Control device, control method, and control system

Abstract

To improve working efficiency by bringing an object into an easily excavated state.SOLUTION: A control method for specifying and instructing where an object is moved so as to form the object into such a shape as to be easily excavated includes: an acquisition step of acquiring information on a deposition state on a deposited object; a specification step of specifying a movement destination of the object in an excavation object region with reference to information on the acquired deposition state; and an instruction step of instructing an excavation machine to move the object to the movement destination.SELECTED DRAWING: None

Description

[Technical field]

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

[0002] The use of robots has been attracting attention as a response to the decline in the working population due to the declining birthrate and aging population, and the increased workload caused by labor shortages. For example, in the construction industry, there is an urgent need to improve productivity by reducing the number of workers, and there are high hopes for the automation of work using construction machinery.

[0003] For example, Patent Document 1 discloses a control system that determines a smoothed current terrain from the smoothed height for each of a number of points, and moves a work machine along a virtual design terrain determined based on the current terrain. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-021348 A Summary of the Invention [Problem to be solved by the invention]

[0005] When performing excavation work using a work machine at a work site, work efficiency can be improved if the object to be excavated can be made in a state that makes it easier to excavate before the excavation can be carried out; however, such control technology was not known.

[0006] For example, the technology described in Patent Document 1 is capable of moving a work machine along a virtual design terrain, but is not intended to make the target object in a state that is easy to excavate.

[0007] One aspect of the present invention is to provide a technique capable of improving work efficiency by making an object into a state in which it is easier to excavate. [Means for solving the problem]

[0008] A control device according to one aspect of the present invention comprises an acquisition means for acquiring information regarding the deposition status of accumulated objects, an identification means for identifying a destination of the object in an excavation area according to the deposition status, an instruction means for instructing an excavator to move the object to the destination, and an evaluation means for evaluating the ease of excavation of the object within a range through which the excavator bucket can pass based on the excavator's own position, by referring to the information regarding the deposition status, and the identification means identifies the destination by referring to the ease of excavation.

[0009] A control method according to one aspect of the present invention includes an acquisition step of acquiring information regarding the deposition status of accumulated objects, a specification step of identifying a destination of the object in an excavation target area according to the deposition status, an instruction step of instructing an excavator to move the object to the destination, and an evaluation step of evaluating the ease of excavation of the object within a range through which the bucket of the excavator can pass based on the self-position of the excavator, by referring to the information regarding the deposition status, and in the specification step, the destination is identified by referring to the ease of excavation.

[0010] A control system according to one aspect of the present invention comprises an acquisition means for acquiring information regarding the deposition status of accumulated objects, an identification means for identifying a destination of the object in an excavation area according to the deposition status, an instruction means for instructing an excavator to move the object to the destination, and an evaluation means for evaluating the ease of excavation of the object within a range through which the excavator bucket can pass based on the excavator's own position, by referring to the information regarding the deposition status, and the identification means identifies the destination by referring to the ease of excavation. Effect of the Invention

[0011] According to one aspect of the present invention, the work efficiency can be improved by making the object into a state that makes it easier to excavate. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a configuration of a control device according to a first exemplary embodiment of the present invention. [Diagram 2] 4 is a flowchart showing the flow of a control method executed by a control device according to the first exemplary embodiment of the present invention. [Diagram 3] FIG. 1 is a block diagram showing a configuration of a control system according to a first exemplary embodiment of the present invention. [Figure 4] FIG. 11 is a block diagram showing a configuration of a control device according to an exemplary embodiment 2 of the present invention. [Diagram 5] 10 is a flowchart showing the flow of a control method executed by a control device according to a second exemplary embodiment of the present invention. [Figure 6] FIG. 11 is a block diagram showing a configuration of a control system according to a second exemplary embodiment of the present invention. [Figure 7] FIG. 11 is a block diagram showing a configuration of a control system according to a modified example of the second exemplary embodiment of the present invention. [Figure 8] 11A to 11C are diagrams showing a specific example of an excavation operation of a backhoe according to an exemplary embodiment 2 of the present invention. [Figure 9] 11A to 11C are diagrams showing a specific example of an excavation operation of a backhoe according to an exemplary embodiment 2 of the present invention. [Figure 10] 11 is a flowchart showing a process of excavating and moving an object according to the second exemplary embodiment of the present invention. [Figure 11] 11 is a detailed flowchart of identifying the source and destination of movement in FIG. 10; [Figure 12] FIG. 11 is a diagram illustrating the movement of an object according to an exemplary embodiment 3 of the present invention. [Figure 13] FIG. 11 is another diagram illustrating the movement of an object according to the third exemplary embodiment of the present invention. [Figure 14] FIG. 11 is another diagram illustrating the movement of an object according to the third exemplary embodiment of the present invention. [Figure 15] 13 is a first example of a specific evaluation method for excavation ease according to the fourth exemplary embodiment of the present invention. [Figure 16] 1 is a gradient evaluation function used in a first example of an evaluation method. [Figure 17] 13 is a second example of a specific evaluation method for excavation ease according to the fifth exemplary embodiment of the present invention. [Figure 18] 11 is a height evaluation function used in the second example of the evaluation method. [Figure 19] 13 is a third example of a specific evaluation method for excavation ease according to the fifth exemplary embodiment of the present invention. [Figure 20] 13 is a gradient evaluation function used in the third example of the evaluation method. [Figure 21] 13 is a fourth example of a specific evaluation method for excavation ease according to the seventh exemplary embodiment of the present invention. [Figure 22] 13 is a height evaluation function used in the fourth example of the evaluation method. [Diagram 23] FIG. 1 is a configuration diagram for implementing a control device etc. by software. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Example Embodiment 1 A first exemplary embodiment of the present invention will be described in detail with reference to the drawings. This exemplary embodiment is a basic form of the exemplary embodiments described later. The control device 1 according to this exemplary embodiment is a device that controls an excavator. The excavator to be controlled in this exemplary embodiment is an excavator that excavates accumulated objects, such as a backhoe. Excavation in this exemplary embodiment refers to scooping up objects accumulated on the ground or the like using a bucket of the excavator or the like. The type of object is not limited. As an example, the object is soil, sand, snow, grain, cement, etc., and is included in the object as long as it is granular or amorphous and can be scooped up with a bucket. In addition, the place where the object is piled up is not limited.

[0014] The following describes the terms used in this exemplary embodiment. First, in this exemplary embodiment, the expression "pushing together" may be used. Here, "pushing together" refers to moving an object to make it easier to excavate. More specifically, "pushing together" may be expressed as "an operation to improve the ease of excavation at least at one of points A and B by moving an object at point A to point B." In this expression, the movement includes either a horizontal component or a vertical component. However, this exemplary embodiment is not limited by the term "pushing together." In this exemplary embodiment, "pushing together" may be expressed simply as "movement."

