging thereto (it may also be a value derived by a statistical calculation method other than the average), and by comparing and examining this, they can recognize the degree of growth for each cultivation bed 2. Also, the content of the processing result data RD can be utilized for formulating a work plan within the facility in large-scale facility horticulture 1. As an example, by arranging workers with high work efficiency for the stocks 3 in the cultivation bed 2 with vigorous growth, the bias of work throughout the facility can be reduced. In facility horticulture, in many cases, all or most of the stocks are targeted for a series of high-place work treatments. And according to this embodiment, in response to the execution of a series of high-place work treatments, the processing result data RD can be generated, and it becomes possible to measure the degree of growth of all the target stocks 3. That is, according to this embodiment, if a series of high-place work treatments, which is one of the essential treatments for facility horticulture, is performed, it becomes possible to measure the degree of growth of the stocks 3 incidentally, which is very convenient.

[0060] As described above, the information processing unit 28 of the information processing apparatus 27 according to the present embodiment derives the working target part height, which is an estimated value of the height of the part of the plant that is the target of the work by the operator during the work period in which the operator performs work on the plant on the work platform 7 while the traveling of the work vehicle 6 and the elevation of the work platform 7 are stopped, based on the left-right axis spectrum, which is the frequency spectrum of the vibration detected by the left-right axis vibration sensor 19 during the work period. According to this configuration, based on the vibration of the work platform 7 detected by the left-right axis vibration sensor 19 during the work period, the working target part height that can be used as an index value of the degree of plant growth is obtained. Therefore, when the operator performs work on the plant, it becomes possible to measure the degree of plant growth incidentally, and the degree of plant growth can be measured efficiently.

[0061] <First Modification Example> Next, a first modification example of the above embodiment will be described. As described above, in the above embodiment, the working target part height was derived based on the left-right axis spectrum. Here, in addition to the height of the work platform 7 and the movement of the operator's body, there are factors that affect the vibration of the work platform 7. Based on this, the information processing unit 28 according to this modification example derives the working target part height based on the left-right axis spectrum, reflecting the factors that affect the vibration of the work platform 7.

[0062] Factors affecting the vibration of the workbench 7 include the vibration characteristics of the workbench 7 (hereinafter referred to as "workbench vibration characteristics"), matters related to the physique of the operator boarding the workbench 7 (hereinafter referred to as "physique-related matters"), and the weight of the load placed on the workbench 7 (hereinafter referred to as "load weight"). The workbench vibration characteristics mean the unique vibration characteristics of each workbench 7. The vibration characteristics refer to the characteristics of the workbench 7 and the members related to the workbench 7 that cause the difference when there is a difference in the way the workbench 7 sways when the same force is applied. The vibration characteristics can occur due to differences in the models of the work vehicle 6, individual differences, the degree of aging deterioration, and other reasons. The physique-related matters include the height and weight of the operator. The load weight is, for example, as follows. That is, in the above embodiment, the harvested fruits were stored in the case placed on the workbench 7, and the total weight of the fruits stored in this case is the load weight. However, the load weight is not limited to the weight of the harvested product. For example, when a measuring instrument is loaded on the workbench 7, the weight of this measuring instrument corresponds to the load weight. In this modification example, the information processing unit 28 derives the height of the work target part based on the left-right axis spectrum, reflecting the workbench vibration characteristics, physique-related matters, and load weight.

[0063] Now, in this modification example, "auxiliary detection" is performed at the timing immediately after starting a series of high-altitude work procedures, the timing when there is a change in the operator after the start, and the timing when there is a significant change in the state of the load after the start. The auxiliary detection is performed in a state where an operator is boarding the workbench 7 and the load is placed on the workbench 7 (hereinafter, such a state is referred to as "mounted state"). Referring to FIG. 8, in the first example of this case, for example, the auxiliary detection is performed immediately after the timing T0. Also, for example, assuming that there is a change of operator after the plant-related work is completed at the timing T12. In this case, the auxiliary detection is performed after the change.

[0064] FIG. 14 is a diagram used to explain the operation of the auxiliary detection. In this modified example, an auxiliary detection start button is provided on the operation panel 17. The auxiliary detection start button is a button for instructing the start of the auxiliary detection. When the button is selected, the control unit 14 operates the work vehicle 6 in the following manner to execute the auxiliary detection. Although not particularly described, the operations / processes of the work vehicle 6 described below are appropriately executed by the control unit 14 controlling the traveling mechanism 10, the elevating mechanism 13, and other mechanisms. Also, during the auxiliary detection, the fact that the following operations are performed by the work vehicle 6 is sufficiently notified to the operator, and the traveling of the work vehicle 6 and the elevation of the work platform 7, as well as other operations related to the work vehicle 6, are executed safely.

[0065] When the auxiliary detection button is selected, if the work platform 7 is not in the bottom position (first height), the control unit 14 positions the work platform 7 at the bottom position. Next, as shown in FIG. 14(A), the control unit 14 travels the work vehicle 6 a certain distance D1 in one direction while maintaining the position of the work platform 7. Next, as shown in FIG. 14(B), the control unit 14 raises the work platform 7 so that the work platform 7 is positioned at the height H1 (second height). Next, as shown in FIG. 14(C), the control unit 14 travels the work vehicle 6 a distance D1 in the direction opposite to the one direction while maintaining the position of the work platform 7. After stopping the traveling of the work vehicle 6, the control unit 14 ends the auxiliary detection.

[0066] In the auxiliary detection, the control unit 14 notifies the arithmetic processing unit 20 to that effect at both the timing when the auxiliary detection is started (hereinafter referred to as "auxiliary detection start timing") and the timing when it is completed (hereinafter referred to as "auxiliary detection end timing"). Further, the control unit 14 notifies the arithmetic processing unit 20 to that effect at both the timing when the traveling is started with the workbench 7 in the bottom position (hereinafter referred to as "low position start timing") and the timing when it is completed (hereinafter referred to as "low position end timing"). Further, the control unit 14 notifies the arithmetic processing unit 20 to that effect at both the timing when the traveling is started with the workbench 7 in the height H1 position (hereinafter referred to as "high position start timing") and the timing when it is completed (hereinafter referred to as "high position end timing"). Hereinafter, the period during which the auxiliary detection is performed in the series of high-altitude work processes is referred to as the "auxiliary detection period". Also, in the auxiliary detection period, the period during which the work vehicle 6 travels with the workbench 7 positioned at the bottom position is referred to as the "low position period", and the period during which the work vehicle 6 travels with the workbench 7 positioned at the height H1 is referred to as the "high position period".

[0067] Based on the notifications input from the control unit 14 during the auxiliary detection, the arithmetic processing unit 20 records each of the auxiliary detection start timing, auxiliary detection end timing, low position start timing, low position end timing, high position start timing, and high position end timing in the series period log data LG. Hereinafter, these timings are collectively referred to as "auxiliary detection related timings". From the start to the end of the auxiliary detection, the acceleration (vibration) of the left and right axes is continuously detected by the left and right axis vibration sensor 19. Therefore, vibration acting on the workbench 7 is detected by the left and right axis vibration sensor 19 during both the low position period from the low position start timing to the low position end timing and the high position period from the high position start timing to the high position end timing.

