JP7043448B2 - Target removal target position detection system and removal target position detection device - Google Patents

Description

The present invention relates to a removal target position detection system and a removal target position detection device.

The following Patent Document 1 discloses a working machine for removing stone gravel existing in the soil in a field. When the tractor equipped with this work machine travels through the entire field, it becomes possible to carry out the stone gravel removal work of removing the stone gravel from the soil.

Japanese Patent No. 4889104

The technique disclosed in Patent Document 1 is effective when stone gravel is scattered throughout the field. However, in the field, there may be a mixture of a region where stone gravel is scarcely present and a region where stone gravel is concentrated. In such a case, in the technique disclosed in Patent Document 1, it is not possible to know the position of the stone gravel in the field unless the stone gravel removal work is actually performed using the tractor. .. Therefore, in the technique disclosed in Patent Document 1, the tractor must be run in the entire field to perform the stone gravel removal work regardless of the position where the stone gravel is present in the field. That is, it is inefficient because the tractor is run in the area where the debris removal work is unnecessary.

Therefore, an object of the present invention is to provide a removal target position detection system and a removal target position detection device that can contribute to efficient removal of the removal target.

One embodiment of the present invention provides a removal target position detection system that detects a removal target position, which is a position of a removal target existing in the work target area, by using a vehicle traveling in the work target area. do. The removal target position detection system is acquired by the position information acquisition unit that acquires the position information of the vehicle, the voice information acquisition unit that acquires the voice generated by the traveling of the vehicle as voice information, and the position information acquisition unit. Based on the position information of the vehicle and the voice information acquired by the voice information acquisition unit, the position information of the vehicle when an abnormal noise based on the object to be removed is generated in the work target area is removed. Includes the removal target position specifying part specified as the target position.

According to this configuration, the position of the removal target, which is the position of the removal target existing in the work target area, is specified based on the position information and the voice information acquired when the vehicle travels in the work target area. be able to. Therefore, by referring to the specified position of the object to be removed, the object to be removed can be easily removed from the area to be removed without having to bother to perform the removal work in the entire work area. Therefore, it can contribute to the efficient removal of the object to be removed.

In one embodiment of the present invention, the vehicle performs a tilling operation of rotating the tilling claw while traveling, and an abnormal noise based on the removal target is a contact sound between the tilling claw and the removal target. Therefore, the position information of the work vehicle when the contact sound between the tilling claw and the removal target is generated in the work target area during the tilling work is specified as the removal target position. If the specified position of the object to be removed is referred to after the tillage work, the object to be removed can be easily removed from the area to be removed without having to perform the work to remove the object to be removed in the entire work area.

In one embodiment of the present invention, when the sound pressure of a predetermined frequency component included in the voice information exceeds a predetermined threshold value, the removed object position specifying unit generates an abnormal sound based on the removed object. judge. Therefore, it is possible to avoid the determination that the noise that does not exceed a predetermined threshold value is an abnormal sound based on the object to be removed, that is, an erroneous determination. Therefore, it is possible to improve the detection accuracy of the position of the object to be removed.

In one embodiment of the present invention, the position information acquisition unit acquires time information together with the position information of the work vehicle. Then, the abnormal noise which is the time information when the abnormal noise based on the removed object is generated based on the elapsed time from the time when the voice information acquisition unit starts the acquisition of the voice by the removal target position specifying unit. The time of occurrence is specified, and the position information corresponding to the time information closest to the time of occurrence of the abnormal noise is specified as the position of the object to be removed.

According to this configuration, the abnormal noise occurrence time is specified based on the elapsed time from the time when the voice information acquisition unit starts acquiring the voice information, and the position information corresponding to the time information closest to the abnormal noise occurrence time is obtained. It is the position of the object to be removed. That is, the position of the object to be removed is specified by synchronizing the time information acquired together with the position information and the abnormal noise generation time obtained from the voice information. Therefore, the detection accuracy of the position of the object to be removed is improved.