[0015] In the following embodiments, the term "collection area" refers to an area where the objects are piled up and can be collected by the bucket of an excavator. Specifically, the "collection area" is defined as a range that can be reached by a bucket attached to the tip of the arm of an excavator.

[0016] The term "excavation target area" refers to an area that is a part of the scraping area and can be excavated. More specifically, as an example, the term "excavation target area" refers to an area that is a part of the scraping area and can be excavated without changing the position of the excavator itself. As another example, the term "excavation target area" refers to an area that is a part of the scraping area and can be excavated by the bucket by at least one of turning, moving the arm, and moving the boom without changing the position of the excavator itself in the translation direction. In addition, in this specification, the term "excavation range" refers to a part of the excavation target area and a range through which the bucket passes during excavation. As an example, the excavation operation of the excavator first pushes the bucket into an object located far from the excavator, and then moves the bucket linearly toward the direction of the excavator so as to scoop up the object. Therefore, when the excavation range is viewed from above (when viewed from a plane), the excavation range, as an example, has a rectangular shape with a pair of long sides parallel to the direction toward the excavator. The length of the short side of the excavation range is the width of the bucket, and the length of the long side is the moving distance that the bucket moves in the object.

[0017] The average gradient of the height of the excavation range refers to the gradient from the far position to the near position, calculated from the difference in the height of the object at the position farthest from the excavator (far position) and the height of the object at the position closest to the excavator (near position) within the excavation range, and the difference in the horizontal distance between them. Since the far position and the near position are opposite sides of a rectangle, the heights at each position are expressed as average heights, and the gradient calculated from the difference in the average heights and the difference in the horizontal distance between them is called the average gradient.

[0018] (Configuration of control device 1) The configuration of the control device 1 according to the present exemplary embodiment 1 will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the control device 1. As shown in Fig. 1, the control device 1 includes an acquisition unit 10, a determination unit 11, and an instruction unit 12. The acquisition unit 10 is an embodiment of the acquisition means recited in the claims. The determination unit 11 is an embodiment of the determination means recited in the claims. The instruction unit 12 is an embodiment of the instruction means recited in the claims.

[0019] Hereinafter, each component of the control device 1 will be described. The acquisition unit 10 acquires information on the accumulation state of the accumulated object. The information on the accumulation state of the object is, for example, information from which the accumulation height of the object can be derived based on the information. The accumulation height is, for example, the height from the lowest part of the accumulation (for example, the ground if the accumulation is on the ground) to a certain point on the surface of the object. Hereinafter, the accumulation height of the object (height with the vertical upward direction being positive) is simply referred to as "height". However, the expression "height" does not necessarily refer to the height from a specific place, and may also be used to mean the relative height of the surface of the object. In addition, in this specification, the expression "depth of the object" may also be used. In other words, an object with a high height may be expressed as having a large depth, and an object with a low height may be expressed as having a small depth.

[0020] The information on the deposition status of the object is, for example, distance information measured by a distance measuring device such as a three-dimensional camera or a three-dimensional Lidar (Light Detection And Ranging). The distance information is information including the direction and distance to a certain point. The height of each point on the surface is derived from the direction and distance from the distance measuring device to the surface on which the object is deposited. Furthermore, the gradient of the surface is also derived from the height of each point. Note that the placement surface before the object is deposited is assumed to have been measured in advance. Alternatively, it is assumed that the placement surface is deposited so deeply that the position of the placement surface can be ignored. In addition, the method by which the acquisition unit 10 acquires the distance information is not limited. As an example, the acquisition unit 10 acquires the distance information from the distance measuring device using wired communication, wireless communication, or a combination of these.

[0021] The identifying unit 11 identifies a destination of the object in the excavation target area according to the accumulation state. As an example, the identifying unit 11 refers to information on the accumulation state and identifies a point in the excavation target area where the height and / or gradient of the object satisfies a predetermined condition as the destination of the object. As an example, the predetermined condition may be a condition that the height is lower than other points in the excavation target area.

[0022] The instruction unit 12 instructs the excavator to move the object to the destination identified by the identification unit 11. Specifically, the instruction unit 12 generates a control signal for moving the arm of the excavator so as to move the object to the destination, and sends the control signal to an arm driver of the excavator.

[0023] In the embodiment shown in FIG. 1, the acquisition unit 10, the identification unit 11, and the instruction unit 12 are described as being incorporated in one control device 1, but they do not necessarily have to be incorporated in one control device. For example, all or part of the acquisition unit 10, the identification unit 11, and the instruction unit 12 may be arranged separately. These may be connected by wired communication or wireless communication. Furthermore, all or part of the acquisition unit 10, the identification unit 11, and the instruction unit 12 may be located on the cloud. This also applies to the device configurations shown below.

[0024] (Effect of control device 1) As described above, the control device 1 according to this exemplary embodiment is configured to acquire information regarding the deposition status of the accumulated objects, identify a destination for the objects in the area to be excavated that is based on the deposition status, and instruct the excavator to move the objects to the destination.

[0025] Generally, when an object is excavated using an excavator, as the excavation progresses, the number of objects decreases, the surface becomes uneven, and the excavation efficiency decreases. Therefore, it is preferable to smooth the unevenness of the surface and move the object to a position where it is easy to excavate. According to the control device 1 according to this exemplary embodiment, the destination of the object in the excavation target area is specified by referring to the acquired information on the deposition state, and the excavator is instructed to move the object to the destination, so that the object can be made into a shape that is easy to excavate.

[0026] Therefore, according to the control device 1 according to this exemplary embodiment, an effect of improving excavation efficiency can be obtained.

[0027] (Flow of control method S1) Next, the flow of the control method S1 according to this exemplary embodiment will be described with reference to FIG. 2. FIG. 2 is a flowchart showing the flow of the control method S1 executed by the control device 1. As shown in FIG. 2, the control method S1 includes the following steps. First, in step S10 (acquisition step), the control device 1 acquires information on the deposition status of the deposited objects. As an example, the acquisition unit 10 can acquire distance information measured by a distance measuring device. Note that the method by which the acquisition unit 10 acquires the distance information is not limited. As an example, the acquisition unit 10 acquires the distance information from the distance measuring device using wired communication, wireless communication, or a combination of these.

[0028] Next, in step S11 (identification step), the control device 1 identifies a destination of the object in the excavation target area, which is a destination according to the accumulation state. As an example, the identification unit 11 identifies a destination of the object in the excavation target area by referring to information on the accumulation state acquired in step S11.

[0029] Next, in step S12 (instruction step), the control device 1 instructs the excavator to move the object to the destination. As an example, the instruction unit 12 instructs the excavator to move the object to the destination specified in step S11.

