Information processing device and method for estimating work period

Abstract

To enable a period of plant related work performed by using a work vehicle provided with a liftable workbench to be grasped as much accurately as possible by reducing a worker's load and preventing an occurrence of a deterioration in accuracy caused by an error of the worker without introducing a complicated or large scale system.SOLUTION: A liftable workbench 11 of a work vehicle 6 is provided with a triaxial acceleration sensor 23 for detecting triaxial accelerations of a front-back direction, an up-down direction and a left-right direction. Then, an information processing part 28 estimates a plant related work period being a period when plant related work is performed on the basis of a front-back direction acceleration, an up-down direction acceleration and a left-right direction acceleration detected during the same period by the triaxial acceleration sensor 23 for detecting triaxial accelerations of a front-back direction, an up-down direction and a left-right direction of the work vehicle 6 provided with the liftable workbench 11.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to an information processing apparatus for estimating a period of work on a plant performed on an elevating work platform of a work vehicle, and a work period estimation method for estimating the period.

Background Art

[0002] In recent years, protected horticulture, particularly large-scale protected horticulture in which protected horticulture has been scaled up, has attracted attention. Protected 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 material. In protected horticulture (particularly large-scale protected horticulture), a large number of plants (for example, tomatoes) can be grown while being intensively managed under a stable environment. In this protected horticulture, operations such as fruit harvesting, observation of the state of plants (for example, measurement of a vegetation index value using an optical measuring instrument), and maintenance such as removal of unnecessary leaves are appropriately performed. In order to reduce the work load and improve the efficiency and shorten the time of the work, a work vehicle capable of traveling within the facility may be used. For example, Patent Document 1 describes that in protected horticulture, a work vehicle capable of traveling in a passage provided between adjacent cultivation beds is used.

[0003] While it is unclear whether the work vehicle described in Patent Document 1 is capable of carrying a human worker, a vehicle of the following type (a so-called aerial work platform) capable of carrying a worker may be used as a work vehicle. Specifically, a work vehicle may be used that is configured to travel in the forward and backward direction along a passage where plants are present on both sides (or even just one side), and that is equipped with a work platform that can be raised and lowered vertically. The worker basically performs the desired work on the plants located to the left and right of the work vehicle while standing on the work platform. Hereinafter, this type of work vehicle will be conveniently referred to as a "work vehicle with a work platform." With this work vehicle with a work platform, the workload is reduced, the work efficiency and time are improved, and the worker can perform work at height. In this case, some types of plants extend to positions higher than the average human height, but with a work vehicle with a work platform, the worker can perform work on the higher parts of these types of plants. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-93051 [Overview of the project] [Problems that the invention aims to solve]

[0005] Incidentally, when using work vehicles equipped with work platforms, there is a need to accurately determine the duration of work performed on plants by workers (hereinafter referred to as "plant-related work"). The duration of plant-related work can be used for various analyses, such as analyzing work efficiency and analyzing the actual working conditions, and the more accurate the measured duration of plant-related work, the more accurate the analysis results will be. In order to determine the duration of plant-related work as accurately as possible, it is necessary to exclude the time spent when the work vehicle is moving close to the target plants, the time when the occupants are on the work platform but doing nothing, and the time when the work platform is being raised or lowered. Due to these circumstances unique to work vehicles equipped with work platforms, there is a particularly strong demand for the most accurate determination of the duration of plant-related work using such vehicles.

[0006] Traditionally, the following method has been proposed to track the duration of plant-related work using work vehicles equipped with work platforms: Workers are provided with a dedicated terminal for inputting the start and end times of plant-related work (although the dedicated terminal may be a stationary type installed within the facility). Workers then input the start and end times of plant-related work into the dedicated terminal as needed while performing their tasks. A server then collects the information from the dedicated terminal (collection can be in real-time or retrospectively) and compiles the duration of the plant-related work. However, this method had the problem that the task of inputting data into the dedicated terminal itself was burdensome for the workers. Furthermore, there was the problem of workers forgetting to input data or making input errors.

[0007] One proposed solution to this problem is the introduction of a system that automatically recognizes the position and movement of workers (or work vehicles with work platforms) (hereinafter referred to as the "automatic recognition system"). In this automatic recognition system, for position recognition, one example is a system that includes an electronic tag carried by the worker (or work vehicle with a work platform) and a reader that detects the proximity of the electronic tag, and another example is a system that utilizes GNSS. In addition, in the automatic recognition system, for movement recognition, one example is a system that includes a camera (a camera that generates three-dimensional images, not just two-dimensional images) and a computer that analyzes the results of the camera to estimate the movement. However, introducing such an automatic recognition system presents the problems of system complexity and scale, and the resulting increase in cost.

[0008] This invention was made to solve these problems, and aims to reduce the burden on workers, prevent a decrease in accuracy caused by worker errors, and enable the most accurate tracking of the duration of plant-related work performed using a work vehicle equipped with a height-adjustable work platform, without introducing complex or large-scale systems. [Means for solving the problem]

[0009] To solve the above-mentioned problems, the present invention analyzes the detection results of a three-axis acceleration sensor installed on the work platform of the following work vehicle. The work vehicle is capable of traveling in the forward and backward directions, and its work platform, on which a worker can ride, can be raised and lowered in the vertical direction. It is a vehicle that can be used when a worker riding on the work platform performs plant-related work on plants located in at least one direction in the left or right direction of the work platform. The three-axis acceleration sensor is a sensor that detects acceleration in three axes: forward / backward, up / down, and left / right. When analyzing the detection results of the three-axis acceleration sensor, the present invention estimates the plant-related work period, which is the period during which plant-related work was performed, based on the relationship between the forward / backward acceleration, up / down acceleration, and left / right acceleration detected by the three-axis acceleration sensor during the same period. [Effects of the Invention]

[0010] The work vehicle is capable of traveling in the forward and backward directions, and is equipped with a work platform that can be raised and lowered vertically. The worker sits on the work platform and performs plant-related work on plants located in at least one direction to the left or right of the work platform. Due to the structural characteristics, operational characteristics, and usage characteristics of such a work vehicle, plant-related work using the work vehicle has the following characteristics. Specifically, when a worker sitting on the work platform is actually performing plant-related work, the relationship between the forward / backward acceleration, vertical acceleration, and horizontal acceleration detected by the three-axis acceleration sensor during that period is in a predetermined state that reflects the "structural characteristics, operational characteristics, and usage characteristics of the work vehicle." Based on this, according to the present invention configured as described above, the plant-related work period is estimated based on the relationship between the forward / backward acceleration, vertical acceleration, and horizontal acceleration detected by the three-axis acceleration sensor during the same period, thus suitably utilizing the above characteristics to achieve a more accurate estimation of the work period. Furthermore, according to the present invention, since no input is required from the worker when estimating the plant-related work period, the burden on the worker is reduced, and the occurrence of a decrease in accuracy due to worker errors is prevented. Moreover, with the present invention, the system can be realized by equipping the work vehicle with a three-axis acceleration sensor, so there is no need to introduce a complex or large-scale system.

[0011] As described above, the present invention reduces the burden on workers, prevents a decrease in accuracy caused by worker errors, and allows for the most accurate determination of the duration of plant-related work performed using a work vehicle equipped with a height-adjustable work platform, without the need to introduce complex or large-scale systems. [Brief explanation of the drawing]

[0012] [Figure 1] This is a top-down view of a large-scale greenhouse horticulture facility. [Figure 2] This is a photograph showing the interior of a large-scale greenhouse horticulture facility. [Figure 3] This is a side view of the work vehicle, seen from the side. [Figure 4]It is a side view of the work vehicle seen from the side. [Figure 5] It is a plan view of the work vehicle seen from above. [Figure 6] It is a diagram showing the hardware configuration of the work vehicle. [Figure 7] It is a diagram used for explaining the overall treatment. [Figure 8] It is a diagram used for explaining the overall treatment. [Figure 9] It is a diagram showing the relationship between the stop period and the plant-related work. [Figure 10] It is a block diagram showing a functional configuration example of an information processing apparatus according to an embodiment of the present invention. [Figure 11] It is a flowchart showing an operation example of an information processing apparatus according to an embodiment of the present invention. [Figure 12] It is a diagram showing an example of the transition of acceleration. [Figure 13] It is a diagram showing an example of the transition of the index value. [Figure 14] It is a diagram used for explaining the plant-related work period estimation process. [Figure 15] It is a diagram showing the estimated plant-related work period together with the index value transition. [Figure 16] It is a diagram used for explaining the lifting / lowering period estimation process. [Figure 17] It is a diagram used for explaining the residence period estimation process. [Figure 18] It is a diagram used for explaining the work content estimation process.