[0068] Next, the information processing method of the information processing apparatus 27 according to this modification will be described. FIG. 15 is a diagram showing the processing flow of the information processing apparatus 27. FIG. 15 shows the processing executed by the information processing apparatus 27 based on the series of left-right axis vibration data DTy and the series of log data LG generated based on the series of high-altitude work procedures of the second case of this application. FIG. 16 is a flow chart showing each timing of the series of high-altitude work procedures according to the second case of this application. Only the auxiliary detection period and the work period are explicitly shown in the flow chart of FIG. 16.

[0069] As shown in FIG. 16, in the series of high-altitude work procedures according to the second case of this application, after the procedure starts at timing Ty0, the first auxiliary detection is performed during the first auxiliary detection period of timings Ty1 - Ty6. The first auxiliary detection period includes the low position period of timings Ty2 - Ty3 and the high position period of timings Ty4 - Ty5. Then, the first plant-related work is performed during the first work period of timings Ty7 - Ty8, and the second plant-related work is performed during the second work period of timings Ty9 - Ty10. Then, the second auxiliary detection is performed during the second auxiliary detection period of timings Ty11 - Ty16. The second auxiliary detection period includes the low position period of timings Ty12 - Ty13 and the high position period of timings Ty14 - Ty15. Then, the third plant-related work is performed during the third work period of timings Ty17 - Ty18, and the fourth plant-related work is performed during the fourth work period of timings Ty19 - Ty20.

[0070] At the start point of the processing shown in FIG. 15, the storage unit 29 stores the series of left-right axis vibration data DTy and the series of log data LG according to the second case of this application. The series of left-right axis vibration data DTy is data showing the transition of vibrations (accelerations) detected by the left-right axis vibration sensor 19 during the series of high-altitude work procedures, similar to the above-described embodiment. On the other hand, in the series of log data LG, in addition to the work start timing and the work end timing, the auxiliary detection-related timings are recorded.

[0071] As shown in FIG. 15, first, the information processing unit 28 of the information processing apparatus 27 acquires the left-right axis vibration data DTy for a series of periods and the log data LG for a series of periods, and executes a work period extraction process (step SB1). The content of the work period extraction process according to this modification example is the same as the content of the work period extraction process of step SA1 according to the above-described embodiment. As shown in FIG. 15, regarding the second example of the present case, the information processing unit 28 extracts the first to fourth work period data related to the first to fourth work periods by the work period extraction process of step SB1.

[0072] After extracting each of the work period data, the information processing unit 28 executes a spectrum analysis process (step SB2) for each of the work period data, and derives the left-right axis spectra. Regarding the second example of the present case, the information processing unit 28 executes a spectrum analysis process for each of the first to fourth work period data, and derives the first to fourth left-right axis spectra.

[0073] On the other hand, the information processing unit 28 acquires the left-right axis vibration data DTy for a series of periods and the log data LG for a series of periods, and executes an auxiliary detection related period extraction process (step SB3). More specifically, the information processing unit 28 extracts data corresponding to the low position period and the high position period from the left-right axis vibration data DTy for a series of periods based on the content of the log data LG for a series of periods. Hereinafter, the data corresponding to the low position period is referred to as "low position data", and the data corresponding to the high position period is referred to as "high position data". Since the log data LG for a series of periods according to this modification example records the low position start timing, the low position end timing, the high position start timing, and the high position end timing, it is possible to extract data corresponding to the low position period and the high position period from the left-right axis vibration data DTy for a series of periods based on the content of the log data LG for a series of periods. As shown in FIG. 15, regarding the second example of the present case, the information processing unit 28 extracts "first low position data and first high position data" related to the first auxiliary detection period and "second low position data and second high position data" related to the second auxiliary detection period by the auxiliary detection related period extraction process of step SB3.

[0074] After executing the auxiliary detection related period extraction process, the information processing unit 28 performs spectrum analysis processing (step SB4) on each of the data extracted by the auxiliary detection related period extraction process to derive a frequency spectrum. Hereinafter, the frequency spectrum corresponding to the low position data is referred to as the "low position spectrum", and the frequency spectrum corresponding to the high position data is referred to as the "high position spectrum". As shown in FIG. 15, regarding the second example of the present case, the information processing unit 28 derives a first low position spectrum based on the first low position data, a first high position spectrum based on the first high position data, a second low position spectrum based on the second low position data, and a second high position spectrum based on the second high position data, respectively.

[0075] After deriving the frequency spectrum for each of the data extracted by the auxiliary detection related period extraction process, the information processing unit 28 executes calibration processing (step SB5) based on each of the "combinations of the low position spectrum and the high position spectrum related to one auxiliary detection". The calibration process is a process of deriving an adjustment model M2 (described later) based on the low position spectrum and the high position spectrum. Hereinafter, the calibration process executed by the information processing unit 28 based on the "first low position spectrum and the first high position spectrum" will be described in detail.

[0076] Here, in the present embodiment, a calibration model M3 is stored in advance in the storage unit 29. The calibration model M3 is a model that inputs a low position spectrum and a high position spectrum belonging to a certain auxiliary detection period and the altitude derivation model M1, and derives the "adjustment model M2". The adjustment model M2 is a model in which the altitude derivation model M1 is adjusted so that the altitude of the work target part is derived reflecting the vibration characteristics of the workbench, matters related to the physique, and the weight of the loaded object. That is, when the left-right axis spectrum is input, the adjustment model M2 outputs the altitude of the work target part reflecting the vibration characteristics of the work vehicle 6 used in the corresponding auxiliary detection, matters related to the physique of the operator who was on the workbench 7 at the time of the corresponding auxiliary detection, and the weight of the loaded object that was loaded on the workbench 7 at the time of the corresponding auxiliary detection.

[0077] In the calibration process, first, the information processing unit 28 acquires the first low-position spectrum and the first high-position spectrum. Next, the information processing unit 28 inputs the first low-position spectrum, the first high-position spectrum, and the altitude derivation model M1 into the calibration model M3, and obtains the adjusted model M2 output from the model. Here, assume that the altitude derivation model M1 is a simple calculation formula shown in Fig. 17(A). In this case, as shown in Fig. 17(B), the calibration model M3 is a calculation formula in which each coefficient and adjustment value of the altitude derivation model M1 are adjusted so that the altitude of the work target part is derived by reflecting the workbench vibration characteristics, physique-related matters, and the weight of the loaded object. That is, the calibration model M3 has a function of adjusting each coefficient and adjustment value of the altitude derivation model M1 based on the contents of the low-position spectrum and the high-position spectrum so that the output adjusted model M2 is a calculation formula for deriving the altitude of the work target part by reflecting the workbench vibration characteristics, physique-related matters, and the weight of the loaded object.