In one embodiment of the present invention, the removal target position detection system is provided in a communication server capable of external communication, and further includes a storage unit for storing the removal target position.
According to this configuration, the position of the object to be removed is stored in the storage unit provided in the communication server. Therefore, when performing the removal work, it is possible to communicate with the communication server and acquire the position of the object to be removed. Therefore, it can contribute to the efficient removal of the object to be removed.

In one embodiment of the present invention, the removal target position detection system further includes a vibration information acquisition unit that acquires vibration during traveling of the work vehicle. Then, the removal target position is specified by the removal target position specifying unit in addition to the position information acquired by the position information acquisition unit and the voice information acquired by the voice information acquisition unit, and the vibration information. It is also performed based on the vibration information acquired by the acquisition unit.

According to this configuration, vibration information is used to identify the position of the object to be removed in addition to voice information. Therefore, the detection accuracy of the position of the object to be removed is further improved.
One embodiment of the present invention provides a removal target position detection device that detects a removal target position, which is a position of a removal target existing in the work target area, by using a vehicle traveling in the work target area. do. The removal target position detection device is in the work target area based on the position information of the vehicle that performs work while traveling in the work target area and the voice information generated while the work vehicle is running. Includes a removal target object position specifying unit that specifies the abnormal noise generation position, which is position information of the work vehicle when an abnormal noise is generated based on the removal target object, and a storage unit that stores the removal target object position.

According to this configuration, the position of the removal target, which is the position of the removal target existing in the work target area, is specified based on the position information and the voice information acquired when the vehicle travels in the work target area. be able to. By referring to the position of the object to be removed stored in the storage unit, the object to be removed can be easily removed from the area to be removed without having to bother to remove the object to be removed in the entire work area. Therefore, it can contribute to the efficient removal of the object to be removed.

FIG. 1 is a schematic diagram showing a configuration of a removal target position detection system according to an embodiment of the present invention. FIG. 2 is a side view of a work vehicle provided in the removal target position detection system. FIG. 3 is a plan view of the work vehicle. FIG. 4 is a block diagram showing an electrical configuration of the removal target position detection system. FIG. 5 is a flowchart for explaining an example of the abnormal noise generation time specifying process by the removal target object position specifying unit of the communication server provided in the removal target object position detection system. FIG. 6 is a schematic diagram of a graph obtained by Fourier transforming the divided speech information. FIG. 7 is a flowchart for explaining an example of the removal target object position specifying process by the removal target object position specifying unit of the communication server. FIG. 8 is a schematic diagram of an example of the removal target object map generated by the removal target object map generation unit of the communication server. FIG. 9 is a flowchart for explaining another example of the removal target object position specifying process by the removal target object position specifying unit of the communication server.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing a configuration of a removal target position detection system 1 according to an embodiment of the present invention. The removal target position detection system 1 uses a vehicle traveling in a work target area such as a field to determine the position of the removal target, which is the position of a highly rigid removal target such as stone gravel existing in the work area. It is a system to detect. In addition to stone gravel, examples of objects to be removed include tree stumps, animal horns and bones.

The removal target position detection system 1 includes a work vehicle 2 as a vehicle traveling in the field and a communication server 4 capable of communicating with the work vehicle 2. The work vehicle 2 can wirelessly communicate with the communication server 4 via the communication network 5. The work vehicle 2 includes, for example, a tractor 7 and a work machine 8 mounted on the tractor 7. As the working machine 8, for example, a working machine such as a tiller or a mower can be used. The work vehicle 2 can communicate with the communication server 4 via the communication network 5. The communication server 4 is provided in the management center.

FIG. 2 is a side view of the work vehicle 2. FIG. 3 is a plan view of the work vehicle 2. In this embodiment, an example in which the working machine 8 is a tiller is shown.
The front portion of the tractor 7 is supported by a pair of left and right front wheels 17, and the rear portion thereof is supported by a pair of left and right rear wheels 18.
A bonnet 19 is arranged at the front portion of the traveling machine body 12. In the present embodiment, the engine 20, the fuel tank (not shown) and the like, which are the drive sources of the tractor 7, are housed in the bonnet 19. The engine 20 can be configured by, for example, a diesel engine, but is not limited to this. The engine 20 may be composed of, for example, a gasoline engine. Further, as a drive source, an electric motor may be adopted instead of the engine 20 or in addition to the engine 20.