Embodiments for Carrying Out the Invention

[0013] Hereinafter, an embodiment of the present invention will be described based on 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. FIG. 2 is a photograph of the interior of the large-scale facility horticulture 1 according to this embodiment. In particular, FIG. 2 shows the state when taken in the direction indicated by the arrow Y1 from the point TT1 in FIG. 1. However, the photograph in FIG. 2 is used for convenience in order to appropriately understand the large-scale facility horticulture 1 according to this embodiment, and the internal structure of the large-scale facility horticulture 1 represented by the photograph does not completely match the internal structure of the large-scale facility horticulture 1 in FIG. 1. For the large-scale facility horticulture 1 according to this embodiment, for the convenience of explanation, the first direction and the second direction orthogonal to this are defined as shown in FIGS. 1 and 2.

[0014] The large-scale facility horticulture 1 according to this embodiment is a facility horticulture for cultivating tomatoes (plants). 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 materials. The large-scale facility horticulture 1 is a large-scale version of facility horticulture, and realizes the simultaneous cultivation and centralized management of a large amount of tomatoes.

[0015] As shown in FIGS. 1 and 2, a plurality of cultivation beds 2 extending in the first direction are provided side by side in the large-scale facility horticulture 1. A plurality of tomato plants 3 are arranged side by side in the first direction on one cultivation bed 2. However, in FIG. 1, one plant 3 is simply shown by a dotted circle. As shown in FIGS. 1 and 2, 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 passage 4 on both sides or one side of the passage 4 and the rail 5 provided in the passage 4. A work vehicle 6 described later is installed on the rail 5, and the work vehicle 6 can travel on the rail 5.

[0016] As shown in Figure 1, a wire 8 is provided above the cultivation bed 2, extending in a first direction along the cultivation bed 2. The wire 8 is a linear member and is supported by a column member (not shown), maintaining a state of floating at approximately a constant distance from the ground. A bobbin 9 is attached to the wire 8 for each plant 3. The bobbin 9 is a hollow cylindrical member, through which the wire 8 passes. A training wire (not shown) is attached to the bobbin 9. The training wire hangs down from the bobbin 9 by gravity. The training wire is used to guide the main stem of the tomato plant so that it grows along the wire, thereby shaping the plant 3.

[0017] In the large-scale greenhouse horticulture 1 according to this embodiment, tomatoes are cultivated in the manner described above. During the tomato cultivation process, various tasks are performed on the plants 3. These tasks include, for example, harvesting the fruit, observing the condition of the plants 3 using measuring instruments, and removing unnecessary leaves. The large-scale greenhouse horticulture 1 according to this embodiment is characterized by its large scale, the large number of plants 3 that are the target of the work, and the fact that when the plants 3 grow, their height exceeds the average human height. Taking this into consideration, workers can perform their tasks using the following work vehicle 6.

[0018] Figure 3 is a side view of the work vehicle 6 with the work platform 11 in the bottom position (described later), viewed from the right side of the vehicle (described later). Figure 4 is a side view of the work vehicle 6 with the work platform 11 in the top position (described later), viewed from the right side of the vehicle. Figure 5 is a top view of the work vehicle 6 installed on the rail 5. However, Figure 5 is primarily intended to explain the direction and orientation based on the work vehicle 6 (vehicle body 12), and the work vehicle 6 is depicted in a simplified manner. As shown in Figures 3 to 5, the direction in which the work vehicle 6 moves forward relative to the vehicle body 12 is called the "front of the vehicle," and the opposite direction is called the "rear of the vehicle." The directions extending to the front and rear of the vehicle are called the "front-rear direction of the vehicle." The direction moving to the right when moving forward is called the "right side of the vehicle," and the opposite direction is called the "left side of the vehicle." The directions extending to the right and left of the vehicle are called the "left-right direction of the vehicle." Furthermore, the direction pointing upward relative to the vehicle body 12 is called the "upper vehicle body," and the direction pointing downward is called the "lower vehicle body." The direction extending upward and downward from the vehicle body is called the "vertical vehicle body direction." When the work vehicle 6 is placed on a horizontal surface in its normal configuration, the vertical vehicle body direction coincides with the vertical direction.

[0019] The work vehicle 6 is a so-called aerial work platform, and is equipped with the function of traveling along rails 5 in the front-to-back direction and the function of raising and lowering a work platform 11 on which a person can ride in the up-to-down direction. As shown in Figures 3 and 4, the work vehicle 6 is equipped with a body 12 having four running wheels 13. The running wheels 13 are fitted into the rails 5 and rotate to move the work vehicle 6 along the rails 5. Inside the body 12 is a battery that supplies power to the various loads of the work vehicle 6. Also inside the body 12 is a driving mechanism 14 (Figure 6) that includes a motor and a power transmission mechanism that transmits the motor's power to the running wheels 13, and rotates the running wheels 13 to enable the work vehicle 6 to move.

[0020] As shown in Figures 3 and 4, the vehicle body 12 is equipped with a lifting mechanism 16 and a work platform 11 supported by the lifting mechanism 16. The lifting mechanism 16 is a hydraulic scissor mechanism that raises and lowers the work platform 11 between the lowest position, the bottom position (Figure 3), and the highest position, the top position (Figure 4). The vehicle body 12 is equipped with a lifting drive mechanism 17 (Figure 6) that drives the lifting mechanism 16 to raise and lower the work platform 11, which includes a hydraulic pump, a motor that drives the hydraulic pump, and a power transmission mechanism (lift cylinder, etc.) that operates the lifting mechanism 16 according to the discharge pressure oil of the hydraulic pump. The vehicle body 12 is also equipped with a control unit 15 (Figure 6) that controls the travel drive mechanism 14 and the lifting drive mechanism 17. The control unit 15 is equipped with a processing unit such as a CPU, a primary storage device such as RAM, a secondary storage device such as ROM, and other hardware, and performs various calculation / information processing. The control unit 15 includes a processing unit such as a CPU, a primary storage device such as RAM, a secondary storage device such as ROM, and other hardware. Through the cooperation of hardware and software, it performs various arithmetic and information processing, such as the CPU reading and executing a program stored in ROM.

[0021] As shown in Figures 3 and 4, the work platform 11 comprises a base 18 on which the worker places their feet, and a fence 19 provided around the base 18. The fence 19 has a fall prevention function and a handrail function. An operation panel 20 is mounted on the base 18, supported by a column member 21. The operation panel 20 is equipped with switches that instruct the movement of the work vehicle 6, the raising and lowering of the work platform 11, and other operations of the work vehicle 6. The control unit 15 and the operation panel 20 are connected in a communicative manner, and the control unit 15 can control each part of the work vehicle 6 based on instructions input to the operation panel 20.

[0022] A sensor unit 22 is mounted on the workbench 11 via a dedicated fixing member. In other words, the sensor unit 22 is fixed to the base 18 of the workbench 11. The sensor unit 22 is equipped with a three-axis acceleration sensor 23 (Figure 6). The three-axis acceleration sensor 23 is an acceleration sensor that detects acceleration along three axes: an axis extending in the longitudinal direction of the vehicle body (hereinafter referred to as the "longitudinal axis"), an axis extending in the vertical direction of the vehicle body (hereinafter referred to as the "vertical axis"), and an axis extending in the horizontal direction of the vehicle body (hereinafter referred to as the "horizontal axis"). The three-axis acceleration sensor 23 is mounted on the workbench 11 in an appropriate position so that acceleration along these three axes can be detected. The detected values ​​from the three-axis acceleration sensor 23 are output to the control unit 15. Since the sensor unit 22 (three-axis acceleration sensor 23) is fixed to the workbench 11, the three-axis acceleration sensor 23 detects acceleration acting on the workbench 11. A calculation processing unit 24 is also provided integrally with the sensor unit 22 on the base 18. The arithmetic processing unit 24 includes a processing unit such as a CPU, a primary storage device such as RAM, a secondary storage device such as ROM, and other hardware. Through the cooperation of hardware and software, it performs various arithmetic and information processing operations, such as the CPU reading and executing a program stored in ROM.