[0078] The calibration model M3 may be a model learned by machine learning or a model derived by a statistical method. The training data used for machine learning, the data for deriving the model by a statistical method, or the test data for evaluating the model are sufficiently prepared by reflecting the results of the actual tests.

[0079] In the auxiliary detection, vibrations during the low position period and vibrations during the high position period are detected. That is, in the auxiliary detection, when the workbench 7 is positioned at different heights in the mounted state and the work vehicle 6 is driven, vibrations are detected. Then, the adjustment model M2 is derived by reflecting the vibrations during the low position period and the vibrations during the high position period. By deriving the adjustment model M2 in such a manner, it has been clarified by the results of the inventors' experiments that the output of the adjustment model M2 can reflect the workbench vibration characteristics, physique-related matters, and the weight of the loaded object, and that the accuracy of the output of the adjustment model M2 can be improved. Particularly in this embodiment, the adjustment model M2 is derived by reflecting the low position spectrum and the high position spectrum. And with respect to the adjustment model M2 derived in such a manner, it has been confirmed by the inventors through the evaluation of the adjustment model M2 using test data that the output thereof reflects the workbench vibration characteristics, physique-related matters, and the weight of the loaded object, and that the accuracy of the output thereof is sufficiently high.

[0080] Now, referring to FIG. 15, regarding the second example of the present case, the information processing unit 28 performs calibration processing based on the "first low position spectrum and the first high position spectrum" to derive the first adjustment model M2-1. Further, the information processing unit 28 performs calibration processing based on the "second low position spectrum and the second high position spectrum" to derive the second adjustment model M2-2.

[0081] After generating the adjustment model M2 for each of the auxiliary detection periods, the information processing unit 28 executes the advanced derivation process (step SB6) for each of the work periods to derive the height of the work target part. Regarding the advanced derivation process corresponding to a certain work period, the information processing unit 28 executes the advanced derivation process using the adjustment model M2 corresponding to the auxiliary detection period that most recently appeared during the certain work period. Referring to FIGS. 15 and 16, in the case of the second example of the present case, for the first work period and the second work period, the information processing unit 28 derives the height of the work target part using the first adjustment model M2-1 corresponding to the first auxiliary detection period. This is because the auxiliary detection period that most recently appeared during the first work period and the second work period is the first auxiliary detection period. On the other hand, for the third work period and the fourth work period, the information processing unit 28 derives the height of the work target part using the second adjustment model M2-2 corresponding to the second auxiliary detection period. This is because the auxiliary detection period that most recently appeared during the third work period and the fourth work period is the second auxiliary detection period. Hereinafter, the advanced derivation process for deriving the height of the work target part corresponding to the first work period and the advanced derivation process for deriving the height of the work target part corresponding to the third work period will be described.

[0082] First, the advanced derivation process for deriving the height of the work target part corresponding to the first work period will be described. The information processing unit 28 acquires the first left-right axis spectrum corresponding to the first work period. Next, the information processing unit 28 inputs the first left-right axis spectrum into the first adjustment model M2-1 to obtain the height of the work target part output by the first adjustment model M2-1. By using the first adjustment model M2-1, the information processing unit 28 derives the height of the work target part based on the first left-right axis spectrum, reflecting the result of the auxiliary detection during the first auxiliary detection period. The above is the advanced derivation process for deriving the height of the work target part corresponding to the first work period. Although detailed description is omitted, the information processing unit 28 derives the height of the work target part corresponding to the second work period in the same manner using the first adjustment model M2-1.

[0083] Next, a height derivation process for deriving the height of the work target part corresponding to the third working period will be described. The information processing unit 28 acquires a third left-right axis spectrum corresponding to the third working period. Next, the information processing unit 28 inputs the third left-right axis spectrum into the second adjustment model M2-2 to obtain the height of the work target part output by the second adjustment model M2. By using the second adjustment model M2-2, the information processing unit 28 derives the height of the work target part based on the third left-right axis spectrum, reflecting the result of the auxiliary detection in the second auxiliary detection period. The above is the height derivation process for deriving the height of the work target part corresponding to the third working period. Although detailed description is omitted, the information processing unit 28 derives the height of the work target part corresponding to the fourth working period in the same manner using the second adjustment model M2-2.

[0084] As shown in FIG. 15, in the case of the second example of the present case, the information processing unit 28 derives the first to fourth work target part heights for each of the first to fourth working periods. After deriving the height of the work target part for each working period, the information processing unit 28 executes a processing result data generation process (step SB7) to generate processing result data RD and stores it in the storage unit 29. The processing result data RD records information indicating the height of the work target part for each of the working periods occurring in the series of high-altitude work processes.

[0085] As described above, the information processing unit 28 according to this modification derives the height of the work target part based on the left-right axis spectrum, reflecting the factors that affect the vibration of the workbench 7. According to this configuration, it is possible to derive the height of the work target part with higher accuracy compared to the above-described embodiment.

[0086] In this modification example, the information processing unit 28 derived the height of the work target site by reflecting the vibration characteristics of the workbench, physical condition-related matters, and the weight of the loaded object as elements (hereinafter referred to as "influence elements") that affect the vibration of the workbench. However, a configuration in which other elements are reflected as influence elements may also be used. For example, a configuration in which any one or a combination of two of the above three elements is reflected as an influence element may be used. Also, a configuration in which matters related to the external environment of the work vehicle 6 (humidity, temperature, wind direction / strength, etc.) are reflected as influence elements may be used.

[0087] Also, in this modification example, the information processing unit 28 derived the height of the work target site by reflecting the influence elements by "inputting the low-position spectrum and the high-position spectrum as parameters into the calibration model M3". However, the method of reflecting the influence elements in the derivation of the height of the work target site is not limited to the method illustrated in this modification example. For example, the following method may also be used. That is, the height derivation model M1 is configured to have the following functions. That is, as shown in FIG. 18, in addition to the left and right axis spectra, the model inputs the model type of the work vehicle 6, the height of the operator, the weight of the operator, and the weight of the loaded object (appropriate preprocessing is performed), and is configured to have a function of outputting the height of the work target site. Then, the information processing unit 28 inputs the model type of the work vehicle 6, the height of the operator, the weight of the operator, and the weight of the loaded object, in addition to the left and right axis spectra, into the height derivation model M1, and obtains the output height of the work target site. The above method may also be used.

[0088] Also, for this modification example, the first height was the bottom position, and the second height was the height H1. However, the first height and the second height are not limited to the illustrated heights. That is, it is sufficient that the first height and the second height are different heights.