[0030] (Effect of control method S1) As described above, in the control method S1 according to the present exemplary embodiment, the control device 1 acquires information on the deposition status of the object, identifies a destination of the object in the excavation target area according to the information on the deposition status, and instructs the excavator to move the object to the destination. This allows the object to be shaped to be easily excavated.

[0031] Therefore, according to the control method S1 according to this exemplary embodiment, an effect of improving excavation efficiency can be obtained.

[0032] (Configuration of control system 2) Next, the configuration of the control system 2 according to the present exemplary embodiment 1 will be described with reference to FIG. 3. FIG. 3 is a block diagram showing the configuration of the control system 2. As shown in FIG. 3, the control system 2 includes an acquisition unit 21, a specification unit 22, and an instruction unit 23. The acquisition unit 21, specification unit 22, and instruction unit 23 of the control system 2 are equivalent to the acquisition unit 10, specification unit 11, and instruction unit 12 of the control device 1 described above, and therefore will not be described. The control system 2 controls a backhoe (excavator) 200. Specifically, the control system 2 acquires information on the deposition status of the deposited object 300, specifies a destination of the object 300 in the excavation target area according to the deposition status, and instructs the backhoe 200 to move the object 300 to the destination. The control system 2 is communicably connected to a controller 201 of the backhoe 200 via a communication network 100.

[0033] (Effects of Control System 2) As described above, the control system 2 according to the present exemplary embodiment is configured to obtain information on the accumulation state of the accumulated object, identify a destination of the object in the excavation target area according to the accumulation state, and instruct the excavator to move the object to the destination. This allows the object to be shaped to be easily excavated.

[0034] Therefore, according to the control system 2 according to this exemplary embodiment, an effect of improving excavation efficiency can be obtained.

[0035] Exemplary embodiment 2 The second exemplary embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first exemplary embodiment are given the same reference numerals and will not be described again. In addition, the description of terms having the definition will not be repeated.

[0036] (Configuration of control device 3) The configuration of the control device 3 according to this exemplary embodiment will be described with reference to FIG. 4. FIG. 4 is a block diagram showing the configuration of the control device 3. As shown in FIG. 4, the control device 3 includes an acquisition unit 30, an evaluation unit 31, a determination unit 32, and an instruction unit 33. Of the control device 3, the acquisition unit 30 and the instruction unit 33 are equivalent to the acquisition unit 10 and the instruction unit 12 of the control device 1 described above, and therefore will not be described repeatedly. The evaluation unit 31 is one embodiment of the evaluation means described in the claims. The determination unit 32 is one embodiment of the determination means described in the claims.

[0037] The evaluation unit 31 evaluates the excavation ease of the object by referring to information on the deposition state. The excavation ease of the object is the ease of excavating the object. As an example, the evaluation unit 31 evaluates the excavation ease so that the flatter the surface of the object is, the higher the excavation ease, and the greater the degree of unevenness of the surface of the object is, the lower the excavation ease. As an example, the evaluation unit 31 derives the height of the object at multiple points based on information on the deposition state of the object, and calculates an evaluation value representing the degree of unevenness of the surface of the object based on the derived heights at the multiple points as an index showing the excavation ease.

[0038] The identification unit 32 identifies the destination by referring to the excavation ease evaluated by the evaluation unit 31. As an example, the identification unit 32 identifies, from among a plurality of destination candidates, a destination candidate for which the evaluation result of the evaluation unit 31 satisfies a predetermined condition as the destination. For example, the identification unit 32 identifies, as the destination, a destination candidate for which the evaluation result of the excavation ease by the evaluation unit 31 is relatively low. In this case, the evaluation result has a positive correlation with the excavation ease. In other words, a low evaluation result of the excavation ease means that excavation is more difficult.

[0039] (Effect of control device 3) As described above, the control device 3 according to this exemplary embodiment is configured to evaluate the excavation ease of the object by referring to information on the deposition state, and to specify the destination of the object by referring to the evaluated excavation ease. Therefore, according to the control device 3 according to this exemplary embodiment, the object is moved to the destination specified by referring to the excavation ease of the object, thereby improving the excavation efficiency.

[0040] (Flow of control method S2) Next, the flow of the control method S2 according to this exemplary embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the flow of the control method S2 executed by the control device 3. As shown in Fig. 5, the control method S2 includes steps S20 to S23. Of these steps, steps S20 and S23 are similar to steps S10 and S12 of the control method S1 described above, and description thereof will not be repeated.

[0041] In step S21, the evaluation unit 31 evaluates the excavation easiness of the object by referring to the information on the deposition state of the object. As an example, the evaluation unit 31 derives the height of the object at multiple points based on the information on the deposition state of the object, and calculates an evaluation value representing the degree of unevenness of the surface of the object based on the derived heights at the multiple points as an index of excavation easiness.

[0042] In step S22, the identifying unit 32 identifies the destination by referring to the excavation ease. As an example, the identifying unit 32 identifies, as the destination, a destination candidate for which the evaluation result of the evaluation unit 31 satisfies a predetermined condition, among a plurality of destination candidates. For example, the identifying unit 32 identifies, as the destination, a destination candidate for which the evaluation result of the excavation ease by the evaluation unit 31 is relatively low.

[0043] (Effect of control method S2) As described above, the control method S2 according to the present exemplary embodiment employs a configuration in which the excavation ease of the object is evaluated by referring to information on the deposition state, and the object is moved by referring to the evaluated excavation ease. Therefore, according to the control method S2 according to the present exemplary embodiment, the excavation efficiency is improved by moving the object to a destination specified by referring to the excavation ease of the object.

[0044] (Configuration of control system 4) Next, the configuration of the control system 4 according to this exemplary embodiment will be described with reference to Fig. 6. Fig. 6 is a block diagram showing the configuration of the control system 4. As shown in Fig. 6, the control system 4 includes a control device 40 and a sensor 202. The control device 40 includes an acquisition unit 41, an evaluation unit 42, an identification unit 43, an instruction unit 44, a communication unit 46, and a memory 47. In the control device 40, the acquisition unit 41, the evaluation unit 42, the identification unit 43, and the instruction unit 44 are equivalent to the acquisition unit 30, the evaluation unit 31, the identification unit 32, and the instruction unit 33 of the control device 3 described above, and therefore the description thereof will not be repeated.

[0045] The control device 40 is communicatively connected to the controller 201 and the sensor 202 of the backhoe 200 via the communication network 100. The communication unit 46 of the control device 40 performs data communication between the controller 201 and the sensor 202. In this exemplary embodiment, the communication is performed by wireless communication, but wired communication may also be used. The wireless communication may be, for example, LTE (Long Term Evolution), local 5G, 5G, Wi-fi (registered trademark), or the like. The controller 201 may be mounted on the backhoe 200, or may be disposed at a position different from the backhoe 200.

[0046] The memory 47 temporarily or non-temporarily stores various programs and various data referenced by the control device 40.