Behind the bonnet 19, a cabin 21 for an operator to board is arranged. Inside the cabin 21, a steering wheel 22 for the operator to steer, a seat 23 on which the operator can sit, and the like are arranged.
The tractor 7 is not limited to the one provided with the cabin 21, and may have a configuration in which the cabin 21 is not provided.

A chassis 25 of the tractor 7 is provided at the lower part of the traveling machine body 12. The chassis 25 is composed of an airframe frame 26, a transmission 27, a front axle 28, a rear axle 29, and the like.
The airframe frame 26 is a support portion in the front portion of the tractor 7, and supports the engine 20 directly or via an anti-vibration member or the like. The transmission 27 changes the power from the engine 20 and transmits it to the front axle 28 and the rear axle 29. The front axle 28 transmits the power input from the transmission 27 to the front wheels 17. The rear axle 29 transmits the power input from the transmission 27 to the rear wheels 18.

A working machine 8 is mounted on the rear portion of the traveling machine body 12 of the tractor 7. A part of the driving force of the engine 20 is transmitted to the working machine 8 via the PTO shaft 31. As a result, the working machine 8 is driven to perform the tilling work. At the lower part of the working machine 8, a plurality of tilling claws (working bodies) 30 that are rotationally driven around a horizontally arranged shaft 30a are provided. By lowering the working machine 8 to the working height, the rotating tiller claw 30 comes into contact with the soil. By lowering the working machine 8 to the working height, it is possible to cultivate the field at a predetermined depth corresponding to the working height. When the tilling work is performed, the contact sound is generated by the contact between the removal target existing in the field and the tilling claw 30. The contact sound is an abnormal sound based on the stone gravel existing in the field.

FIG. 4 is a block diagram showing an electrical configuration of the removal target position detection system 1. The work vehicle 2 includes a work vehicle control unit 40 that controls the operation of the work vehicle 2 (movements such as forward movement, reverse movement, stop, turning, etc.). The work vehicle control unit 40 includes a microcomputer provided with a CPU and a memory (RAM or the like) 41. A communication unit 42, a plurality of controllers 43, a position information acquisition unit 45, a voice information acquisition unit 46, a storage unit 47, and the like are electrically connected to the work vehicle control unit 40.

The communication unit 42 is a communication interface for wireless communication with the communication server 4. The storage unit 47 is composed of a storage device such as a non-volatile memory.
The plurality of controllers 43 control each part of the work vehicle 2. Specifically, the plurality of controllers 43 include an engine controller that controls the number of revolutions of the engine, a vehicle speed controller that controls the vehicle speed of the tractor 7, a steering controller that controls the direction of the tractor 7, and control of raising and lowering the work machine 8. An elevating controller, a PTO controller that controls the rotation of the PTO shaft 31 that transmits power to the working machine 8, and the like are included.

A satellite signal receiving antenna 44 (see also FIGS. 2 and 3) is electrically connected to the work vehicle control unit 40 via the position information acquisition unit 45. The satellite signal receiving antenna 44 receives a signal from a positioning satellite (not shown) constituting the satellite positioning system. The satellite positioning system is, for example, GNSS (Global Navigation Satellite System). The positioning signal received by the satellite signal receiving antenna 44 is input to the position information acquisition unit 45.