[0089] Also, for this modification example, in the auxiliary detection, the workbench 7 is further lifted and lowered in a specific manner in the mounted state, and vibration is detected by the left-right axis vibration sensor 19 (sensor) during the period when the workbench 7 is lifted and lowered in the specific manner (hereinafter referred to as the "auxiliary lifting and lowering period"). In the case of this configuration, the information processing unit 28 further reflects the vibration detected during the auxiliary lifting and lowering period to derive the height of the work target part. Here, the vibration generated on the workbench 7 during the period when the workbench 7 in the mounted state is lifted and lowered is affected by the workbench vibration characteristics, physique-related matters, and the weight of the load. Based on this, in the above configuration as well, similar to this modification example, the height of the work target part can be derived by reflecting the workbench vibration characteristics, physique-related matters, and the weight of the load. Note that the method of reflecting the vibration detected during the auxiliary lifting and lowering period can be the same as the method of reflecting the vibration detected in the high position period and the low position period exemplified in this modification example. Also, as an example, the specific manner is a mode in which the workbench 7 is lifted from the bottom position to a position corresponding to a certain height, and then the workbench 7 is lowered from the certain height to the bottom position. Also, in the auxiliary detection, it may be configured such that only the vibration detection by the left-right axis vibration sensor 19 (sensor) during the auxiliary lifting and lowering period is performed. In the case of this configuration, the vibration detection during the running of the work vehicle 6 shown in this modification is not performed. In the case of this configuration, the information processing unit 28 derives the height of the target part by reflecting only the vibration detected during the auxiliary lifting and lowering period. Even with this configuration, the height of the work target part can be derived by reflecting the workbench vibration characteristics, physique-related matters, and the weight of the load.

[0090] Also, in this modification example, the operation of the work vehicle 6 in the auxiliary detection was configured to be automatically executed under the control of the control unit 14 and the arithmetic processing unit 20. Regarding this point, a configuration in which all or part of the operation of the work vehicle 6 related to the auxiliary detection is manually executed by the operator may be adopted. In that case, it may be configured to display a manual indicating the operation method on the operation panel 17, or it may be configured to display it on the mobile terminal 25.

[0091] <Second Modification Example> Next, a second modification example of the above embodiment will be described. In this modification example, unlike the first modification example, auxiliary detection is not performed in the series of work at heights. On the other hand, in this modification example, in the series of work at heights, the control unit 14 and the arithmetic processing unit 20 execute the following processing. That is, the control unit 14 notifies the arithmetic processing unit 20 to that effect at each of the timing when the travel of the work vehicle 6 starts (hereinafter referred to as "travel start timing") and the timing when the travel ends (hereinafter referred to as "travel end timing"). In response to receiving the notification, the arithmetic processing unit 20 records the travel start timing / travel end timing in the series period log data LG. As a result, in the series period log data LG, in addition to the work start timing and the work end timing, each of the travel start timing and the travel end timing is recorded.

[0092] Next, the information processing method of the information processing apparatus 27 according to this modification example will be described. FIG. 19 is a diagram showing the processing flow of the information processing apparatus 27. FIG. 19 shows the processing executed by the information processing apparatus 27 for the series period left-right axis vibration data DTy and the series period log data LG generated based on the series of work at heights in the first example of the present case (see FIG. 8). Regarding the first example of the present case with reference to FIG. 8, the timing T1-T2 is referred to as the "first travel period", the timing T7-T8 is referred to as the "second travel period", and the timing T13-T14 is referred to as the "third travel period".

[0093] As shown in FIG. 19, the information processing unit 28 of the information processing apparatus 27 executes the processing of steps SC1 and SC2 to derive the left-right axis spectra corresponding to each of the work periods. In the first example of the present case, the information processing unit 28 derives the first to third left-right axis spectra. The processing of steps SC1 and SC2 is the same as the processing of steps SA1 and SA2 in FIG. 11, and the detailed description thereof is omitted.

[0094] Further, the information processing unit 28 executes a travel period extraction process (step SC3). Specifically, the information processing unit 28 acquires a series of period left-right axis vibration data DTy and a series of period log data LG. Next, the information processing unit 28 specifies, for each of the work periods, the travel period that appeared most recently in the work period based on the series of period log data LG. Since the series of period log data LG records the work start timing and work end timing of each work period, as well as the travel start timing and travel end timing of each travel period, the above processing is possible. Referring to FIG. 8, for the first example of the present case, the information processing unit 28 specifies the first travel period as the travel period that appeared most recently in the first work period, specifies the second travel period as the travel period that appeared most recently in the second work period, and specifies the third travel period as the travel period that appeared most recently in the third work period. Next, the information processing unit 28 extracts data corresponding to each of the specified travel periods from the series of period left-right axis vibration data DTy based on the content of the series of period log data LG. Hereinafter, the data corresponding to the travel period is referred to as "travel period data". The above is the detail of the travel period extraction process. As shown in FIG. 19, for the first example of the present case, the information processing unit 28 extracts first to third travel period data corresponding to the first to third travel periods by the travel period extraction process.

[0095] Next, the information processing unit 28 performs a spectrum analysis process (step SC4) on each of the extracted travel period data to derive a frequency spectrum. Hereinafter, the frequency spectrum corresponding to the travel period data is referred to as a "travel spectrum". As shown in FIG. 19, for the first example of the present case, the information processing unit 28 derives first to third travel spectra based on the first to third travel period data.

[0096] Next, the information processing unit 28 executes calibration processing (step SC5) based on each of the running spectra. The calibration processing is processing for deriving an adjustment model M2 using the running spectrum. Hereinafter, the calibration processing based on the first running spectrum will be described in detail. In this modification example, a calibration model M3 that inputs the running spectrum and the altitude derivation model M1 and outputs the adjustment model M2 is stored in the storage unit 29. As described above, the adjustment model M2 is a model in which the altitude derivation model M1 is adjusted so that the altitude of the work target site is derived reflecting the workbench vibration characteristics, physique-related matters, and the weight of the load. In the calibration processing, first, the information processing unit 28 acquires the first running spectrum. Next, the information processing unit 28 inputs the first running spectrum and the altitude derivation model M1 into the calibration model M3, and obtains the adjustment model M2 output from the model. The above is a detailed description of the calibration processing based on the first running spectrum. As shown in FIG. 19, regarding the first example of the present case, the information processing unit 28 derives first to third adjustment models M2a to M2c based on the first to third running spectra.

[0097] In a series of high-place work procedures, for a certain work period, it is highly probable that the passengers have not changed and the contents of the load have remained the same from the time of the running period that appeared most recently in that work period until that work period. And the adjustment model M2 corresponding to a certain work period is derived reflecting the vibration of the workbench 7 (in this modification example, the frequency spectrum based on the vibration) in the running period that appeared most recently in that work period. By deriving the adjustment model M2 in such a way, it can be reflected in the output of the adjustment model M2 the workbench vibration characteristics, physique-related matters, and the weight of the load, and the point that the accuracy of the output of the adjustment model M2 can be improved has been clarified by the results of the inventors' experiments. In particular, regarding the adjustment model M2 derived by the method according to this modification example, the fact that the workbench vibration characteristics, physique-related matters, and the weight of the load are reflected in its output, and the fact that the accuracy of its output is sufficiently high have been confirmed by the inventors through the evaluation of the adjustment model M2 using test data.