[0023] The structure of the work vehicle 6 has been described above, but the work vehicle 6 is a very simplified representation, and of course, the structure of the work vehicle 6 is not limited to the example shown. For example, the work vehicle 6 does not have to run on rails 5, but could be a vehicle that runs on a flat surface. In addition, components other than those described in this embodiment that are necessary for performing the processing are naturally provided on the work vehicle 6. For example, the work vehicle 6 is equipped with various sensors that detect the state and abnormalities of the work vehicle 6. Also, the positions where the sensor unit 22 and other components are provided are not limited to the positions exemplified in this embodiment. Furthermore, the sensor unit 22 could be a mobile general-purpose device and could be mounted on a mounting base each time measurement is performed.

[0024] Figure 6 shows the hardware configuration of the work vehicle 6 according to this embodiment. As shown in Figure 6, the work vehicle 6 comprises a control unit 15, a travel drive mechanism 14, a lifting drive mechanism 17, an operation panel 20, a sensor unit 22 having a three-axis acceleration sensor 23, and a processing unit 24. A storage unit 25 equipped with a hard disk, flash memory, or other storage medium is connected to the processing unit 24.

[0025] The control unit 15 controls the travel drive mechanism 14 to control the movement of the work vehicle 6. The control unit 15 also controls the lifting drive mechanism 17 to control the raising and lowering of the work platform 11 by the lifting mechanism 16. The control unit 15 also receives signals from the operation panel 20 and controls various parts of the work vehicle 6 based on those signals. The calculation processing unit 24 receives the detection values ​​from the three-axis acceleration sensor 23.

[0026] Next, a series of procedures performed using the work vehicle 6, and the processing of the associated arithmetic processing unit 24, will be explained using a simplified example. In the following example, we assume a simplified area AR1 as shown in Figure 7. In area AR1, cultivation beds 2L and 2R are provided side by side, with a passage 4 between them and rails 5 provided in this passage 4. Cultivation bed 2L is provided with plants 3L1, 3L2, and 3L3, and cultivation bed 2R is provided with plants 3R1, 3R2, and 3R3.

[0027] In the following explanation, the series of procedures using the work vehicle 6 will be referred to as the "overall procedure." Here, it is assumed that before the start of the overall procedure, the work vehicle 6 is located at the standby position PS1 shown in Figure 7. In this example, the overall procedure will start when the worker boards the workbench 11 of the work vehicle 6 located at the standby position PS1 and the power to the work vehicle 6 is turned on. In response to the power being turned on to the work vehicle 6, the output of detected values ​​from the three-axis acceleration sensor 23 to the arithmetic processing unit 24 will begin. The overall procedure will end when the worker has completed all work on the stock 3, the work vehicle 6 is returned to the standby position PS1, and the power to the work vehicle 6 is turned off. In response to the power being turned off to the work vehicle 6, the output of detected values ​​from the three-axis acceleration sensor 23 to the arithmetic processing unit 24 will end.

[0028] In the following explanation, the work performed by the worker on plant 3 will be defined as "fruit harvesting." The actual work performed by the worker on the workbench 11 related to fruit harvesting will be referred to as "plant-related work." In other words, in this example, plant-related work refers to the work performed by the worker on the workbench 11 using their physical movements for the purpose of harvesting fruit. In this example, plant-related work is related to fruit harvesting, but as mentioned above, there are various types of work, not limited to fruit harvesting (for example, maintenance of plant 3, observation, etc.). Regardless of the type of work, plant-related work refers to direct work performed by the worker on the workbench 11 on the plant for a specific purpose. In the following explanation, the period during which plant-related work is performed will be referred to as the plant-related work period. The plant-related work period does not include the period during which the work vehicle 6 is moving to the vicinity of plant 3, the period during which the occupant is on the workbench but doing nothing, or the period during which the workbench is being raised or lowered.

[0029] Figure 8 is a diagram used to explain the overall procedure. Although not explained in detail below, the movement of the work vehicle 6 is achieved by the control unit 15 controlling the travel drive mechanism 14 under the direction of the worker. The raising and lowering of the work platform 11 is achieved by the control unit 15 controlling the lifting drive mechanism 17 under the direction of the worker.

[0030] After the start of the overall treatment, the worker raises the workbench 11 of the work vehicle 6 at the standby position PS1 to a position suitable for performing plant-related work (fruit harvesting in this example). Next, the worker moves the work vehicle 6 to a position corresponding to plants 3L1 and 3R1 and stops it. The positions corresponding to plants 3L1 and 3R1 are positions suitable for performing plant-related work on plants 3L1 and 3R1 (Figure 8(A)). Next, the worker performs plant-related work on the workbench 11. Briefly, the worker first faces plant 3L1 and harvests the fruit from plant 3L1 using scissors or other tools (or without tools), and then moves their body to face plant 3R1 and harvests the fruit from plant 3R1. However, the order in which the fruits of the plants 3 are harvested is, of course, arbitrary. After harvesting of plants 3L1 and 3R1 is complete, the worker moves the work vehicle 6 to the position corresponding to plants 3L2 and 3R2.

[0031] After the work vehicle 6 arrives at the position corresponding to plants 3L2 and 3R2 and stops (Figure 8(B)), the worker performs plant-related work on plants 3L2 and 3R2. After the plant-related work is completed, the worker moves the work vehicle 6 to the position corresponding to plants 3L3 and 3R3 (Figure 8(C)) and stops the work vehicle 6 at that position. Subsequently, the worker performs plant-related work on plants 3L3 and 3R3. After the plant-related work on plants 3L3 and 3R3 is completed, the worker lowers the work platform 11 of the work vehicle 6 to the bottom position, then moves the work vehicle 6 to the standby position PS1, and turns off the power to the work vehicle 6.

[0032] Here, regardless of whether a worker is performing plant-related work or not, the period during which the work vehicle 6 is not moving and the work platform 11 is not being raised or lowered is called the "stopping period." For example, the period during which the work vehicle 6 is waiting at the standby position PS1 (excluding the period during which the work platform 11 is being raised or lowered), or the period from when the work vehicle 6 arrives at the "position corresponding to plant 3L1 and plant 3R1" until it departs for the "position corresponding to plant 3L2 and plant 3R2" (assuming the work platform 11 is not being raised or lowered), is considered a "stopping period." Plant-related work is not performed throughout this stopping period. For example, no plant-related work is performed during the stopping period when the work vehicle 6 is stopped at the standby position PS1, or during the stopping period when the work vehicle 6 stops for any reason on its way to the position corresponding to plant 3. Furthermore, even when the work vehicle 6 is located at the position corresponding to plant 3, as shown in Figure 9, it is expected that there will be periods during which no plant-related work is performed, rather than the entire duration of the stopping period. For example, it is assumed that there will be a period when no plant-related work is performed immediately after the work vehicle 6 stops, or immediately before the work vehicle 6 starts moving. Hereinafter, the period of inactivity (i.e., the period when the work vehicle 6 is not moving and the work platform 11 is not being raised or lowered) during which no plant-related work is performed will be referred to as the "stay period." Figure 9 shows the stay period.

[0033] During the overall processing, the three-axis acceleration sensor 23 outputs detected values ​​to the arithmetic processing unit 24. As described above, the three-axis acceleration sensor 23 detects acceleration along the front-rear axis, up-down axis, and left-right axis. In this embodiment, the three-axis acceleration sensor 23 detects the magnitude (detected value) of acceleration on the positive or negative side (however, the expressions positive and negative are for convenience) of each axis, using the state where no acceleration is acting as a reference (zero), at predetermined intervals (for example, every 10 milliseconds). The three-axis acceleration sensor 23 outputs the detected values ​​to the arithmetic processing unit 24 at predetermined intervals. The arithmetic processing unit 24 receives the detected values ​​(acceleration of the three axes) from the three-axis acceleration sensor 23 at predetermined intervals and records them in the acceleration log data DT1 stored in the storage unit 25 according to the format. As a result, when the overall processing is completed, the acceleration log data DT1 will contain the acceleration detected at predetermined intervals for the front-rear axis, up-down axis, and left-right axis throughout the entire period of the overall processing.