The position information acquisition unit 45 acquires the positioning information of the work vehicle 2 at predetermined intervals (for example, 1 second intervals). The positioning information includes the position information (for example, latitude / longitude information) of the work vehicle 2 (strictly speaking, the satellite signal receiving antenna 44) and the time information corresponding to the position information.
The voice information acquisition unit 46 is, for example, a sound collecting microphone, and is attached to the tractor 7 or the working machine 8. The voice information acquisition unit 46 acquires the voice generated by the running of the work vehicle 2 as voice information by collecting the voice generated around the work vehicle 2 while the work vehicle 2 is running. .. It is preferable that the voice information acquisition unit 46 is attached to a position close to the working machine 8, that is, a portion rearward of the center of the tractor 7 in the front-rear direction. By attaching the voice information acquisition unit 46 to a portion behind the center of the tractor 7 in the front-rear direction, it is possible to collect the contact sound between the object to be removed and the tilling claw 30 while avoiding the collection of the driving sound of the engine 20. can.

The voice information includes a graph showing a change in sound pressure over time and a time when voice acquisition is started (voice acquisition start time). The acquisition of voice information by the voice information acquisition unit 46 starts at the same time when the engine 20 is started, and ends at the same time when the engine 20 is stopped.
The communication unit 42 uses the positioning information acquired by the position information acquisition unit 45 and the voice information acquired by the voice information acquisition unit 46 every time a predetermined time elapses (for example, every hour). Send to.

The communication server 4 includes a server control unit 60 that controls the communication server 4. The server control unit 60 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.) 61. The communication unit 62, the operation display unit 64, the operation unit 65, and the storage unit 63 are electrically connected to the server control unit 60.
The communication unit 62 is a communication interface for wireless communication with the work vehicle 2. The storage unit 63 is composed of a storage device such as a hard disk and a non-volatile memory. The operation display unit 64 includes, for example, a touch panel display. The operation unit 65 includes, for example, a keyboard, a mouse, and the like.

The communication unit 62 of the server control unit 60 receives the positioning information and voice information transmitted from the communication unit 42 of the work vehicle 2. The server control unit 60 stores (stores) the positioning information and the voice information acquired from the work vehicle 2 in the storage unit 63. That is, the storage unit 63 includes a positioning information storage unit 66 that stores positioning information transmitted from the work vehicle 2, and a voice information storage unit 67 that stores voice information transmitted from the work vehicle 2.

The server control unit 60 sets the tilling claw 30 (see FIG. 2) and the removal target in the field based on the position information included in the positioning information stored in the storage unit 63 and the voice information stored in the storage unit 63. Map of the removal target position specifying unit 70 that specifies the position information of the work vehicle 2 when the contact sound with the object is generated as the removal target position, and the removal target position identification unit 70 specified by the removal target position identification unit 70. It includes a removal target map generation unit 71 that generates information (removal target map).

The removal target position specifying unit 70 is time information when an abnormal noise based on the removal target is generated based on the elapsed time from the voice acquisition start time included in the voice information stored in the storage unit 63. The occurrence time is specified, and the position information corresponding to the time closest to the abnormal noise occurrence time is specified as the position of the object to be removed.
Specifically, the removal target object position specifying unit 70 executes the abnormal noise generation time specifying process and the removal target object position specifying process. FIG. 5 is a flowchart for explaining an example of the abnormal noise generation time specifying process by the removal target object position specifying unit 70. First, the removal target position specifying unit 70 acquires the divided voice information obtained by dividing the voice information into predetermined time intervals (for example, 1 second intervals) from the storage unit 63 (step S1). Next, the removal target position specifying unit 70 Fourier transforms a graph showing the change over time of the sound pressure included in the divided voice information (step S2). As a result, a graph showing the relationship between frequency and sound pressure is extracted from the divided voice information (see FIG. 6).

The removal target position specifying unit 70 determines whether or not the abnormal sound (contact sound between the removal target and the tilling claw 30) based on the removal target is included in the divided voice information (step S3). Since the frequency of the contact sound (contact sound frequency) between the rigid object to be removed and the tilling claw 30 is relatively high frequency (for example, 5000 Hz or more and 10000 Hz or less), the removal target position specifying unit 70 is divided voice information. It is determined whether or not the contact frequency component (predetermined frequency component) contained in the above is larger than the predetermined threshold value P.