[0098] Next, the information processing unit 28 executes a height derivation process (step SC6) for each of the left and right axis spectra to derive the height of the work target part. The height derivation process is a process of deriving the height of the work target part based on the left and right axis spectra. Hereinafter, the height derivation process based on the first left and right axis spectra will be described in detail. First, the information processing unit 28 acquires the first left and right axis spectra. Next, the information processing unit 28 identifies the first adjustment model M2a corresponding to the first running period that most recently appeared during the first working period corresponding to the first left and right axis spectra among the generated first to third adjustment models M2a to M2c. Next, the information processing unit 28 inputs the first left and right axis spectra into the first adjustment model M2a and obtains the height of the work target part of the output. Note that by using the first adjustment model M2a, the information processing unit 28 derives the height of the work target part based on the first left and right axis spectra, reflecting the vibration detected during the first running period. The above is a detailed description of the height derivation process based on the first left and right axis spectra. As shown in FIG. 19, regarding the first example of the present case, the information processing unit 28 derives the first to third work target part heights for each of the first to third left and right axis spectra. Although details are omitted, the information processing unit 28 derives the second work target part height using the second adjustment model M2b and derives the third work target part height using the third adjustment model M2c. The first to third work target part heights are the work target part heights corresponding to the first to third working periods, respectively.

[0099] Next, the information processing unit 28 generates process result data RD in which the derived height of the work target part is recorded by executing a process result data generation process (step SC7), and stores it in the storage unit 29.

[0100] According to the configuration of this modified example, it is possible to derive the height of the work target part reflecting the factors affecting the vibration of the workbench 7 without performing auxiliary detection. Therefore, compared with the first modified example, it is possible to realize a more efficient measurement of the degree of plant growth.

[0101] In this modification example, the information processing unit 28 derived the height of the work target part based on the left-right axis spectrum, reflecting the vibration during the traveling period that occurred before the working period. In this regard, the period in which the vibration is reflected is not limited to the traveling period, and may be the ascending period or the descending period that occurred before the working period, or may be a combination of two or more of the traveling period, the ascending period, and the descending period. That is, it is sufficient that the information processing unit 28 is configured to derive the height of the work target part based on the left-right axis spectrum, reflecting the vibration detected in at least one of the traveling period, the ascending period, and the descending period that occurred before the working period. Even with this configuration, for the same reason as when using the vibration during the traveling period, the height of the work target part can be derived, reflecting the workbench vibration characteristics, physique-related matters, and the weight of the load. Note that the method of reflecting the vibration during the ascending period or the descending period in the derivation of the height of the work target part can be made equivalent to the method of reflecting the vibration during the traveling period.

[0102] Also, the method of reflecting the vibration detected during the traveling period in the derivation of the height of the work target part is not limited to the method exemplified in this embodiment. For example, the following configuration may be used. That is, the height derivation model M1 is a model that inputs the frequency spectrum corresponding to the traveling period in addition to the left-right axis spectrum and outputs the height of the work target part, reflecting the vibration detected during the traveling period. Then, the information processing unit 28 uses this height derivation model M1 to derive the height of the work target part. The above configuration may be used.

[0103] <Third Modification Example> Next, a third modification example of the above embodiment will be described. FIG. 20 is a diagram showing the hardware configuration of the work vehicle 6 according to this modification example. As is clear from the comparison between FIG. 20 and FIG. 5, the work vehicle 6 according to this modification example is provided with a three-axis vibration sensor 30 (three-axis sensor) instead of the left-right axis vibration sensor 19. The three-axis sensor is a three-axis acceleration sensor that detects the acceleration (vibration) in the three axes of the vehicle body front-rear direction, the vehicle body up-down direction, and the vehicle body left-right direction. Hereinafter, the axis in the vehicle body front-rear direction will be referred to as the "front-rear axis", and the axis in the vehicle body up-down direction will be referred to as the "up-down axis".

[0104] In this modified example, in a series of high-altitude work procedures, based on the input from the three-axis vibration sensor 30, the arithmetic processing unit 20 records information in the longitudinal-axis vibration data DTx and the vertical-axis vibration data DTz for a series of periods, in addition to the lateral-axis vibration data DTy for a series of periods. The longitudinal-axis vibration data DTx for a series of periods is data in which the acceleration detected at a predetermined cycle with respect to the longitudinal axis in a series of periods is recorded. The vertical-axis vibration data DTz for a series of periods is data in which the acceleration detected at a predetermined cycle with respect to the vertical axis in a series of periods is recorded. The lateral-axis vibration data DTy for a series of periods, the longitudinal-axis vibration data DTx for a series of periods, and the vertical-axis vibration data DTz for a series of periods are stored in the storage unit 29 of the information processing device 27 before being processed by the information processing unit 28. Hereinafter, the data including the lateral-axis vibration data DTy for a series of periods, the longitudinal-axis vibration data DTx for a series of periods, and the vertical-axis vibration data DTz for a series of periods is referred to as "three-axis vibration data DT for a series of periods".

[0105] In this modified example, the information processing unit 28 derives the height of the work target part by the following method. FIG. 21 is a diagram used to explain the processing of the information processing unit 28 according to this modified example when deriving the height of the work target part corresponding to a certain work period. Hereinafter, the processing of the information processing unit 28 according to this modified example will be described by focusing on the differences from the above-described embodiment with reference to FIG. 21. When deriving the height of the work target part corresponding to a certain work period, first, the information processing unit 28 acquires the three-axis vibration data DT for a series of periods indicating the three-axis vibrations detected by the three-axis vibration sensor 30 in a series of periods. Next, the information processing unit 28 executes a work period extraction process (step SD1) to extract data corresponding to the work period (hereinafter referred to as "lateral-axis work period data") from the lateral-axis vibration data DTy for a series of periods. Similarly, the information processing unit 28 executes a work period extraction process (step SD1) to extract data corresponding to the work period (hereinafter referred to as "longitudinal-axis work period data") from the longitudinal-axis vibration data DTx for a series of periods, and extracts data corresponding to the work period (hereinafter referred to as "vertical-axis work period data") from the vertical-axis vibration data DTz for a series of periods.

[0106] Next, the information processing unit 28 performs spectrum conversion processing (step SD2) on each of the left-right axis working period data, the front-back axis working period data, and the up-down axis working period data to derive a frequency spectrum. Next, the information processing unit 28 performs altitude derivation processing (step SD3) to derive the altitude of the work target site. Specifically, in the storage unit 29, a three-axis altitude derivation model M4 is stored. The three-axis altitude derivation model M4 is a model that inputs the frequency spectrum of the vibration of the three axes during the working period and outputs the altitude of the work target site. In the altitude derivation processing of step SD3, the information processing unit 28 inputs the derived frequency spectrum of the vibration of the three axes (hereinafter referred to as the "three-axis spectrum") into the altitude derivation model M1 and obtains the altitude of the work target site as the output. The above is the processing of the information processing unit 28 according to this modified example when deriving the altitude of the work target site corresponding to one working period.