[0047] The backhoe 200 is an excavator, and shovels the object 300. The backhoe 200 is operated by a controller 201 that receives instructions from the control device 40.

[0048] The sensor 202 measures information related to the accumulation state of the accumulated objects 300. As the sensor 202, a distance measuring device such as a 3D camera or a 3D Lidar can be used as described above. Data from the sensor 202 is acquired by the acquisition unit 41 via the communication unit 46. The sensor 202 is disposed at a position where the height of all points of the accumulated objects 300 can be measured. The position where the sensor 202 is disposed is, for example, a position overlooking the area where the objects are accumulated, such as a ceiling, a pillar, or a beam.

[0049] (Configuration of control system 5) Next, the configuration of a control system 5 according to a modified example of the present exemplary embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the configuration of the control system 5. As shown in Fig. 7, the control system 5 includes a first control device 50, a second control device 60, and a sensor 202.

[0050] The first control device 50 includes an acquisition unit 51, an evaluation unit 52, a communication unit 53, and a memory 54. In the first control device 50, the acquisition unit 51, the evaluation unit 52, the communication unit 53, and the memory 54 are similar to the acquisition unit 41, the evaluation unit 42, the communication unit 46, and the memory 47 of the control device 40 described above, and the description thereof will not be repeated.

[0051] The second control device 60 includes a determination unit 61, an instruction unit 62, a communication unit 63, and a memory 64. In the second control device 60, the determination unit 61, the instruction unit 62, the communication unit 63, and the memory 64 are similar to the determination unit 43, the instruction unit 44, the communication unit 46, and the memory 47 of the above-mentioned control device 40, and the description thereof will not be repeated.

[0052] In the control system 5 according to this modification, as shown in Fig. 7, the first control device 50 includes an acquisition unit 51 and an evaluation unit 52, while the second control device 60 includes an identification unit 61 and an instruction unit 62. In this manner, in the control system 5 according to this modification, a configuration for calculating an evaluation value and a configuration for identifying a destination of an object are distributed within the system. Even with such a configuration, the same effects as those of the above-mentioned exemplary embodiments can be obtained.

[0053] The method of distributing the various parts within the system is not limited to the above example, and other distribution methods may be adopted.

[0054] (Example of digging operation) 8 and 9 are diagrams showing a specific example of the excavation operation of the backhoe 200 according to the exemplary embodiment 2. FIG. 8 shows an example of the excavation operation of the backhoe 200 viewed from above. In the figure, the area a21 is a scraping area that can be scraped by the bucket 200a of the backhoe 200. The area a22 is an excavation target area that can be excavated by the bucket 200a by at least one of turning, moving the arm, and moving the boom without changing the position of the backhoe 200 itself in the translation direction. In the example of FIG. 8, in order to make the invention easier to understand, the scraping area a21 and the excavation target area a22 are illustrated as having rectangular shapes, but the shapes of these areas are not limited to those illustrated in FIG. The shapes of the scraping area a21 and the excavation target area a22 may be shapes other than rectangular.

[0055] As described above, the excavation range a23 is the range through which the bucket 200a passes during the excavation operation. As described above, the backhoe 200 pushes the bucket 200a into the object at the excavation point p21 far from the backhoe 200, and then moves the bucket 200a linearly in a direction approaching the backhoe 200 to scoop up the object 300. Therefore, the excavation range a23 is a rectangle with a pair of long sides parallel to the direction toward the backhoe 200. Note that the linear distance over which the bucket 200a is moved during excavation (the long sides of the excavation range a23) is determined according to the capacity of the bucket 200a and the amount of accumulated objects.

[0056] Fig. 9 is a diagram showing the excavation operation of the backhoe 200 as viewed from the direction of the arrow A1 in Fig. 8. In the figure, the height D of the excavation point p21 is the height of the target object 300 with the direction of the arrow H (vertical upward) being positive. The average gradient G of the excavation range a23 represents the gradient from the far position p21 of the excavation range a23 toward the near position p22, calculated from the average height of the excavation point p21, which is the far position of the excavation range a23, and the average height of the near position p22 of the excavation range a23.

[0057] (Excavation and transportation process) FIG. 10 is a flowchart showing a work process S3, which is an example of a work process of excavating and moving an object, performed by the control device 40 according to the second exemplary embodiment.

[0058] In step S30, the acquisition unit 41 acquires information on the accumulation state of the target object 300. The information on the accumulation state includes, for example, the height of the target object 300 and information on the gradient of the height of the target object. For example, the acquisition unit 41 acquires information representing the measurement result of the sensor 202 via the communication unit 46.

[0059] The information acquired by the acquisition unit 41 includes, for example, information indicating the height of the target object 300 at each of a plurality of points included in the excavation target area a22. For example, the plurality of points included in the excavation target area a22 may be a plurality of points arranged in a lattice at a predetermined unit distance. For example, the predetermined unit distance may be several tens of centimeters. In this case, each area arranged in a lattice is referred to as a "point". The "height" of the point may be represented, for example, by an average height of heights measured within the area, or may be represented by the height of a certain position (for example, the center) of the area. For example, the above-mentioned "excavation point p21" may be one of the areas arranged in a lattice, and may be an area centered on the excavation point p21. In the following description, the plurality of points included in the excavation target area a22 may also be referred to as a plurality of "excavation points".

[0060] In step S31, the evaluation unit 42 derives the height D and average gradient G of each excavation point by referring to the information acquired in step S30.

[0061] (Derivation of the average gradient G) As an example, the evaluation unit 42 derives the average gradient G of the excavation point p21 included in the excavation target area a22 by the following method. The evaluation unit 42 first identifies the excavation range a23 corresponding to the excavation point p21. The excavation range a23 corresponding to the excavation point p21 is a range through which the bucket 200a passes in an excavation operation in which the backhoe 200 pushes the bucket 200a into the excavation point p21, moves the bucket 200a linearly in a direction approaching the backhoe 200, and scoops up the target object 300. In other words, the excavation range a23 corresponding to the excavation point p21 is a range represented by a rectangle with a pair of long sides parallel to the direction toward the backhoe 200 and one of the short sides passing through the excavation point p21. In this case, the excavation point p21 is the far position of the excavation range a23, and the position on the opposite side of the short side passing through the excavation point p21 is the near position p22 of the excavation range a23. In the following description, the excavation point p21 is also referred to as the far position p21 of the excavation range a23.

[0062] Next, the evaluation unit 42 derives the average height D1 of the far position p21 of the identified excavation range a23, the average height D2 of the near position p22 of the excavation range a23, the distance L1 from the backhoe 200 to the far position p21, and the distance L2 from the backhoe 200 to the near position p22.