However, when the owner of the tractor 7 owns a plurality of working machines 8, the value of the threshold value P may be set individually for each working machine 8 (for each type of work) mounted on the tractor 7. good.
As shown in FIG. 6, when the sound pressure of the contact sound frequency component C is larger than the predetermined threshold value P, the removal target position specifying unit 70 determines in step S3 that the abnormal sound based on the removal target is divided voice information. It is determined that it is included in. On the other hand, unlike FIG. 6, when the sound pressure of the contact sound frequency component C is equal to or less than a predetermined threshold value P, the removal target position specifying unit 70 determines in step S3 that the abnormal sound based on the removal target is divided. Judge that it is not included in the information.

When the removal target object position specifying unit 70 determines that the abnormal sound based on the removal target object is included in the divided voice information (step S3: YES), the removal target object position specifying unit 70 identifies the abnormal sound generation time and identifies the abnormal sound. The occurrence time is saved in the memory 61 (step S4). Specifically, the removal target position specifying unit 70 obtains voice for the time elapsed from the start of acquisition of voice information to the time when the sound pressure of the contact sound frequency component C becomes larger than a predetermined threshold value P. Specify the abnormal noise occurrence time by adding it to the start time.

After step S4, the removal target position specifying unit 70 determines whether or not the abnormal sound occurrence time specifying process for all the divided voice information has been executed (step S5). When the removal target position specifying unit 70 determines in step S3 that the abnormal sound based on the removal target is not included in the divided voice information (step S3: NO), the process proceeds to step S5.
If it is determined in step S5 that the unprocessed divided voice information remains (step S5: NO), the removal target position specifying unit 70 returns to step S1. Then, the removal target position specifying unit 70 executes steps S1 to S4 again. When the removal target object position specifying unit 70 determines that the abnormal sound occurrence time specifying process for all the divided voice information has been executed (step S5: YES), the removal target object position specifying unit 70 ends the abnormal sound occurrence time specifying process and removes the object to be removed. Execute the position identification process.

FIG. 7 is a flowchart for explaining an example of the removal target position specifying process by the removal target position specifying unit 70. The removal target position specifying unit 70 executes the removal target position specifying process after the abnormal noise occurrence time specifying process. In the removal target position specifying process, first, the removal target position specifying unit 70 acquires the abnormal noise occurrence time from the memory 61 (step S11). Then, the removal target object position specifying unit 70 specifies the position information corresponding to the time closest to the abnormal noise generation time as the abnormal noise generation position (step S12).

Then, the removal target object position specifying unit 70 determines whether or not the specified abnormal noise generation position is located in the field (step S13). When the removal target object position specifying unit 70 determines that the specified abnormal noise generation position is located in the field (step S13: YES), the removal target object position specifying unit 70 identifies the abnormal noise generation position as the removal target object position, and stores the storage unit 63. Save to (step S14).
The removal target position specifying unit 70 stores the abnormal noise generation time and the divided voice information in the storage unit 63 together with the removal target position. That is, the storage unit 63 includes a removal target position-related information storage unit 68 that stores the removal target position, the abnormal noise occurrence time, and the divided voice information as the removal target position-related information in association with each other.

After step S14, the removal target position specifying unit 70 determines whether or not the removal target position specifying process has been executed for all the abnormal noise occurrence times (step S15). When the removal target object position specifying unit 70 determines in step S13 that the abnormal noise generation position is located outside the field (step S13: NO), the process proceeds to step S15.
In step S15, when the removal target object position specifying unit 70 determines that the unprocessed abnormal noise generation time remains (step S15: NO), the process returns to step S11. Then, the removal target position specifying unit 70 executes steps S11 to S14 again. When the removal target position specifying unit 70 determines that the removal target position specifying process has been executed for all the abnormal noise occurrence times (step S15: YES), the removal target position specifying process ends.