[0107] Here, the three-axis altitude derivation model M4 is a model that inputs the three-axis spectrum and derives the altitude of the work target site based on the three-axis spectrum. The reason why the three-axis altitude derivation model M4 has such a configuration is reasonable for the following reasons. That is, as a result of experiments, the inventors found that by deriving the altitude of the work target site by reflecting the frequency spectrum of the vibration of the front-back axis and the frequency spectrum of the vibration of the up-down axis in addition to the frequency spectrum of the vibration of the left-right axis, it is possible to derive the altitude of the work target site with higher accuracy compared to the case of deriving the altitude of the work target site by reflecting only the frequency spectrum of the vibration of the left-right axis. Then, the inventors generated the three-axis altitude derivation model M4 through machine learning using the learning data prepared based on the detection results of the actual three-axis vibration sensor 30 and the actual altitude of the work target site. Furthermore, the inventors evaluated using the test data prepared based on the detection results of the actual three-axis vibration sensor 30 and the actual altitude of the work target site, and confirmed that the output has an accuracy of a certain level or higher. For the above reasons, the configuration of the three-axis altitude derivation model M4 is reasonable.

[0108] As described above, the work vehicle 6 according to this modification example includes a three-axis vibration sensor 30 (three-axis sensor). And in this modification example, the information processing unit 28 derives the height of the work target part based on the three-axis spectrum indicating the frequency spectra of the three-axis vibrations detected by the three-axis vibration sensor 30 during the work period. According to the configuration of this modification example, it is possible to derive the height of the work target part with higher accuracy.

[0109] <Application of the First Modification Example to the Third Modification Example> Note that the first modification example may be applied to the third modification example. That is, the information processing unit 28 according to the third modification example may be configured to derive the height of the work target part based on the three-axis spectrum while reflecting the elements (influence elements) that affect the vibration of the work platform 7. As the influence elements, in addition to the work platform vibration characteristics, physique-related matters, and the weight of the load, various elements disclosed in the first modification example can be adopted. Also, similar to the first modification example, the information processing unit 28 can derive the height of the work target part by reflecting the results of the auxiliary detection, thereby reflecting the work platform vibration characteristics, physique-related matters, and the weight of the load to derive the height of the work target part. In this case, as the method of auxiliary detection, various methods disclosed in the first modification example can be adopted. In particular, for the auxiliary detection, an operator boards the work platform 7, and in the mounted state where the load is placed, the work platform 7 is positioned at the first height, and the work vehicle 6 is driven while the position of the work platform 7 is maintained, and the vibration during driving is detected by the three-axis vibration sensor 30. Further, in the mounted state, the work platform 7 is positioned at a second height different from the first height, and the work vehicle 6 is driven while the position of the work platform 7 is maintained, and the vibration during driving is detected by the sensor. This means may also be used. In this case, in the auxiliary detection, the work platform 7 may be lifted and lowered in a specific manner in the mounted state, and the vibration may be detected by the three-axis vibration sensor 30 when the work platform 7 is being lifted and lowered in the specific manner.

[0110] <Application of the Second Modification Example to the Third Modification Example> Also, the second modification example may be applied to the third modification example. That is, the information processing unit 28 according to the third modification example may be configured to derive the height of the work target site based on the three-axis spectrum, reflecting the vibration detected in at least one of the running period, the ascending period, and the descending period that occurred before the working period. As for how to reflect the vibration, various methods disclosed in the second modification example can be adopted.

[0111] In particular, regarding the application of the second modification example to the third modification example, the following configuration can be adopted. That is, the information processing unit 28 acquires a series of period three-axis vibration data DT indicating the three-axis vibrations detected by the three-axis vibration sensor 30 in a series of periods. Further, the information processing unit 28 classifies the series of period three-axis vibration data DT into a working period, a running period, an ascending period, or a descending period based on the relationship between the vibration in the longitudinal axis (front-rear direction), the vibration in the vertical axis (up-down direction), and the vibration in the lateral axis (left-right direction) detected by the three-axis vibration sensor 30 during the same period. Further, the information processing unit 28 analyzes the data corresponding to the working period to derive a three-axis spectrum. Further, the information processing unit 28 derives the height of the work target site based on the three-axis spectrum, reflecting the vibration indicated by the data corresponding to at least one of the running period, the ascending period, and the descending period that occurred before the working period. The above configuration can be adopted. Hereinafter, the point that "the information processing unit 28 classifies the series of period three-axis vibration data DT into a working period, a running period, an ascending period, or a descending period based on the relationship between the vibration in the longitudinal axis (front-rear direction), the vibration in the vertical axis (up-down direction), and the vibration in the lateral axis (left-right direction) detected by the three-axis vibration sensor 30 during the same period" in this configuration will be described in detail. In the following description, each of the series of period lateral axis vibration data DTy, the series of period longitudinal axis vibration data DTx, and the series of period vertical axis vibration data DTz is collectively referred to as "each axis vibration data".

[0112] In the second modification example described above, the method by which the information processing unit 28 extracts data corresponding to the working period from the vibration data for each axis was as follows. That is, a series of period log data LG in which the start timing and end timing of the working period were recorded was prepared, and the information processing unit 28 extracted data corresponding to the working period from the vibration data for each axis using the data. This also applies to the traveling period and other component periods. On the other hand, in this application example, the information processing unit 28 classifies the working period and other component periods by the following method without using the series of period log data LG.

[0113] Figure 22 is an example of a part of the content of the series of period three-axis vibration data DT (however, the content visually represented as a waveform). In Figure 22, Xw shows the waveform of the acceleration detected for the longitudinal axis, Yw shows the waveform of the acceleration detected for the lateral axis (the left-right direction of the vehicle body), and Zw shows the waveform of the acceleration detected for the vertical axis (the up-down direction of the vehicle body). Figure 23 shows the waveforms of the accelerations of the three axes shown in Figure 22, to which a processing including removal of the gravitational acceleration, differentiation for bias removal, application of a low-pass filter for noise removal, and moving average processing for data smoothing has been applied. The processing is performed for the purpose of clarifying the continuity of the generation of the acceleration (clarifying the rise and fall of the acceleration that continuously occurs over time), grasping the magnitude of the acceleration that absorbs the vibration on the plus side / minus side, and suppressing the decrease in analysis accuracy due to noise. In Figure 23, Xc corresponds to the acceleration of the longitudinal axis, Yc corresponds to the acceleration of the lateral axis, and Zc corresponds to the acceleration of the vertical axis.

[0114] Here, the inventors have found the following through prior experiments. That is, for a series of triaxial vibration data DT, for each constituent period, there are characteristics / tendencies in the relationship between the acceleration in the front-rear axis (front-rear direction), the acceleration in the up-down axis (up-down direction), and the acceleration in the left-right axis (left-right direction) detected by the triaxial vibration sensor 30 during the same period. Therefore, for a series of triaxial vibration data DT, the constituent periods can be classified based on this relationship. The above points have been found. Specifically, regarding the working period, the acceleration in the left-right axis is greater than the threshold value defined by the acceleration in the up-down axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the up-down axis by a predetermined value), and is also greater than the threshold value defined by the acceleration in the front-rear axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the front-rear axis by a predetermined value). Also, regarding the traveling period, the acceleration in the front-rear axis is greater than the threshold value defined by the acceleration in the up-down axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the up-down axis by a predetermined value), and is also greater than the threshold value defined by the acceleration in the left-right axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the left-right axis by a predetermined value).