[0034] The above describes a simplified example of overall treatment. However, this is merely one example, and overall treatment is carried out in various ways that are appropriate to the environment, the condition of the plants, etc. For example, after the work vehicle 6 is positioned at the location corresponding to plant 3, the following steps may be performed: "raising (or lowering) the workbench 11 → stopping the workbench 11 → plant-related work". However, regardless of the manner in which overall treatment is carried out, it is assumed that during overall treatment there will be periods when the work vehicle 6 is moving (moving period), periods when the workbench 11 is moving up and down while the work vehicle 6 is stopped (raising and lowering period), and periods when the work vehicle 6 is stopped and the raising and lowering of the workbench 11 is also stopped (stopping period). The period during which plant-related work is carried out during the stopping period is the plant-related work period, and the period during which no plant-related work is carried out during the stopping period is the dwelling period. Hereinafter, the moving period, raising and lowering period, stopping period, plant-related work period, and dwelling period may be collectively referred to as the "composition period".

[0035] As described above, once the overall treatment is performed, the changes in the three-axis acceleration during the overall treatment are recorded in the acceleration log data DT1. The information processing device 27 according to this embodiment has at least the function of analyzing the acceleration log data DT1 and estimating the period during which plant-related work was performed (plant-related work period) within the entire period during which the overall treatment was performed (hereinafter referred to as the "target entire period"). The information processing device 27 will be described in detail below.

[0036] Figure 10 is a block diagram showing an example of the functional configuration of the information processing device 27 according to this embodiment. In this embodiment, the information processing device 27 is a computer different from the arithmetic processing unit 24, but of course, the arithmetic processing unit 24 may also function as the information processing device 27. Furthermore, the specific form of the computer for the information processing device 27 is not limited, and as an example, a server connected to the internet, a server connected to a local network, a desktop computer, or a mobile computer (such as a laptop computer or tablet computer; a so-called smartphone may also be used) can function as the information processing device 27.

[0037] As shown in Figure 10, the information processing device 27 includes an information processing unit 28 as part of its functional configuration. The information processing unit 28 can be configured using hardware, a DSP (Digital Signal Processor), or software. For example, when configured using software, the information processing unit 28 is actually configured with a computer's CPU, RAM, ROM, etc., and is realized by the operation of a program stored on a recording medium such as RAM, ROM, hard disk, or semiconductor memory. The information processing device 27 also includes a storage unit 29 equipped with a hard disk, flash memory, or other storage medium.

[0038] Before the information processing device 27 analyzes the acceleration log data DT1, the acceleration log data DT1 to be analyzed is stored in the storage unit 29. The storage of the acceleration log data DT1 in the storage unit 29 can be done by any method, for example, by human means, or the information processing device 27 may receive the acceleration log data DT1 directly or indirectly from the arithmetic processing unit 24 via communication and store it in the storage unit 29 (in this case, both the arithmetic processing unit 24 and the information processing device 27 will need communication capabilities). In this embodiment, the acceleration log data DT1 stored in the storage unit 29 is the target of analysis, but the system may also analyze acceleration log data DT1 stored in an external storage device such as a USB memory, or acceleration log data DT1 stored in a storage medium of an external device connected via communication.

[0039] Next, we will explain the processing of the information processing device 27 when analyzing the acceleration log data DT1. The flowchart FA in Figure 11 is a flowchart showing an example of the operation of the information processing device 27 when analyzing the acceleration log data DT1. As shown in Figure 11, the information processing unit 28 of the information processing device 27 acquires the acceleration log data DT1 (step SA1). Figure 12 is an example of the contents of the acceleration log data DT1 acquired in step SA1 (however, the contents are visually represented as waveforms). In Figure 12, Xw shows the waveform of acceleration detected in the longitudinal axis (longitudinal direction of the vehicle body), Yw shows the waveform of acceleration detected in the lateral axis (lateral direction of the vehicle body), and Zw shows the waveform of acceleration detected in the vertical axis (vertical direction of the vehicle body). The acceleration log data DT1 shown in Figure 12 shows the changes in acceleration detected during a part of the entire target period. Figure 12 also shows the actual driving period, elevation period, and stopping period.

[0040] Next, the information processing unit 28 performs preprocessing (step SA2). In the preprocessing of step SA2, the information processing unit 28 derives the changes in the behavior estimation index value (hereinafter referred to as "index value changes") based on the changes in the acceleration of the three axes. In deriving the index value changes, the information processing unit 28 applies the following to the original acceleration changes: removal of gravitational acceleration, differentiation for bias removal, application of a low-pass filter for noise removal, and moving average processing for data smoothing, to derive the index value changes. The index value changes have the effect of clarifying the continuity of acceleration generation (clarifying the rise and fall of acceleration that occurs continuously over time), making it easier to grasp the magnitude of acceleration that absorbs positive / negative fluctuations, and suppressing the decrease in analysis accuracy due to noise.

[0041] In the preprocessing of step SA2, the information processing unit 28 generates machining data DT2 in which the derived triaxial index value transitions are recorded and stores it in the storage unit 29. Figure 13(A) shows the index value transition Xc derived based on the waveform Xw related to the front-rear axis in Figure 12, (B) shows the index value transition Yc derived based on the waveform Yw related to the left-right axis in Figure 12, and (C) shows the index value transition Zc derived based on the waveform Zw related to the up-down axis in Figure 12. Figure 13(D) is a diagram showing the index value transitions Xc, Yc, and Zc within a single coordinate system. In Figure 13, as in Figure 12, the actual travel period, lifting period, and stopping period are shown.

[0042] Next, the information processing unit 28 performs a plant-related work period estimation process (step SA3). In the plant-related work period estimation process of step SA3, the information processing unit 28 estimates the plant-related work period based on the relationship between the acceleration of the front-to-back axis (front-to-back direction), the acceleration of the up-and-down axis (up-and-down direction), and the acceleration of the left-to-right axis (left-to-right direction) detected by the triaxial acceleration sensor 23 during the same period. In particular, the information processing unit 28 estimates the plant-related work period as the period during which the acceleration of the left-to-right axis is greater than the acceleration of the up-and-down axis and the acceleration of the front-to-back axis detected during the same period, while satisfying a certain relationship. More specifically, the information processing unit 28 estimates the plant-related work period as the period during which the acceleration of the left-to-right axis is greater than a threshold defined by the acceleration of the up-and-down axis detected during the same period, and also greater than a threshold defined by the acceleration of the front-to-back axis detected during the same period. The plant-related work period estimation process will be described in detail below.

[0043] In the plant-related work period estimation process, the information processing unit 28 analyzes the changes in the three axis index values ​​and estimates the plant-related work period as a period during which the estimated behavior index value related to the left-right axis (hereinafter referred to as the "left-right axis index value") is greater than a first threshold S1 obtained by multiplying the estimated behavior index value related to the up-down axis (hereinafter referred to as the "up-down axis index value") measured at the same time by N, and is also greater than a second threshold S2 obtained by multiplying the estimated behavior index value related to the anterior-posterior axis (hereinafter referred to as the "anterior-posterior axis index value") measured at the same time by M (N and M may be the same or different). Hereinafter, the period estimated as the plant-related work period will be referred to as the "estimated plant-related work period".

[0044] Figure 14 is a diagram used to explain the plant-related work period estimation process. Figure 14(A) shows the three-axis behavior estimation index values ​​at a certain timing T1. The symbol X-1 represents the anterior-posterior axis index value, the symbol Y-1 represents the lateral axis index value, and the symbol Z-1 represents the posterior-interior axis index value. At timing T1 shown in Figure 14(A), the lateral axis index value Y-1 is greater than the first threshold S1, which is obtained by multiplying the posterior-interior axis index value Z-1 at the same timing (i.e., timing T1) by N, and also greater than the second threshold S2, which is obtained by multiplying the anterior-posterior index value X-1 at the same timing (i.e., timing T1) by M. Therefore, the information processing unit 28 determines that "timing T1 is a timing that constitutes the estimated plant-related work period."