[0063] The average gradient G is the average gradient of the height of the excavation range a23 in the direction toward the backhoe 200, and is expressed by the following formula (G1). G = (D2 - D1) / (L1 - L2) ... (G1a) Or, in degrees (°), G(°)=arctan{(D2-D1) / (L1-L2)} …(G1b) It becomes.

[0064] In addition, when the far position of the excavation range a23 is a short side including the excavation point p21 as in the embodiment shown in Fig. 8, the average height D1 of the far position of the excavation range a23 can be the average height of the excavation point p21. However, this is not limited to such a configuration. In addition, the average height L2 of the near position p22 of the excavation range a23 can be, for example, the average height of the area arranged in a lattice shape including the near position p22 of the excavation range a23. However, this is not limited to such a configuration.

[0065] In step S32, the evaluation unit 42 derives an evaluation value representing the excavation ease of the target object 300. Here, as described above, the evaluation value is a value representing the excavation ease. As an example, the larger the evaluation value, the easier it is to excavate at that point, and the smaller the evaluation value, the more difficult it is to excavate at that point.

[0066] In this example, the evaluation unit 42 evaluates the excavation easiness with reference to the height of the target object 300 and the gradient of the height of the target object. More specifically, the evaluation unit 42 derives an evaluation value for each of a plurality of excavation points p21 included in the excavation target area a22 by referring to the average height D1 and average gradient G of the excavation range a23 corresponding to each excavation point p21 derived in step S31, for example.

[0067] As an example, the evaluation unit 42 may evaluate the ease of excavation by referring to an evaluation value related to the average gradient G of the height of the excavation range a23, an evaluation value related to the average height D1 of the distal position of the excavation range a23, and an evaluation value related to the average height Dx of the excavation target area a22.

[0068] The evaluation value derived by the evaluation unit 42 is not limited to the above-mentioned example, and may be a value derived by other methods. For example, the average gradient G of the excavation range a23 corresponding to each excavation point p21 may be used as the evaluation value. As one example, the evaluation value may be an evaluation value related to the average gradient of the height of the excavation range a23, and may be configured to increase as the gradient value toward the backhoe 200 increases. As another example, for example, a combination of the average gradient G and average height D1 of the excavation range a23 may be used as the evaluation value.

[0069] As another example, the evaluation unit 42 may calculate the evaluation value by referring to the average gradient G and the elevation difference ΔD (delta D) of the excavation target area a22. In this case, as an example, the evaluation unit 42 calculates the elevation difference ΔD as follows. The evaluation unit 42 first calculates the average height Dx of the excavation target area a22. The average height Dx of the excavation target area a22 is the average value of the heights measured by the sensor 202 for each divided area obtained by dividing the excavation target area a22.

[0070] The elevation difference (depth difference) ΔD is the difference between the average elevation D1 at the far position of the excavation range a23 and the average elevation Dx of the excavation target area a22. The elevation difference ΔD is expressed by the following formula (G2). ΔD=D1-Dx …(G2)

[0071] In step S33, the identification unit 43 judges whether the evaluation value is less than a predetermined threshold value at all excavation points p21 from which the evaluation value was derived. If the evaluation value is less than the threshold value at all excavation points p21 (step S33; YES), the identification unit 43 proceeds to processing of step S34. On the other hand, if there is an excavation point p21 whose evaluation value is equal to or greater than the threshold value (step S33; NO), the identification unit 43 proceeds to processing of step S35. In other words, if the evaluation value is less than the threshold value at all excavation points p21, the control device 40 proceeds to processing of step S34 and causes the backhoe 200 to move the object 300. On the other hand, if there is an excavation point p21 whose evaluation value is equal to or greater than the threshold value, the control device 40 proceeds to processing of step S35 and excavates the object 300.

[0072] In step S34, the identification unit 43 identifies a source and a destination that satisfy a predetermined condition. Details of the process of identifying the source and the destination performed by the identification unit 43 in step S34 will be described later. After completing the process of step S34, the identification unit 43 proceeds to the process of step S36.

[0073] In step S35, the instruction unit 44 instructs the backhoe 200 to excavate the target object 300, and causes the backhoe 200 to excavate the target object 300. Specifically, the instruction unit 44 generates a control signal for moving the arm of the backhoe 200 so as to excavate the target object 300, and sends the control signal to the controller 201. Upon completing the process of step S35, the instruction unit 44 proceeds to the process of step S37.

[0074] In step S36, the instruction unit 44 instructs the backhoe 200 to move the object 300 to the specified destination, and causes the backhoe 200 to move the object 300. Specifically, the instruction unit 44 generates a control signal for moving the arm of the backhoe 200 so as to move the object 300 to the destination, and sends it to the controller 201. After completing the process of step S36, the instruction unit 44 proceeds to the process of step S37.

[0075] In step S37, the control device 40 judges whether to end the work. As an example, this judgment may be made based on whether the range and / or amount of the object excavated by the backhoe 200 satisfies a predetermined condition. Note that the method of judging whether to end the work is not limited to this, and the judgment may be made by other methods. If the work is to be ended (step S37; YES), the control device 40 ends the processing. On the other hand, if the work is not to be ended (step S37; NO), the control device 40 returns to the processing of step S30.

[0076] Fig. 11 is a flowchart showing an example of the process of step S34 in Fig. 10, that is, the process of identifying the source and destination by the identification unit 43. In this example, the identification unit 43 identifies an excavation point p21 that satisfies a predetermined condition as the source of movement from among a plurality of excavation points p21 included in the excavation target area a22.

[0077] In step S40, the identifying unit 43 identifies an excavation point p21 that is higher than the other excavation points p21 from among the multiple excavation points p21 included in the excavation target area a22 as a candidate for the movement origin. In other words, the movement origin of the object 300 is a position in the excavation target area a22 where the height of the object 300 is higher than other positions. For example, the identifying unit 43 identifies the excavation point p21 where the height of the object 300 is the highest as the movement origin. Alternatively, the identifying unit 43 may identify the excavation point p21 where the amount of the object deposited is greater than the other excavation points p21 as the movement origin. For example, the identifying unit 43 may identify the excavation point where the amount of the object deposited is the greatest as the movement origin of the object 300. The identifying unit 43 may identify one candidate as the movement origin, or may identify multiple candidates.

[0078] In step S41, the identifying unit 43 identifies an excavation point p21 that is lower in height than the other excavation points p21 as a candidate for the destination from among the multiple excavation points p21 included in the excavation target area a22. In this case, in other words, the destination of the object 300 is a position in the excavation target area a22 where the height of the object 300 is lower than other positions. For example, the excavation point p21 where the height of the object 300 is the lowest is set as the destination. Alternatively, the excavation point p21 where the amount of the object deposited is less than the other excavation points p21 may be set as the destination. For example, the excavation point where the amount of the object deposited is the least may be set as the destination of the object 300. In addition, the identifying unit 43 may identify a candidate for the origin from among the multiple excavation points p21 depending on the distance from the excavation equipment 200 and the distance to an area determined to be dangerous (a passage area for workers, a driving area for dump trucks, etc., and a building such as a watchtower). The identifying unit 43 may identify one candidate as the destination, or may identify multiple candidates.