[0115] Also, regarding the ascending period, the acceleration in the up-down axis is greater than the threshold value defined by the acceleration in the front-rear axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the front-rear axis by a predetermined value), and is also greater than the threshold value defined by the acceleration in the left-right axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the left-right axis by a predetermined value). Furthermore, the mode of the acceleration in the up-down axis is different from the mode of the acceleration in the up-down axis during the descending period. Also, regarding the descending period, the acceleration in the up-down axis is greater than the threshold value defined by the acceleration in the front-rear axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the front-rear axis by a predetermined value), and is also greater than the threshold value defined by the acceleration in the left-right axis detected during the same period (for example, the threshold value obtained by multiplying the acceleration in the left-right axis by a predetermined value). Furthermore, the mode of the acceleration in the up-down axis is different from the mode of the acceleration in the up-down axis during the ascending period. Also, regarding the stop period, the acceleration in the front-rear axis, the acceleration in the up-down axis, and the acceleration in the left-right axis detected by the triaxial vibration sensor 30 during the same period are each below the corresponding threshold values.

[0116] Based on the above, in this application example, a period classification model M5 is prepared in advance. The period classification model M5 inputs a series of period left - right axis vibration data DTy, a series of period up - down axis vibration data DTz, and a series of period front - back axis vibration data DTx (the necessary pre - processing is naturally performed during input), and outputs configuration period timing information. The configuration period timing information is data in which information indicating the start timing and the end timing is recorded for each configuration period. The period classification model M5 is machine - learned by learning data including "the combination of a series of period left - right axis vibration data DTy, a series of period up - down axis vibration data DTz, a series of period front - back axis vibration data DTx, and the start / end timing of each configuration period" based on actual tests or simulations. Thereby, a function of classifying the configuration period for a series of period three - axis vibration data DT is implemented in the period classification model M5, reflecting that "for each configuration period, there are characteristics / tendencies in the relationship between the acceleration of the front - back axis, the acceleration of the up - down axis, and the acceleration of the left - right axis detected by the three - axis vibration sensor 30 during the same period".

[0117] The information processing unit 28 derives configuration period timing information using the period classification model M5. The process of deriving the configuration period timing information corresponds to the process of classifying the configuration period for a series of period three - axis vibration data. By using the period classification model M5 to derive the configuration period timing information, the information processing unit 28 classifies the configuration period for a series of period three - axis vibration data based on the relationship between the vibration of the front - back axis, the vibration of the up - down axis, and the vibration of the left - right axis detected by the three - axis vibration sensor 30 during the same period. Then, based on the configuration period timing information, the information processing unit 28 extracts data corresponding to the configuration period (for example, the working period or the running period) from the series of period three - axis vibration data DT. Note that the period classification model M5 may be a model artificially derived using statistical methods. Also, instead of outputting the configuration period timing information, the period classification model M5 may input a series of period three - axis vibration data DT and output data corresponding to each configuration period.

[0118] In this application example, the configuration period timing information was derived using the period classification model M5. However, the method for deriving the configuration period timing information or information similar thereto is not limited to the exemplified method. As an example, the information processing unit 28 may be configured to analyze each axis vibration data by an algorithm to classify the configuration period (specify the start timing and end timing of each configuration period). For example, when classifying the working period, the information processing unit 28 analyzes a series of period three-axis vibration data DT and specifies a period in which the relationship between the accelerations of the three axes satisfies a predetermined condition reflecting the characteristics of the working period. Then, the specified period is classified as the working period. The above configuration may also be used.

[0119] As described above, one embodiment (including modifications; the same applies hereinafter) of the present invention has been described. However, the above embodiment merely shows an example of the implementation of the present invention, and the technical scope of the present invention should not be construed in a limited manner thereby. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

[0120] In the above embodiment, large-scale facility horticulture 1 was the target. However, the target is not limited to large-scale facility horticulture, nor is it limited to facility horticulture. The type of plant to be cultivated is not limited to peppers.

[0121] Also, the work performed on the plant in the series of high-place work treatments is not limited to fruit harvesting. As an example, it may be the removal of the topmost leaves of the plant, or, depending on the plant, the work of connecting the top of the main stem to the guide wire. That is, the work performed on the plant in the series of high-place work treatments may be any work in which the height of the part to be worked on varies according to the growth of the plant.

[0122] In the above embodiment, the information processing unit 28 was configured to derive various spectra. However, the information processing unit 28 may be configured to acquire the spectra derived by an external device through communication or other means.

[0123] For example, in the above embodiment, part or all of the processing executed by the information processing unit 28 may be executed by an external device capable of communicating with the information processing unit 28 (for example, the arithmetic processing unit 20, a local server capable of communicating via a local network, a cloud server capable of communicating via the Internet, etc.). In this case, the external device, or the combination of the information processing device 27 and the external device, functions as an "information processing device", and the information processing unit of the external device, or the combination of the information processing unit of the external device and the information processing unit 28, functions as an "information processing unit".

[0124] Also, the functional blocks shown in the above embodiment can be realized by any hardware, or the cooperation of any hardware and any software. That is, these functional blocks are not limited to specific hardware.

[0125] For example, the embodiment can include the provision of a program executed by the computer of the information processing device 27. Also, the embodiment can include the provision of a recording medium on which the program is recorded in a computer-readable manner. As the above recording medium, a magnetic, optical recording medium, or a semiconductor memory device can be used. Specifically, portable or fixed recording media such as flexible disks, HDDs (Hard Disk Drives), CD-ROMs (Compact Disk Read Only Memories), DVDs (Digital Versatile Disks), Blu-ray (registered trademark) Disks, magneto-optical disks, flash memories, card-type recording media, etc. can be mentioned.

Explanation of Reference Numerals

[0126] 3 plants 6 work vehicles 7 work platforms 8 vehicle bodies 10 traveling mechanisms 12 support members 13 lifting mechanisms 19 left-right axial vibration sensors (sensors) 27 information processing devices 28 Information processing unit 30 Three-axis vibration sensor (three-axis sensor)

Claims

1. An information processing device capable of executing processing related to a work vehicle that includes a vehicle body, a traveling mechanism for traveling the vehicle body in a forward and backward direction, a work platform on which a worker can ride, a lifting mechanism for raising and lowering the work platform supported by a support member in a vertical direction, and a sensor for detecting vibrations of a left-right axis of the work platform, the information processing device being capable of executing processing related to a work vehicle that can be used when the worker riding on the work platform works on plants that are located on at least one of the left and right sides of the work platform, and an information processing unit that derives a work target part altitude, which is an estimated value of the height of a part of a plant that is the target of work by the worker during a work period, based on a left-right axis spectrum that is a frequency spectrum of vibration detected by the sensor during a work period in which the worker works on a plant on the work platform while the travel of the work vehicle and the lifting and lowering of the work platform are stopped.