[0045] Figure 14(B) shows the estimated behavior index values ​​for the three axes at a certain timing T2. The symbol X-2 represents the index value for the anterior-posterior axis, the symbol Y-2 represents the index value for the left-right axis, and the symbol Z-2 represents the index value for the up-down axis. At timing T2 shown in Figure 14(B), the left-right axis index value Y-2 is smaller than the first threshold S1, which is obtained by multiplying the up-down axis index value Z-2 at the same timing (i.e., timing T2) by N, and also smaller than the second threshold S2, which is obtained by multiplying the anterior-posterior index value X-2 at the same timing (i.e., timing T2) by M. In other words, at timing T2, the condition that "the left-right axis index value Y-1 is greater than the first threshold S1 and greater than the second threshold S2" is not met. Therefore, the information processing unit 28 determines that "timing T2 is not a timing that constitutes the estimated plant-related work period."

[0046] The information processing unit 28 derives a group (set) of timings in which "the left-right axis index value is greater than the first threshold S1 and greater than the second threshold S2" as the estimated plant-related work period. Figure 15 shows the estimated plant-related work period derived based on the changes in the three-axis index values ​​shown in Figure 13(D), along with the changes in the three-axis index values. In the example of Figure 15, the estimated plant-related work period appears during the actual stop period. The timing of the behavior estimation index value occurs every period in which acceleration is detected (e.g., 10 milliseconds). When deriving the estimated plant-related work period, the information processing unit 28 may also configure the system to define a group of timings as the estimated plant-related work period if "the left-right axis index value is greater than the first threshold S1 and greater than the second threshold S2" occurs consecutively for a predetermined number of times or more. This is also true when estimating other constituent periods.

[0047] Here, we will explain the validity of deriving the estimated plant-related work period in the manner described above. During the plant-related work period, the work vehicle 6 is stopped, so no acceleration in the longitudinal axis due to movement occurs, and basically, only limited acceleration in the longitudinal axis is detected. Furthermore, during the plant-related work period, the raising and lowering of the work platform 11 is stopped, so no acceleration in the vertical axis due to the raising and lowering of the work platform 11 occurs, and basically, only limited acceleration in the vertical axis is detected. In other words, the work vehicle 6 has these operational characteristics. The work platform 11 is supported by the vehicle body 12 via a lifting mechanism 16, and has a structural characteristic that when plant-related work is performed in the manner described above, the work platform 11 tends to sway in the left-right direction of the vehicle body in accordance with the worker's movements. Moreover, during the plant-related work period, as described above, the worker moves their body to face the plants 3 located in at least one direction in the left-right direction of the vehicle body and performs work, or changes the direction of their body from one plant 3 to the other. In other words, the work vehicle 6 has these operational characteristics. In this case, due to the characteristics of the structure and usage described above, when plant-related work is performed by an operator, the work platform 11 tends to sway from side to side in accordance with the work, and a large acceleration is detected on the left and right axes.

[0048] Due to the structural, operational, and usage characteristics of the work vehicle 6 described above, the acceleration along the left-right axis is considerably greater than the acceleration along the up-down and front-rear axes during plant-related work periods. Therefore, it is reasonable to estimate the plant-related work period as the period during which the left-right axis index value is greater than the first threshold S1, which is obtained by multiplying the up-down axis index value measured at the same time by N, and also greater than the second threshold S2, which is obtained by multiplying the front-rear axis index value measured at the same time by M. By estimating the plant-related work period in this way, the discrepancy between the actual plant-related work period and the estimated plant-related work period can be minimized. This validity can be confirmed not only theoretically, as described above, but has also been verified experimentally. The specific values ​​of M and N are determined appropriately based on prior tests and simulations, with the aim of deriving the estimated plant-related work period with the highest possible accuracy. As an example, M and N are each approximately "10 times".

[0049] After the plant-related work period estimation process is executed, the information processing unit 28 executes the ascent / descent period estimation process (step SA4). In the ascent / descent period estimation process of step SA4, the information processing unit 28 estimates the ascent / descent period based on the relationship between the acceleration of the front-to-back axis (front-to-back direction), the acceleration of the up-and-down axis (up-and-down direction), and the acceleration of the left-to-right axis (left-to-right direction) detected by the triaxial acceleration sensor 23 during the same period. In particular, the information processing unit 28 estimates the ascent / descent period as the period during which the acceleration of the up-and-down axis is greater than the acceleration of the front-to-back axis and the acceleration of the left-to-right axis detected during the same period, while satisfying a certain relationship. More specifically, the information processing unit 28 estimates the ascent / descent period as the period during which the acceleration of the up-and-down axis is greater than a threshold defined by the acceleration of the front-to-back axis detected during the same period, and also greater than a threshold defined by the acceleration of the left-to-right axis detected during the same period. The ascent / descent period estimation process will be described in detail below.

[0050] In the process of estimating the rise and fall period, the information processing unit 28 analyzes the changes in the index values ​​of the three axes and estimates the rise and fall period as the period during which the vertical axis index value is greater than the third threshold S3, which is obtained by multiplying the front-to-back axis index value measured at the same time by Q, and also greater than the fourth threshold S4, which is obtained by multiplying the left-to-right axis index value measured at the same time by R (Q and R may be the same or different). Hereinafter, the period estimated as the rise and fall period will be referred to as the "estimated rise and fall period".

[0051] Figure 16 is a diagram used to explain the rise / fall period estimation process. Figure 16(A) shows the estimated behavior index values ​​for the three axes at a certain timing T3. The symbol X-3 represents the front-to-back axis index value, the symbol Y-3 represents the left-to-right axis index value, and the symbol Z-3 represents the up-and-down axis index value. At timing T3 shown in Figure 16(A), the up-and-down axis index value Z-3 is greater than the third threshold S3, which is obtained by multiplying the front-to-back axis index value X-3 at the same timing (i.e., timing T3) by Q, and also greater than the fourth threshold S4, which is obtained by multiplying the left-to-right axis index value Y-3 at the same timing (i.e., timing T3) by R. Therefore, the information processing unit 28 determines that "timing T3 is a timing that constitutes the estimated rise / fall period."

[0052] Figure 16(B) shows the estimated behavior index values ​​for the three axes at a certain timing T4. The symbol X-4 represents the index value for the front-to-back axis, the symbol Y-4 represents the index value for the left-to-right axis, and the symbol Z-4 represents the index value for the up-and-down axis. At timing T4 shown in Figure 16(B), the up-and-down axis index value Z-4 ​​is smaller than the third threshold S3, which is obtained by multiplying the front-to-back axis index value X-4 at the same timing (i.e., timing T4) by Q, and also smaller than the fourth threshold S4, which is obtained by multiplying the left-to-right axis index value Y-4 at the same timing (i.e., timing T4) by R. In other words, at timing T4, the condition that "the up-and-down axis index value Z-4 ​​is greater than the third threshold S3 and greater than the fourth threshold S4" is not met. Therefore, the information processing unit 28 determines that "timing T4 is not a timing that constitutes the estimated rise-and-fall period."

[0053] The information processing unit 28 derives the group of timings in which "the vertical axis index value is greater than the third threshold S3 and greater than the fourth threshold S4" as the estimated rise and fall period.

[0054] Here, we will explain the validity of deriving the estimated lifting / lowering period in the manner described above. During the lifting / lowering period, since the work vehicle 6 is stopped, no acceleration occurs in the longitudinal axis due to the movement of the work vehicle 6, and therefore, the acceleration in the longitudinal axis is basically only detected to a limited extent. Also, since no plant-related work is being performed, no acceleration occurs in the lateral axis due to plant-related work, and therefore, the acceleration in the lateral axis is basically only detected to a limited extent. On the other hand, during the lifting / lowering period, since the work platform 11 is moving up and down, a large acceleration is detected in the vertical axis. Due to the structural characteristics, operational characteristics, and usage characteristics of the work vehicle 6 described above, the acceleration in the vertical axis during the lifting / lowering period is considerably larger than the acceleration in the longitudinal axis and the acceleration in the lateral axis. Therefore, it is reasonable to estimate the ascent / descent period as the period during which the vertical axis index value is greater than the third threshold S3, which is obtained by multiplying the anterior-posterior axis index value measured at the same time by Q, and also greater than the fourth threshold S4, which is obtained by multiplying the lateral axis index value measured at the same time by R. By estimating the ascent / descent period in this way, the discrepancy between the actual ascent / descent period and the estimated ascent / descent period can be minimized. This validity can be confirmed not only theoretically, as described above, but also experimentally. The specific values ​​of R and Q are determined appropriately based on prior tests and simulations, with the aim of deriving the estimated ascent / descent period with the highest possible accuracy. As an example, R and Q are each approximately "2 times".