[0079] In step S42, the identification unit 43 selects the source and destination from among the multiple candidates by referring to the distance. As an example, the identification unit 43 identifies, as the destination, a destination candidate that satisfies a predetermined condition from among the multiple destination candidates. Specifically, the identification unit 43 identifies, as the destination, a destination candidate that is relatively short in distance from the source, from among the multiple destination candidates. As an example, the identification unit 43 selects, as a combination of the source and destination, a combination in which the distance between the source and destination is equal to or less than a predetermined threshold. Note that the method of selecting the source and destination is not limited to this, and the selection may be performed by another method.

[0080] In step S43, the identification unit 43 determines whether the target object 300 is movable. As an example, the identification unit 43 determines whether there is an obstacle or the like on the movement trajectory of the bucket 200a, and determines that the target object 300 is movable if there is no obstacle or the like. Note that the method of determining whether the target object 300 is movable is not limited to this, and the determination may be made by other methods. If the target object 300 is movable (step S43; YES), the identification unit 43 proceeds to the process of step S44. On the other hand, if the target object 300 is not movable (step S43; NO), the identification unit 43 returns to the process of step S42.

[0081] In step S44, the identification unit 43 identifies the combination of the movement origin and the movement destination selected in step S42 as the combination of the movement origin and the movement destination to be instructed to the backhoe 200.

[0082] (Effects of control systems 4 and 5) As described above, the control system 4 or 5 according to the present exemplary embodiment employs a configuration in which information on the deposition state is referred to to evaluate the excavation ease of the object 300. Therefore, according to the control system 4 or 5 according to the present exemplary embodiment, by moving the object 300 with reference to the excavation ease evaluated with reference to the height of the object 300 and the gradient of the height of the object 300, it is possible to give the object 300 a shape that is easier to excavate, thereby obtaining an effect of improving excavation efficiency.

[0083] Exemplary embodiment 3 Exemplary embodiment 3 of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in exemplary embodiment 1 or 2 are denoted by the same reference numerals, and the description thereof will not be repeated.

[0084] The control device 40B according to the present exemplary embodiment 3 is different from the control device 40 according to the above-described exemplary embodiment 2 in the process of identifying the origin and destination of the object 300 (the process of step S34 in FIG. 10) and the process of moving the object 300 (the process of step S36 in FIG. 10). These processes will be described with reference to the drawings.

[0085] 12 is a diagram for explaining the process of identifying the origin and destination of the target object 300 according to this exemplary embodiment. In this example, the identification unit 43 first identifies the lowest point in the excavation target area a22 as the destination (end point p32). Next, the identification unit 43 calculates a scraping line L30 connecting the turning center P1 of the backhoe 200 and the end point p32. In addition, the identification unit 43 identifies, for example, the highest point as the origin (start point p31) from among the points that satisfy the following three conditions: Located on the collecting line L30. Located within the scraping area a21. The starting point may or may not be included in the excavation target area a22. However, it must be included in the scraping area a21. Also, the end point must be included in the excavation target area a22. The starting point is located at a point that is at least a specified distance away from the end point (because if the starting point and end point are too close, the effect of gathering is small). The specified distance can be set taking into account various conditions.

[0086] 12, the distance between the start point p31 and the turning center P1 of the backhoe 200 is longer than the distance between the end point p32 and the turning center P1. In this case, as an example, under the control of the control device 40, the backhoe 200 moves the bucket 200a along the scraping line L1 from the back to the front as viewed from the backhoe 200, thereby performing a scraping operation of the target object 300, and moves the target object 300 piled up on the back side to the front side.

[0087] The positional relationship between the start point and end point of the scraping operation is not limited to the example shown in Fig. 12. The positional relationship may be such that the distance between the start point and the turning center of the backhoe 200 is shorter than the distance between the end point and the turning center.

[0088] Fig. 13 is a diagram showing another example of the origin and destination of the target object 300 according to this exemplary embodiment. In the example of Fig. 13, the distance between the start point p41 and the turning center P1 of the backhoe 200 is shorter than the distance between the end point p42 and the turning center P1. In this case, the backhoe 200, as an example, performs a pushing operation of the target object 300 by moving the bucket 200a linearly from the front to the back direction as viewed from the backhoe 200 under the control of the control device 40, and moves the target object 300 stuck on the front side to the back side.

[0089] FIG. 14 is another diagram showing an example of the movement of the target object 300 according to this exemplary embodiment. In the example of FIG. 14, the distance between the start point p51 and the turning center P1 of the backhoe 200 is longer than the distance between the end point p52 and the turning center P1. In this case, the backhoe 200, as an example, moves the bucket 200a so as to draw a curve from the start point p51 to the end point p52 under the control of the control device 40, thereby performing a scraping operation of the target object 300, and moves the target object 300 piled on the back side to the front side. As described above, the scraping operation is not limited to moving the bucket 200a linearly, and the target object may be moved between any two points.

[0090] Exemplary embodiment 4 A fourth exemplary embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to third exemplary embodiments are given the same reference numerals and will not be described repeatedly. In the fourth exemplary embodiment, a first example of an evaluation function used in the evaluation of excavation easiness performed by the evaluation unit 42 will be described.

[0091] 15 is an example of a diagram in which an evaluation function P for evaluating the excavation easiness according to this exemplary embodiment 4 is three-dimensionally plotted. The evaluation function P is a function of variables G, D, and Dx, and is expressed by the following formula (1).

[0092]

number

[0093] Here, the variable G is the average gradient of the excavation range (°), the variable D is the height of the excavation point (m), and the variable Dx is the average height of the excavation target area (m). a and b are coefficients. The constant G0 included in coefficient a is a constant greater than 0 with the dimension of angle (°), and the constant D0 included in coefficient b is a constant greater than 0 with the same dimension as the height (m). τ included in coefficients a and b is a parameter that satisfies 0<τ<0.5 and determines the weighting of the constants G0 and D0. In addition, α is a parameter that satisfies 0≦α≦1.0 and determines the weighting of the first and second terms.

[0094] The first term in the above formula (1) is a term that evaluates the average gradient using a sigmoid function. The sigmoid function is a function that converts the input value G into a value between 0 and 1. Figure 16 is a graph illustrating the calculated value of the sigmoid function of the first term. The average gradient G of the excavation range is a positive value when the height increases in the direction toward the excavator. Therefore, when α is constant, the larger the average gradient G, the larger the value of the first term. The greater the upward gradient toward the excavator, the easier it is to excavate, so a larger evaluation value is given to the larger the average gradient G.