23. An information processing apparatus comprising:

2. The information processing unit includes: The work target part altitude is derived based on the left-right axis spectrum, while reflecting factors that affect the vibration of the work platform.

2. The information processing apparatus according to claim 1,

3. The factors include vibration characteristics of the work platform, matters related to the physique of the worker who sits on the work platform, and the weight of a load placed on the work platform, an auxiliary detection is performed before the work period, in which the worker sits on the work platform and the load is placed on the work platform, the work platform is positioned at a first altitude, the work vehicle is driven while the position of the work platform is maintained, and vibrations during driving are detected by the sensor; and further, in the mounted state, the work platform is positioned at a second altitude different from the first altitude, the work vehicle is driven while the position of the work platform is maintained, and vibrations during driving are detected by the sensor. The information processing unit derives the work target part altitude based on the left-right axis spectrum, reflecting the result of the auxiliary detection.

3. The information processing apparatus according to claim 2.

4. In the auxiliary detection, the workbench is further lifted and lowered in a specific manner in the mounted state, and vibration is detected by the sensor when the workbench is being lifted and lowered in the specific manner. The information processing apparatus according to claim 3, characterized in that.

5. The elements include vibration characteristics of the workbench, matters related to the physique of the operator boarding the workbench, and the weight of the load placed on the workbench. In the mounted state where the operator boards the workbench and the load is placed, the workbench is lifted and lowered in a specific manner, and auxiliary detection is performed before the work period, in which vibration is detected by the sensor when the workbench is being lifted and lowered in the specific manner. The information processing unit derives the height of the work target part based on the left-right axis spectrum, reflecting the result of the auxiliary detection. The information processing apparatus according to claim 2, characterized in that.

6. The elements include vibration characteristics of the workbench, matters related to the physique of the operator boarding the workbench, and the weight of the load placed on the workbench. Vibration is detected by the sensor during a series of periods when the work vehicle is used. The series of periods include, in addition to the work period, a running period when the work vehicle is running, a rising period when the workbench is rising with the running of the work vehicle stopped, and a falling period when the workbench is falling with the running of the work vehicle stopped. The information processing unit Derives the height of the work target part based on the left-right axis spectrum, reflecting the vibration detected in at least one of the running period, the rising period, and the falling period that occurred before the work period. The information processing apparatus according to claim 2, characterized in that.

7. The information processing unit derives the height of the work target part based on the left-right axis spectrum by using a model that inputs the left-right axis spectrum and outputs the height of the work target part. The information processing apparatus according to any one of claims 1 to 6, characterized in that.

8. Instead of the sensor, the work vehicle is provided with a triaxial sensor that detects vibrations in three axes of the front-rear direction, the vertical direction, and the left-right direction. The information processing unit Derives the height of the work target part based on a triaxial spectrum indicating the frequency spectra of vibrations in three axes detected by the triaxial sensor during the work period. The information processing apparatus according to claim 1, characterized in that.

9. The information processing unit Derives the height of the work target part based on the triaxial spectrum, reflecting factors that affect the vibration of the work platform. The information processing apparatus according to claim 8, characterized in that.

10. The factors include the vibration characteristics of the work platform, matters related to the physique of the worker boarding the work platform, and the weight of the load placed on the work platform. The worker boards the work platform and the load is placed thereon. In the mounted state, the work platform is positioned at a first height. While the position of the work platform is maintained, the work vehicle is driven, and vibrations during driving are detected by the triaxial sensor. Further, in the mounted state, the work platform is positioned at a second height different from the first height. While the position of the work platform is maintained, the work vehicle is driven, and vibrations during driving are detected by the triaxial sensor. Such auxiliary detection is performed before the work period. The information processing unit derives the height of the work target part based on the triaxial spectrum, reflecting the results of the auxiliary detection. The information processing apparatus according to claim 9, characterized in that.

11. In the auxiliary detection, the workbench is further lifted and lowered in a specific manner in the mounted state, and vibration is detected by the triaxial sensor when the workbench is being lifted and lowered in the specific manner. The information processing apparatus according to claim 10, characterized in that.

12. The elements include vibration characteristics of the workbench, matters related to the physique of the worker boarding the workbench, and the weight of the load placed on the workbench. In the mounted state where the worker boards the workbench and the load is placed, the workbench is lifted and lowered in a specific manner, and auxiliary detection is performed before the work period, in which vibration is detected by the triaxial sensor when the workbench is being lifted and lowered in the specific manner. The information processing unit derives the height of the work target part based on the triaxial spectrum, reflecting the result of the auxiliary detection. The information processing apparatus according to claim 9, characterized in that.

13. The elements include vibration characteristics of the workbench, matters related to the physique of the worker boarding the workbench, and the weight of the load placed on the workbench. Vibration is detected by the triaxial sensor during a series of periods when the work vehicle is used. The series of periods include, in addition to the work period, a running period when the work vehicle is running, a rising period when the workbench is rising while the running of the work vehicle has stopped, and a falling period when the workbench is falling while the running of the work vehicle has stopped. The information processing unit Derives the height of the work target part based on the triaxial spectrum, reflecting the vibration detected in at least one of the running period, the rising period, and the falling period that occurred before the work period. The information processing apparatus according to claim 9, characterized in that.

14. The information processing unit Acquire a series of period three-axis vibration data indicating the three-axis vibrations detected by the three-axis sensor during the series of periods, Based on the relationship between the vibrations in the front-rear direction, the up-down direction, and the left-right direction detected by the three-axis sensor during the same period, classify the series of period three-axis vibration data into the working period, the traveling period, the ascending period, or the descending period, Analyze the data corresponding to the working period to derive the three-axis spectrum, Derive the height of the work target part based on the three-axis spectrum, reflecting the vibrations indicated by the data corresponding to at least one of the traveling period, the ascending period, and the descending period that occurred before the working period, The information processing apparatus according to claim 13, characterized in that.

15. The information processing unit uses a model that inputs the three-axis spectrum and outputs the height of the work target part to derive the height of the work target part based on the three-axis spectrum, The information processing apparatus according to any one of claims 8 to 14, characterized in that.

16. An information processing method by an information processing apparatus capable of executing processing related to a work vehicle including a vehicle body, a traveling mechanism for traveling the vehicle body in the front-rear direction, a work platform on which an operator can board, a lifting mechanism for lifting and lowering the work platform supported by a support member in the up-down direction, and a sensor for detecting vibrations of the left-right axis of the work platform, when the operator boarding the work platform performs work on a plant existing in at least one of the left and right directions of the work platform, comprising: A step of the information processing unit of the information processing apparatus acquiring a left-axis spectrum, which is a frequency spectrum of vibrations detected by the sensor during a working period in which the operator performs work on a plant on the work platform in a state where the traveling of the work vehicle and the lifting and lowering of the work platform are stopped, The information processing unit of the information processing apparatus includes a step of deriving a work target part height, which is an estimated value of the height of the part of the plant that is the target of the work by the worker during the work period, based on the left-right axis spectrum. An information processing method characterized by the above.

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