[0055] As shown in Figure 11, after the lifting / lowering period estimation process, the information processing unit 28 performs the dwelling period estimation process (step SA5). In the dwelling period estimation process, the information processing unit 28 estimates the dwelling period, which is the period during which the work vehicle 6 stops moving and the lifting / lowering of the work platform 11 stops when no plant-related work is being performed, based on 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 three-axis acceleration sensor 23 during the same period. In particular, the information processing unit 28 estimates the dwelling period as the period during which 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 three-axis acceleration sensor 23 during the same period, are all below their respective thresholds. The dwelling period estimation process will be described in detail below.

[0056] In the dwell time estimation process, the information processing unit 28 estimates the dwell time as the period during which the forward / backward index value detected by the three-axis acceleration sensor 23 during the same period falls below a predetermined fifth threshold S5, the vertical axis index value falls below a predetermined sixth threshold S6, and the left / right axis index value falls below a predetermined seventh threshold S7. Hereinafter, the period estimated as the dwell time will be referred to as the "estimated dwell time."

[0057] Figure 17 is a diagram used to explain the dwell time estimation process. Figure 17(A) shows the three-axis behavior estimation index values ​​at a certain timing T5. The symbol X-5 represents the front-to-back axis index value, the symbol Y-5 represents the left-to-right axis index value, and the symbol Z-5 represents the up-to-down axis index value. At timing T5 shown in Figure 17(A), the front-to-back axis index value X-5 is below the fifth threshold S5, the up-to-down axis index value Z-5 is below the sixth threshold S6, and the left-to-right axis index value Y-6 is below the seventh threshold S7. Therefore, the information processing unit 28 determines that "timing T5 is a timing that constitutes the estimated dwell time."

[0058] Figure 17(B) shows the estimated behavior index values ​​for the three axes at a certain timing T6. The symbol X-6 represents the index value for the front-to-back axis, the symbol Y-6 represents the index value for the left-to-right axis, and the symbol Z-6 represents the index value for the up-to-down axis. At timing T6 shown in Figure 17(B), at least the front-to-back index value X-6 is not below the fifth threshold S5. In other words, at timing T6, the condition that "the front-to-back axis index value X-6 is below the fifth threshold S5, the up-to-down axis index value Z-6 is below the sixth threshold S6, and the left-to-right axis index value Y-6 is below the seventh threshold S7" is not met. Therefore, the information processing unit 28 determines that "timing T6 is not a timing that constitutes the estimated dwell period."

[0059] The information processing unit 28 derives the group of timings in which "the anterior-posterior axis index value falls below the fifth threshold S5, the posterior-interior axis index value falls below the sixth threshold S6, and the lateral-interior axis index value falls below the seventh threshold S7" as the estimated dwell time.

[0060] Here, we will explain the validity of deriving the estimated dwell time in the manner described above. During the dwell time, since the work vehicle 6 is stopped, no acceleration occurs in the longitudinal axis due to movement, and therefore, the acceleration in the longitudinal axis is basically only detected to a limited extent. Furthermore, since the work platform 11 is stopped from raising and lowering during the dwell time, no acceleration occurs in the vertical axis due to raising and lowering, and therefore, the acceleration in the vertical axis is basically only detected to a limited extent. Furthermore, since no plant-related work is performed during the dwell time, no acceleration occurs in the left-right axis due to such work, and therefore, the acceleration in the left-right axis is basically only detected to a limited extent. Due to the structural characteristics, operational characteristics, and usage characteristics of the work vehicle 6 described above, the longitudinal axis index value, left-right axis index value, and vertical axis index value each take small values ​​during the dwell time.

[0061] Therefore, it is reasonable to estimate the period during which the anterior-posterior axis index value falls below the fifth threshold S5, the posterior-interior axis index value falls below the sixth threshold S6, and the lateral-interior axis index value falls below the seventh threshold S7 as the residence period. By estimating the residence period in this way, the discrepancy between the actual residence period and the estimated residence period can be minimized. This validity can be confirmed not only theoretically, as described above, but also experimentally. The specific values ​​of the fifth threshold S5, the sixth threshold S6, and the seventh threshold S7 are determined appropriately based on prior tests and simulations, with the aim of deriving the estimated residence period with the highest possible accuracy.

[0062] After the dwell time estimation process is executed, the information processing unit 28 executes the travel time estimation process (step SA6). In the travel time estimation process of step SA6, the information processing unit 28 estimates the travel time, which is the period during which the work vehicle 6 is traveling, based on the relationship between the acceleration of the longitudinal axis (longitudinal direction), the vertical axis (vertical direction), and the horizontal axis (horizontal direction) detected by the three-axis acceleration sensor 23 during the same period. In particular, the information processing unit 28 estimates the plant-related work period, dwell time, and elevation period based on the relationship between the acceleration of the longitudinal axis, the vertical axis, and the horizontal axis detected by the three-axis acceleration sensor 23 during the same period, and estimates the period that does not fall under any of the plant-related work period, dwell time, or elevation period as the travel time. The travel time estimation process will be described in detail below.

[0063] The information processing unit 28 estimates the travel period as the period remaining after excluding the estimated plant-related work period derived in step SA3, the estimated ascent / descent period derived in step SA4, and the estimated dwell time period derived in step SA5 from the total target period. Hereinafter, the estimated travel period will be referred to as the estimated travel period. As described above, the total target period consists of the plant-related work period, the ascent / descent period, the dwell time period, and the travel period, and it is reasonable to estimate the travel period using the above method. Regarding the travel period, it has been experimentally confirmed that the travel period can be derived with high accuracy by first deriving the plant-related work period, the ascent / descent period, and the dwell time period from the relationship of acceleration in the three axes, and then estimating the travel period by subtracting these periods from the total target period (therefore, the travel period is estimated to reflect the relationship of acceleration in the three axes).

[0064] After performing the driving period estimation process, the information processing unit 28 derives the work period ratio (step SA7). More specifically, the information processing unit 28 derives the work period ratio using the following formula. (Formula) Work period ratio = Estimated plant-related work period / Total period covered The work period ratio calculated in this way represents the proportion of the time spent on the series of procedures using the work vehicle 6 that was directly performed on the stock 3. Based on this, the work period ratio can be considered useful information for understanding work efficiency and the actual working conditions.

[0065] Alternatively, the information processing unit 28 may be configured to derive the start and end timings of the entire target period through analysis.

[0066] Next, the information processing unit 28 performs work content estimation processing (step SA8). In the work content estimation processing, the information processing unit 28 estimates the work content of the work performed by the workers for a predetermined period included in the entire target period, if it is possible to estimate the work content. Two methods by which the information processing unit 28 estimates the work content are described below as examples.

[0067] As the first method, the information processing unit 28 estimates the work content for a predetermined period by comprehensively considering how the configuration periods are consecutive and the length of each configuration period. In doing so, the information processing unit 28 can reflect elements related to the work vehicle 6, such as the vertical position of the work platform 11. For example, as shown in Figure 18, suppose that no driving period occurs during the predetermined period, and lifting / lowering periods and plant-related work periods occur alternately. However, relatively short dwell periods may occur between lifting / lowering periods and plant-related work periods. In this case, the information processing unit 28 analyzes the acceleration log data DT1 and processing data DT2 based on the temporal length of the lifting / lowering periods and estimates the altitude of the work platform 11 at the end of each lifting / lowering period. The information processing unit 28 then determines that, for a predetermined period, the time spent at high altitudes is long, the periods of ascending and descending occur for a relatively long time and continuously, and short plant-related tasks are intervened between the ascending and descending periods, and it estimates that "work related to training using training wires (or elements related to training wires) (such as adjusting the position of training wires)" was performed during the predetermined period. This is based on the actual manner of training work.

[0068] As a second method, the information processing unit 28 estimates the content of work performed during plant-related work periods based on the acceleration status of each axis (for example, the magnitude of vibration (amplitude of acceleration) of the left-right axis, the ratio of vibration of the left-right axis to vibration of the up-down axis, etc.) and the length of time of the plant-related work period. For example, the information processing unit 28 estimates that "harvesting work" was performed when the length of a certain plant-related work period is shorter than a threshold. Alternatively, for example, the information processing unit 28 estimates that "harvesting work" was performed when the length of a certain plant-related work period is longer than a threshold, while the acceleration of the left-right axis is below a certain level.