As shown in FIG. 8, the removal target map M generated by the removal target map generation unit 71 has a movement locus R of the work vehicle 2 generated based on the position information of the work vehicle 2 stored in the storage unit 63. Is displayed in the field F, and the position S of the object to be removed is displayed on the movement locus R. The removal target map generation unit 71 stores the generated removal target map in the storage unit 63. The storage unit 63 includes a removal target map storage unit 69 that stores the removal target map M.

As described above, in this embodiment, the communication server 4 functions as a removal target position detection device that detects the removal target position by using the work vehicle 2 traveling in the field.
According to this embodiment, a contact sound between the tilling claw 30 and the object to be removed is generated in the field based on the position information and the voice information acquired when the work vehicle 2 travels in the field during the tilling work. The position information of the work vehicle 2 at that time is specified as the position of the object to be removed. Therefore, by referring to the specified position of the object to be removed, the object to be removed can be easily removed from the field without having to perform the work of removing the object to be removed in the entire field. Therefore, it can contribute to the efficient removal of the object to be removed.

In this embodiment, the removal target position specifying unit 70 determines that a contact sound has been generated when the sound pressure of the contact sound frequency component C (predetermined frequency component) included in the voice information exceeds a predetermined threshold value P. (See FIG. 6). Therefore, it is possible to avoid the determination that the noise that does not exceed the predetermined threshold value P is the contact sound, that is, the erroneous determination. Therefore, it is possible to improve the detection accuracy of the position of the object to be removed.

Since the tilling work is not performed outside the field, even if a sound in the same frequency range as the contact sound frequency is generated outside the field, it is highly possible that the contact sound is not between the tilling claw 30 and the object to be removed. .. Therefore, the removal target position specifying unit 70 does not set the abnormal noise generation position located outside the field as the removal target position, so that the detection accuracy of the removal target position can be further improved.
In this embodiment, the position information acquisition unit 45 acquires time information together with the position information of the work vehicle 2. Then, the removal target position specifying unit 70 identifies the abnormal noise generation time based on the elapsed time from the time when the voice information acquisition unit 46 starts acquiring the voice, and corresponds to the time closest to the abnormal noise generation time. The position information to be removed is specified as the position of the object to be removed. That is, the position of the object to be removed is specified by synchronizing the time information acquired together with the position information and the abnormal sound generation time obtained from the voice information. Therefore, the detection accuracy of the position of the object to be removed is further improved.

In this embodiment, the position of the object to be removed is stored in the storage unit 63 (information storage unit 68 related to the position of the object to be removed) provided in the communication server 4 capable of external communication. Therefore, when performing the removal work of the object to be removed, the position of the object to be removed can be acquired by communicating with the communication server 4. Therefore, it can contribute to the efficient removal of the object to be removed.
The present invention is not limited to the embodiments described above, and can be implemented in still other embodiments.

For example, the vibration information acquisition unit 48 is electrically connected to the work vehicle control unit 40, and the removal target position identification unit 70 identifies the removal target position in addition to the position information and the voice information. It may also be performed based on the vibration information acquired by the vibration information acquisition unit 48 (see also FIG. 4).
The vibration information acquisition unit 48 is, for example, a vibration sensor and is attached to the tractor 7 or the working machine 8. The vibration information acquisition unit 48 acquires the vibration generated by the travel of the work vehicle 2 as vibration information by detecting the vibration while the work vehicle 2 is traveling. It is preferable that the vibration information acquisition unit 48 is attached to a position close to the working machine 8, that is, a portion rearward of the center of the tractor 7 in the front-rear direction. By attaching the vibration information acquisition unit 48 to a portion behind the center of the tractor 7 in the front-rear direction, vibration based on the object to be removed (contact between the object to be removed and the tilling claw 30) while avoiding collection of vibration of the engine 20. Vibration) can be collected.