[0095] The second term in the above formula (1) is a term that evaluates the height difference of the target object's surface using a sigmoid function. The higher the height D of the excavation point is compared to the average height Dx of the area to be excavated, the larger the value of the second term. By prioritizing excavation at points as high as possible, it is possible to prevent the concentration of low points being selected, and therefore it is possible to maintain a shape that is easy to excavate. Therefore, the larger (D-Dx) is, the higher the evaluation value is given. Although not shown, if the horizontal axis is taken for the second term as well, a curve like that shown in Figure 16 is obtained.

[0096] As described above, the calculated value of the evaluation function P increases as the average gradient G increases and as the height D of the excavation point increases, as shown in Fig. 15. As an example of setting each constant, it is possible to set it as follows: G0 = 20.0 (°), D0 = length of the excavator bucket (m), τ = 0.3, α = 0.2. The length of the excavator bucket is the length of the bucket in the direction along which the arm extends.

[0097] Exemplary embodiment 5 A fifth exemplary embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to fourth exemplary embodiments are given the same reference numerals and will not be described repeatedly. In the fifth exemplary embodiment, a second example of an evaluation function used for evaluating the excavation easiness will be described.

[0098] 17 is an example of a diagram in which an evaluation function P for evaluating the excavation easiness according to the fifth embodiment is plotted three-dimensionally. The evaluation function P is a function of variables G, D, and Dx, and is expressed by the following formula (2). The definitions of G, D, and Dx in the formula are the same as those explained in the fourth exemplary embodiment.

[0099]

number

[0100] In the above formula (2), the first term is the same as that of formula (1) shown in the fourth exemplary embodiment, and the second term is replaced with an exponential expression that is a convex function. The reason for replacing the second term with an exponential expression is to give a high evaluation value to a point close to the average height Dx of the excavation target area, and to give priority to excavation while avoiding locally high points or locally low points. In this case, the avoided locally high points or locally low points are flattened by scraping later.

[0101] The exponential formula excluding α in the second term is given a value between 0 and 1 for the input value (D-Dx). Fig. 18 is a graph illustrating the calculated value of the exponential formula excluding α in the second term for evaluating the height. Note that the coefficient b of the second term is different from the coefficient b shown in the fourth exemplary embodiment. The calculated value of the first term shows a curve similar to that of the first term of the formula (1) shown in the fourth exemplary embodiment, and therefore a description thereof will be omitted here.

[0102] As described above, the calculated value of the evaluation function P becomes larger as the average gradient G becomes larger, and becomes larger as the height D of the excavation point becomes closer to the average height Dx of the excavation target area, as shown in Fig. 17. Note that the constants G0, D0, τ, and α are the same as those in the fourth exemplary embodiment, and the setting examples of each constant may be the same as those shown in the fourth exemplary embodiment, for example.

[0103] Exemplary embodiment 6 A sixth exemplary embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to fifth exemplary embodiments are given the same reference numerals and will not be described repeatedly. In the sixth exemplary embodiment, a third example of an evaluation function used for evaluating the excavation easiness will be described.

[0104] Fig. 19 is an example of a diagram in which an evaluation function P for evaluating the excavation easiness according to the sixth embodiment is plotted three-dimensionally. The evaluation function P is a function of variables G, D, and Dx, and is expressed by the following formula (3). The definitions of G, D, and Dx in the formula are the same as those explained in the fourth exemplary embodiment.

[0105]

number

[0106] Equation (3) is an evaluation equation that derives an evaluation value using a linear function instead of a sigmoid function. In other words, equation (3) is an equation in which the sigmoid function part of equation (1) is replaced with a linear function. More specifically, the sigmoid function part of the first term of equation (1) described in the fourth exemplary embodiment is replaced with a function F g (G), and replace the sigmoid function part of the second term with the function F d This is replaced by (D).

[0107] Figure 20 shows the function F when the first term variable G is taken on the horizontal axis. g (G). As shown in formula (3) and Figure 20, in the range of -(G0 / 2τ)≦G≦G0 / 2τ, the calculated value increases linearly as the variable G increases. In addition, if it is smaller than the lower limit of this range, it is 0, and if it exceeds the upper limit of this range, it is 1. In other words, in the region where the absolute value of the variable G is small, the change in the calculated value in formula (3) is more gradual with respect to the change in the variable G than in formula (1). The function F in the second term d As for (D), in the region where the absolute value of the variable D is small, the change in the calculated value is more gradual compared to the formula (1) in response to the change in the variable D. This results in an evaluation function with less change in the evaluation value in response to a change in the input.

[0108] As described above, the calculated value of the evaluation function P by the formula (3) gradually increases as the average gradient G increases within a certain range, and also gradually increases as the height D of the excavation point increases, as shown in Fig. 19. The constants G0, D0, τ, and α are the same as those in the fourth exemplary embodiment, and the setting examples of each constant may be the same as those shown in the fourth exemplary embodiment, for example.

[0109] Exemplary Embodiment 7 A seventh exemplary embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to sixth exemplary embodiments are given the same reference numerals and will not be described repeatedly. In the seventh exemplary embodiment, a fourth example of an evaluation function used for evaluating the excavation easiness will be described.

[0110] 21 is an example of a diagram in which an evaluation function P for evaluating the excavation easiness according to the seventh embodiment is plotted three-dimensionally. The evaluation function P is a function of variables G and D, and is expressed by the following formula (4). The definitions of G, D, and Dx in the formula are the same as those explained in the fourth exemplary embodiment.

[0111]

number

[0112] Equation (4) is a function F of the second term of Equation (3) in Exemplary Embodiment 6. d (D) is a function H d (D) is replaced by H d As shown in Fig. 22, (D) is a function whose calculated value is maximum at Dx and whose calculated value decreases as it moves away from Dx. Similarly to formula (2) according to the fifth exemplary embodiment, formula (4) is an evaluation function in which, for the second term relating to height, a high evaluation value is given to a point close to the average height Dx of the area to be excavated, and priority is given to excavation while avoiding locally high points or locally low points.

[0113] As described above, the calculated value of the evaluation function P by the formula (4) becomes larger within a certain range as the average gradient G becomes larger, and becomes larger as the height D of the excavation point becomes closer to the average height Dx of the excavation target area, as shown in Fig. 21. Note that the constants G0, D0, τ, and α are the same as those in the fourth exemplary embodiment, and the setting examples of each constant may be the same as those shown in the fourth exemplary embodiment, for example.

[0114] [Software implementation example] Some or all of the functions of the control devices 1, 3, 20, 40, 40B, first control device 50, and second control device 60 (hereinafter referred to as "control device 1, etc.") may be realized by hardware such as an integrated circuit (IC chip), or by software.