[0069] The above is an example of the work content estimation process, but this is just one example. The information processing unit 28 estimates the work content from the perspective of whether it matches the conditions and rules based on the actual work.

[0070] Next, the information processing unit 28 generates analysis result data DT3 and stores it in the storage unit 29 (step SA9). The analysis result data DT3 records information indicating the estimated plant-related work period derived in step SA3, the estimated ascent / descent period derived in step SA4, the estimated dwell time period derived in step SA5, and the estimated travel time derived in step SA6. For example, for each component period, the start and end times of each period are recorded according to a predetermined format. The analysis result data DT3 also records the work period percentage derived in step SA7. Furthermore, the analysis result data DT3 records information indicating the work within a predetermined period estimated in step SA8. After processing in step SA9, the information processing unit 28 completes the processing of flowchart FA in Figure 11.

[0071] Next, we will explain, with examples, the matters that can be recognized / understood from the analysis result data DT3 and how the analysis result data DT3 can be used. For example, based on the analysis result data DT3, it is possible to understand the time spent on plant-related work for each cultivation bed 2. Furthermore, according to the analysis result data DT3, it is possible to understand not only the total time spent on plant-related work, but also the time spent on each component period. In addition, the work period ratio in the analysis result data DT3 allows for the analysis of work efficiency. In particular, by analyzing the length of time spent on plant-related work and the work period ratio (of course, other information may also be used) in relation to various elements related to the work, such as who performed the work or the results of the work (for example, the yield if the work is harvesting), it becomes possible to analyze work efficiency from a wide variety of perspectives. It should be noted that the analysis of the analysis result data DT3 may, of course, be performed by the information processing device 27 (which may be another computer) using information processing means.

[0072] As described above, the information processing unit 28 of the information processing device 27 according to this embodiment analyzes the detection results of the following three-axis acceleration sensor 23 installed on the work vehicle 6. The work vehicle 6 is capable of traveling in the longitudinal direction of the vehicle body, and can raise and lower a work platform 11 on which a worker can ride in the vertical direction of the vehicle body. It is a vehicle that can be used when a worker riding on the work platform 11 performs plant-related work on plants 3 located in at least one direction in the left-right direction of the work platform 11. The three-axis acceleration sensor 23 is a sensor that detects acceleration in three axes: the longitudinal direction of the vehicle body, the vertical direction of the vehicle body, and the left-right direction of the vehicle body. When analyzing the detection results of the three-axis acceleration sensor 23, the information processing unit 28 of the information processing device 27 estimates the plant-related work period, which is the period during which plant-related work was performed, based on the relationship between the longitudinal acceleration, the vertical acceleration, and the left-right acceleration detected by the three-axis acceleration sensor 23 during the same period.

[0073] The work vehicle 6 is capable of traveling in the longitudinal direction of the vehicle body, and is equipped with a work platform 11, which can be raised and lowered in the vertical direction of the vehicle body. The worker sits on the work platform 11 and performs plant-related work on plants located in at least one direction in the left-right direction of the work platform 11. Due to the structural characteristics, operational characteristics, and usage characteristics of the work vehicle 6, the following characteristics apply to plant-related work using the work vehicle 6. Specifically, when a worker sitting on the work platform 11 is actually performing plant-related work, the relationship between the longitudinal acceleration of the vehicle body, the vertical acceleration of the vehicle body, and the left-right acceleration of the vehicle body detected by the three-axis acceleration sensor 23 during that period is in a predetermined state that reflects the "structural characteristics, operational characteristics, and usage characteristics of the work vehicle 6". Based on this, according to this embodiment, the plant-related work period is estimated based on the relationship between the acceleration in the longitudinal direction of the vehicle body, the acceleration in the vertical direction of the vehicle body, and the acceleration in the lateral direction of the vehicle body, as detected by the three-axis acceleration sensor 23 during the same period. Therefore, by suitably utilizing the above-mentioned characteristics, a more accurate estimation of the work period is achieved. Furthermore, according to this embodiment, since no input from the worker is required when estimating the plant-related work period, the burden on the worker is reduced, and the occurrence of a decrease in accuracy due to worker error is prevented. Moreover, in this embodiment, the system can be realized by equipping the work vehicle 6 with a three-axis acceleration sensor 23, so there is no need to introduce a complex or large-scale system. As described above, according to this embodiment, the burden on the worker is reduced, the occurrence of a decrease in accuracy due to worker error is prevented, and the period of plant-related work performed using the work vehicle 6 equipped with a liftable work platform 11 can be grasped as accurately as possible without introducing a complex or large-scale system.

[0074] <Variation> Next, a modified example of the above embodiment will be described.

[0075] ● Modified pretreatment The content of the preprocessing is not limited to that exemplified in the above embodiment. In other words, the preprocessing is any process that generates data based on the acceleration log data DT1 that can improve the accuracy, ease, validity, and reliability of subsequent processing.

[0076] ● Modified version of the plant-related work period estimation process The plant-related work period estimation process is not limited to the example given in the above embodiment. For example, the information processing unit 28 may perform the following processing in the plant-related work period estimation process. That is, in estimating the plant-related work period, the information processing unit 28 recognizes the height of the workbench 11. The information processing unit 28 then increases the magnitude of the first threshold S1 and the second threshold S2 as the height of the workbench 11 increases, and conversely, decreases the magnitude of the first threshold S1 and the second threshold S2 as the height of the workbench 11 decreases. This configuration is also acceptable. This configuration reflects the fact that the workbench 11 is supported by a lifting mechanism, and the higher the height of the workbench 11, the more likely the workbench 11 is to sway from side to side, and the lower the height of the workbench 11, the less likely the workbench 11 is to sway from side to side. Thus, the method for setting the first threshold S1 and the second threshold S2 is not limited to the method given in the above embodiment.

[0077] Alternatively, for example, the information processing unit 28 may perform the following processing in the plant-related work period estimation process. That is, for a certain timing Z1, the information processing unit 28 calculates a threshold X1 from "a value V1 obtained by adding the front-to-back axis index value and the up-and-down axis index value". For example, the information processing unit 28 calculates the threshold X1 by multiplying the value V1 by a predetermined value. Then, if the left-to-right axis index value is greater than the threshold X1, the information processing unit 28 determines that the timing Z1 constitutes the estimated plant-related work period. The above configuration is also acceptable. That is, when the information processing unit 28 "estimates as the plant-related work period a period in which the acceleration of the left-to-right axis (left-to-right direction) is greater than the acceleration of the up-and-down axis (up-and-down direction) and the acceleration of the front-to-back axis (front-to-back direction) detected during the same period while satisfying a certain relationship", the "state in which a certain relationship is satisfied" is not limited to those exemplified in the above embodiment.

[0078] ● Modified version of the process for estimating the rise and fall period The process for estimating the rise and fall periods is not limited to the examples provided in the above embodiment. For example, the method for setting the third threshold S3 and the fourth threshold S4 is not limited to the method provided in the above embodiment.

[0079] Alternatively, for example, the information processing unit 28 may perform the following processing in the lift-down period estimation process. That is, for a certain timing Z2, the information processing unit 28 calculates a threshold X2 from "a value V2 obtained by adding the front-rear axis index value and the left-right axis index value". For example, the information processing unit 28 calculates the threshold X2 by multiplying the value V2 by a predetermined value. Then, if the vertical axis index value is greater than the threshold X2, the information processing unit 28 determines that the timing Z2 constitutes the estimated lift-down period. The above configuration is also acceptable. That is, when the information processing unit 28 "estimates a period as the lift-down period in which the acceleration of the vertical axis (vertical direction) is greater than the acceleration of the front-rear axis (front-rear direction) and the acceleration of the left-right axis (left-right direction) detected during the same period while satisfying a certain relationship", the "state in which a certain relationship is satisfied" is not limited to those exemplified in the above embodiment.