The vibration information is transmitted from the work vehicle 2 to the communication server 4 together with the voice information and the positioning information. The server control unit 60 of the communication server 4 stores the vibration information in the storage unit 63. That is, the storage unit 63 includes a vibration information storage unit 80 that stores vibration information (see FIG. 4).
When the vibration information is used to specify the position of the object to be removed by the object position specifying unit 70, the removal target position specifying unit 70 is the elapsed time from the vibration acquisition start time included in the vibration information stored in the storage unit 63. The vibration occurrence time, which is the time information when the contact vibration between the object to be removed and the tillage claw 30 occurs, is specified based on the above, and the vibration occurrence time is stored in the memory 61. Further, the removal target object position specifying unit 70 executes the abnormal noise occurrence time specifying process (see FIG. 5) and saves the abnormal noise occurrence time in the memory 61.

Then, the removal target position specifying unit 70 executes the removal target position specifying process shown in FIG. In the removal target position specifying process shown in FIG. 9, first, the removal target position specifying unit 70 acquires the abnormal noise generation time and the vibration generation time from the memory 61 (step S21). Then, the removal target position specifying unit 70 determines whether or not there is a vibration generation time that coincides with the abnormal noise generation time (step S22).

In step S22, even if the abnormal noise occurrence time and the vibration occurrence time do not completely match, if the difference between the abnormal noise occurrence time and the vibration occurrence time is within a predetermined error (for example, 1 second). The removal target position specifying unit 70 determines that the abnormal noise generation time and the vibration generation time coincide with each other.
Then, when the removal target object position specifying unit 70 determines that there is a vibration occurrence time that coincides with the abnormal noise occurrence time (step S22: YES), the removal target position specifying unit 70 obtains the position information corresponding to the time closest to the abnormal noise occurrence time. It is specified as an abnormal noise generation position (step S12). Then, the removal target object position specifying unit 70 determines whether or not the specified abnormal noise generation position is located in the field (step S13). When the removal target object position specifying unit 70 determines that the specified abnormal noise generation position is located in the field (step S13: YES), the removal target object position specifying unit 70 identifies the abnormal noise generation position as the removal target object position, and stores the storage unit 63. Save to (step S14).

The removal target position-related information storage unit 68 of the storage unit 63 stores the removal target position, the abnormal noise generation time, the vibration generation time, and the divided voice information as the removal target position-related information.
After step S14, the removal target position specifying unit 70 determines whether or not the removal target position specifying process has been executed for all the abnormal noise occurrence times (step S15). When the removal target position specifying unit 70 determines in step S22 that there is no vibration generation time that matches the abnormal noise generation time (step S22: NO), and in step S13, the abnormal noise generation position is located outside the field. If so, the process proceeds to step S15 (step S13: NO).

In step S15, when the removal target object position specifying unit 70 determines that the unprocessed abnormal noise generation time remains (step S15: NO), the process returns to step S21. Then, the removal target position specifying unit 70 executes steps S21, S22, and S12 to S14 again. When the removal target position specifying unit 70 determines that the removal target position specifying process has been executed for all the abnormal noise occurrence times (step S15: YES), the removal target position specifying process ends.

Further, in the above-described embodiment, the work vehicle 2 performs the tillage work. However, the work performed by the work vehicle does not have to be tillage work, and may be any work as long as the tool possessed by the work machine can come into contact with the ground surface of the work target area or the object to be removed in the ground. Therefore, the work performed by the work vehicle may be, for example, mowing work performed at a golf course or the like (work target area). In this case, the working machine is a mowing machine, and the tool possessed by the working machine is a mowing blade.

In the above-described embodiment, the satellite signal receiving antenna 44 is installed in the tractor 7, and the position of the object to be removed is the position of the tractor 7 at the time when the abnormal noise is generated. However, in reality, the object to be removed does not exist below the tractor 7 at the time when the abnormal noise occurs, but exists near the tilling claw 30 of the working machine 8 at the time when the abnormal noise occurs. Therefore, unlike the above-described embodiment, if the satellite signal receiving antenna 44 is installed in the working machine 8, the position of the object to be removed can be brought closer to the position of the actual object to be removed. Therefore, the detection accuracy of the position of the object to be removed is improved.

Further, even if the satellite signal receiving antenna 44 is still installed in the tractor 7, the position is set so as to approach the position of the tilling claw 30 in consideration of the distance between the satellite signal receiving antenna 44 and the tilling claw 30. If the position information acquired by the information acquisition unit 45 is corrected, the position of the object to be removed can be brought closer to the position of the actual object to be removed. Therefore, the detection accuracy of the position of the object to be removed is improved.

In the above-described embodiment, the communication server 4 functions as a removal target position detection device, but unlike the above-described embodiment, the remote control terminal 3 (FIG. 1) capable of wireless communication with the work vehicle 2 and WiFi or the like. (See Two-dot chain line) may function as a removal target position detector. That is, the control unit of the remote control terminal 3 includes a removal target object position specifying unit and a removal target object map generation unit, and performs abnormal noise generation time identification processing (see FIG. 5) and removal target object position identification processing. (See FIGS. 7 and 9) may be performed.

In addition, various changes can be made within the scope of the claims.

1: Removal target position detection system 2: Work vehicle (vehicle)
3: Remote control terminal (removal target position detection device)
4: Communication server (removal target position detection device)
30: Tillage claw 45: Position information acquisition unit 46: Voice information acquisition unit 48: Vibration information acquisition unit 63: Storage unit 70: Removal target position identification unit C: Contact sound frequency component (predetermined frequency component)
F: Field (work area)
P: Predetermined threshold value S: Position of object to be removed

Claims (7)

It is a removal target position detection system that detects the position of the removal target, which is the position of the removal target existing in the work target area, by using a vehicle traveling in the work target area.
The position information acquisition unit that acquires the position information of the vehicle, and
A voice information acquisition unit that acquires voice generated by the running of the vehicle as voice information, and a voice information acquisition unit.
The above-mentioned when an abnormal noise based on a removal target is generated in the work target area based on the position information of the vehicle acquired by the position information acquisition unit and the voice information acquired by the voice information acquisition unit. A removal target position detection system including a removal target position specifying unit that specifies the position information of a vehicle as the removal target position. The vehicle performs the tilling work of rotating the tilling claw while traveling,
The removal target position detection system according to claim 1, wherein the abnormal noise based on the removal target is a contact sound between the tilling claw and the removal target. Claim 1 or 2 that the removal target position specifying unit determines that an abnormal sound based on the removal target has occurred when the sound pressure of a predetermined frequency component included in the voice information exceeds a predetermined threshold value. The removal target position detection system described in. The position information acquisition unit acquires time information together with the position information of the work vehicle.
The abnormal noise occurrence time, which is the time information when the abnormal noise based on the removed object is generated based on the elapsed time from the time when the voice information acquisition unit starts the acquisition of the voice by the removal target position specifying unit. The removal target position detection system according to any one of claims 1 to 3, wherein the position information corresponding to the time information closest to the abnormal noise occurrence time is specified as the removal target position. The removal target position detection system according to any one of claims 1 to 4, further comprising a storage unit provided in a communication server capable of external communication and storing the removal target position. It further includes a vibration information acquisition unit that acquires the vibration of the vehicle while the vehicle is running.
The removal target position identification unit identifies the removal target position by the vibration information acquisition unit in addition to the position information acquired by the position information acquisition unit and the voice information acquired by the voice information acquisition unit. The removal target position detection system according to any one of claims 1 to 5, which is performed based on the vibration information acquired by. A removal target position detection device that detects the position of the removal target, which is the position of the removal target existing in the work target area, by using a vehicle traveling in the work target area.
The removal target in the work target area based on the position information of the vehicle acquired by the position information acquisition unit provided in the vehicle and the voice information acquired by the voice information acquisition unit provided in the vehicle. A memory that stores a removal target position specifying unit that regards the position information of the vehicle when an abnormal noise based on an object is generated as the removal target position, and a removal target position specified by the removal target position specifying unit. A device for detecting the position of an object to be removed, including a part.

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