[0080] ● Modified version of the dwell time estimation process The dwell time estimation process is not limited to the example given in the above embodiment. For example, the information processing unit 28 may perform the following process. That is, for a certain timing Z3, the information processing unit 28 calculates a value V3 obtained by adding the front-to-back axis index value, the up-and-down axis index value, and the left-to-right axis index value. Then, if the value V3 is smaller than a predetermined threshold X3, the information processing unit 28 determines that timing Z3 is a timing that constitutes the estimated dwell time. The above configuration is also acceptable.

[0081] ● Modified version of the driving period estimation process The travel period estimation process is not limited to the examples given in the above embodiment. For example, the information processing unit 28 may perform the following process in the travel period estimation process. That is, the information processing unit 28 estimates the travel period as the period during which the acceleration of the longitudinal axis (longitudinal direction) is greater than a threshold defined by the acceleration of the vertical axis (vertical direction) detected during the same period, and also greater than a threshold defined by the acceleration of the left-right axis (left-right direction) detected during the same period. This configuration is also acceptable. This configuration reflects the fact that during travel of the work vehicle 6, the acceleration of the longitudinal axis is greater than the acceleration of the left-right axis and the acceleration of the vertical axis.

[0082] Alternatively, for example, the information processing unit 28 may perform the following processing in the driving period estimation process. That is, for a certain timing Z4, the information processing unit 28 calculates a threshold X4 from "a value V4 obtained by adding the left-right axis index value and the up-down axis index value". For example, the information processing unit 28 calculates the threshold X4 by multiplying the value V4 by a predetermined value. Then, if the front-rear axis index value is greater than the threshold X4, the information processing unit 28 determines that the timing Z4 constitutes the estimated driving period. The above configuration is also acceptable. That is, when the information processing unit 28 "estimates as the driving period a period in which the acceleration of the front-rear axis (front-rear direction) is greater than the acceleration of the up-down axis (up-down direction) and the acceleration of the left-right axis (left-right direction) detected during the same period while satisfying a certain relationship", the "state in which a certain relationship is satisfied" is not limited to those exemplified in the above embodiment.

[0083] Although one embodiment of the present invention (including modifications) has been described above, the above embodiment is merely an example of how the present invention can be implemented, and the technical scope of the present invention should not be interpreted as being limited by it. That is, the present invention can be implemented in various ways without departing from its gist or its main features.

[0084] For example, in the above embodiment, some or all of the processing that the information processing device 27 would perform may be performed by an external device that can communicate with the information processing device 27 (for example, a processing unit 24, a local server that can communicate via a local network, a cloud server that can communicate via the internet, etc.). In this case, the external device, or a combination of the information processing device 27 and the external device, functions as the "information processing device" within the scope of the claims.

[0085] Furthermore, although the above embodiment focuses on large-scale greenhouse horticulture 1, the scope is not limited to large-scale greenhouse horticulture, nor is it limited to greenhouse horticulture in general. The types of plants cultivated are not limited to tomatoes.

[0086] Furthermore, with respect to the example flowchart, you may change the order of processes, divide the processes into smaller parts, add processes, or delete processes, as long as the objective can be achieved. [Explanation of symbols]

[0087] 6. Work Vehicles 11 Workbench 23. Three-axis accelerometer 27 Information Processing Equipment 28 Information Processing Section

Claims

1. A work vehicle that is capable of traveling in the forward and backward directions, has a work platform on which a worker can ride that can be raised and lowered in the vertical direction, and is usable when a worker riding on the work platform performs plant-related work on plants located in at least one direction in the left-right direction of the work platform, and is equipped with an information processing unit that analyzes the detection results of a three-axis acceleration sensor that detects acceleration in the forward / backward, vertical, and left-right directions, The information processing unit estimates the plant-related work period, which is the period during which the plant-related work was performed, based on the relationship between the acceleration in the forward / backward direction, the acceleration in the up / down direction, and the acceleration in the left / right direction detected by the three-axis acceleration sensor during the same period. An information processing device characterized by the following:

2. The information processing unit estimates the period during which the acceleration in the left-right direction is greater than the acceleration in the up-down direction and the acceleration in the front-back direction detected during the same period, while satisfying a certain relationship, as the period of plant-related work. The information processing apparatus according to feature 1.

3. The information processing unit estimates the period during which the acceleration in the left-right direction is greater than a threshold defined by the acceleration in the up-down direction detected during the same period, and also greater than a threshold defined by the acceleration in the front-back direction detected during the same period, as the period of plant-related work. The information processing apparatus according to feature 2.

4. The information processing unit further estimates the lifting period, which is the period during which the workbench is raised or lowered, based on the relationship between the acceleration in the forward / backward direction, the acceleration in the up / down direction, and the acceleration in the left / right direction detected by the three-axis acceleration sensor during the same period. The information processing apparatus according to any one of claims 1 to 3.

5. The information processing unit estimates the period during which the vertical acceleration is greater than the longitudinal acceleration and the lateral acceleration detected during the same period, while satisfying a certain relationship, as the vertical acceleration period. The information processing apparatus according to feature 4.

6. The information processing unit estimates the period during which the vertical acceleration is greater than a threshold defined by the longitudinal acceleration detected during the same period, and also greater than a threshold defined by the lateral acceleration detected during the same period, as the vertical acceleration period. The information processing apparatus according to feature 5.

7. The information processing unit further estimates the dwell period, which is the period when the work vehicle is stopped moving and the work platform is stopped raising and lowering, while the plant-related work is not being performed, based on the relationship between the acceleration in the front-to-back direction, the acceleration in the up-and-down direction, and the acceleration in the left-to-right direction detected by the three-axis acceleration sensor during the same period. The information processing apparatus according to any one of claims 1 to 3.

8. The information processing unit estimates the period during which the acceleration in the forward / backward direction, the acceleration in the up / down direction, and the acceleration in the left / right direction detected by the three-axis acceleration sensor during the same period are below their respective thresholds as the dwell time. The information processing apparatus according to feature 7.

9. The information processing unit further estimates the travel period, which is the period during which the work vehicle is traveling, based on the relationship between the acceleration in the forward / backward direction, the acceleration in the up / down direction, and the acceleration in the left / right direction detected by the three-axis acceleration sensor during the same period. The information processing apparatus according to any one of claims 1 to 3.

10. The aforementioned information processing unit, Based on the relationship between the longitudinal acceleration, vertical acceleration, and lateral acceleration detected by the three-axis acceleration sensor during the same period, the following are estimated in addition to the plant-related work period: the dwell period, which is the period when the work vehicle is stopped and no plant-related work is being performed, and the lifting / lowering period, which is the period when the work platform is being raised and lowered. Any period that does not fall under the aforementioned plant-related work period, the aforementioned dwelling period, or the aforementioned ascent / descent period is estimated to be the aforementioned travel period. The information processing apparatus according to feature 9.

11. The information processing unit estimates the period during which the acceleration in the longitudinal direction is greater than the acceleration in the vertical direction and the acceleration in the horizontal direction detected during the same period, while satisfying a certain relationship, as the travel period. The information processing apparatus according to feature 9.

12. The information processing unit estimates the period during which the acceleration in the longitudinal direction is greater than a threshold defined by the acceleration in the vertical direction detected during the same period, and also greater than a threshold defined by the acceleration in the lateral direction detected during the same period, as the travel period. The information processing apparatus according to feature 11.

13. The information processing unit derives the proportion of the plant-related work period to the total period. The information processing apparatus according to any one of claims 1 to 3.

14. A work period estimation method for a work vehicle that is capable of traveling in the forward and backward directions, has a work platform on which a worker can ride that can be raised and lowered in the vertical direction, and is usable when a worker riding on the work platform performs plant-related work on plants located in at least one direction in the left-right direction of the work platform, wherein the detection results of a three-axis acceleration sensor that detects acceleration in the forward / backward, vertical, and left-right directions are analyzed to estimate the plant-related work period, which is the period during which the plant-related work was performed, The information processing unit of the information processing device acquires the acceleration in the forward / backward direction, the acceleration in the up / down direction, and the acceleration in the left / right direction detected by the three-axis acceleration sensor during the same period. The information processing unit of the information processing device includes the step of estimating the plant-related work period, which is the period during which the plant-related work was performed, based on the relationship between the acceleration in the front-to-back direction, the acceleration in the up-and-down direction, and the acceleration in the left-to-right direction detected by the three-axis acceleration sensor during the same period. A method for estimating the duration of a task, characterized by the features described above.

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