[0115] In the latter case, the control device 1 etc. are realized, for example, by a computer that executes instructions of a program, which is software that realizes each function. An example of such a computer (hereinafter, referred to as computer C) is shown in FIG. 10. The computer C has at least one processor C1 and at least one memory C2. The memory C2 stores a program P for operating the computer C as the control device 1 etc. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing each function of the control device 1 etc.

[0116] The processor C1 may be, for example, a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a microcontroller, or a combination of these. The memory C2 may be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these.

[0117] The computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and for temporarily storing various data. The computer C may further include a communication interface for transmitting and receiving data to and from other devices. The computer C may further include an input / output interface for connecting input / output devices such as a keyboard, a mouse, a display, and a printer.

[0118] Furthermore, the program P can be recorded on a non-transitory tangible recording medium M that can be read by the computer C. Such a recording medium M can be, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer C can obtain the program P via such a recording medium M. Furthermore, the program P can be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. The computer C can also obtain the program P via such a transmission medium.

[0119] [Additional Note 1] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means disclosed in the above-described embodiment are also included in the technical scope of the present invention.

[0120] [Additional Note 2] Some or all of the above-described embodiments can be described as follows. However, the present invention is not limited to the following described aspects.

[0121] (Appendix 1) A control method including an acquisition process for acquiring information regarding the deposition status of deposited objects, a specification process for specifying a destination for the object in an excavation target area according to the deposition status, and an instruction process for instructing an excavator to move the object to the destination.

[0122] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0123] (Appendix 2) The control method described in Appendix 1 further includes an evaluation step of evaluating the ease of excavation of the object by referring to information regarding the deposition status, and in the identification step, the destination is identified by referring to the ease of excavation.

[0124] According to the above configuration, by moving the object to a destination identified by referring to the excavation ease of the object, the object can be made into a shape that is easy to excavate, thereby improving excavation efficiency.

[0125] (Appendix 3) The control method described in Appendix 2, wherein the information regarding the deposition condition includes information regarding the height of the object and the gradient of the height of the object, and in the evaluation process, the ease of excavation is evaluated by referring to the height of the object and the gradient of the height of the object.

[0126] According to the above configuration, by moving the object to a destination identified by reference to the ease of excavation evaluated by reference to the height of the object and the gradient of the object's height, the object can be given a shape that is easy to excavate, thereby improving excavation efficiency.

[0127] (Appendix 4) A control method as described in Appendix 3, in which in the evaluation process, the ease of excavation is evaluated by referring to an evaluation value relating to an average gradient of the height of the excavation range, and an evaluation value relating to the average height of a distal position of the excavation range and the average height of the area to be excavated.

[0128] According to the above configuration, by evaluating the ease of excavation by referring to an evaluation value relating to the average gradient of the height of the excavation range, an evaluation value relating to the average height of the distal position of the excavation range, and an evaluation value relating to the average height of the area to be excavated, the target object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0129] (Appendix 5) The control method according to any one of appendices 2 to 4, wherein in the identification step, a destination candidate having a relatively low evaluation result for excavation ease in the evaluation step is identified as the destination from among a plurality of destination candidates.

[0130] According to the above configuration, by moving the object to a destination identified based on the evaluation result, the object can be made into a shape that is easier to excavate, thereby improving excavation efficiency.

[0131] (Appendix 6) 6. The control method according to any one of claims 1 to 5, wherein the destination of the object is a position where the height of the object is lower than other positions within the excavation target area.

[0132] According to the above configuration, by identifying as the destination a position where the height of the object within the excavation area is lower than other positions, the object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0133] (Appendix 7) 7. The control method according to any one of claims 1 to 6, wherein the excavation target area is an area in which the object is accumulated that is capable of being excavated.

[0134] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0135] (Appendix 8) A control device including an acquisition means for acquiring information regarding the deposition status of deposited objects, an identification means for identifying a destination of the object in an excavation target area according to the deposition status, and an instruction means for instructing an excavator to move the object to the destination.

[0136] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0137] (Appendix 9) The control device described in Appendix 8, further including an evaluation means for evaluating the ease of excavation of the object by referring to information regarding the deposition status, and the identification means for identifying the destination by referring to the ease of excavation.

[0138] According to the above configuration, by moving the object to a destination identified by referring to the excavation ease of the object, the object can be made into a shape that is easy to excavate, thereby improving excavation efficiency.

[0139] (Appendix 10) The control device described in Appendix 9, wherein the information regarding the deposition condition includes information regarding the height of the object and the gradient of the height of the object, and the evaluation means evaluates the ease of excavation by referring to the height of the object and the gradient of the height of the object.

[0140] According to the above configuration, by moving the object to a destination identified by reference to the ease of excavation evaluated by reference to the height of the object and the gradient of the object's height, the object can be given a shape that is easy to excavate, thereby improving excavation efficiency.

[0141] (Appendix 11) The control device described in Appendix 10, wherein the evaluation means evaluates the ease of excavation by referring to an evaluation value relating to an average gradient of the height of the excavation range, an evaluation value relating to the average height of a distal position of the excavation range, and an evaluation value relating to the average height of the area to be excavated.

[0142] According to the above configuration, by evaluating the ease of excavation by referring to an evaluation value relating to the average gradient of the height of the excavation range, an evaluation value relating to the average height of the distal position of the excavation range, and an evaluation value relating to the average height of the area to be excavated, the target object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0143] (Appendix 12) 12. The control device according to claim 9, wherein the identifying means identifies, as the destination, a destination candidate having a relatively low evaluation result for excavation ease by the evaluating means, from among a plurality of destination candidates.

[0144] According to the above configuration, by moving the object to a destination identified based on the evaluation result, the object can be made into a shape that is easier to excavate, thereby improving excavation efficiency.

[0145] (Appendix 13) 13. The control device according to any one of appendices 8 to 12, wherein the destination of the object is a position in the excavation target area where the height of the object is lower than other positions.

[0146] According to the above configuration, by identifying as the destination a position where the height of the object within the excavation area is lower than other positions, the object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0147] (Appendix 14) 14. The control device according to any one of appendices 7 to 13, wherein the excavation target area is an area in which the objects are piled up that is capable of being excavated.

[0148] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0149] (Appendix 15) A control system including an acquisition means for acquiring information regarding the deposition status of deposited objects, an identification means for identifying a destination of the object in an excavation target area according to the deposition status, and an instruction means for instructing an excavator to move the object to the destination.

[0150] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0151] (Appendix 16) The control system of claim 15, further comprising an evaluation means for evaluating the ease of excavation of the object by referring to information regarding the deposition status, and the identification means for identifying the destination by referring to the ease of excavation.

[0152] According to the above configuration, by moving the object to a destination identified by referring to the excavation ease of the object, the object can be made into a shape that is easy to excavate, thereby improving excavation efficiency.

[0153] (Appendix 17) The control system of claim 16, wherein the information on the deposition condition includes information on the height of the object and the gradient of the height of the object, and the evaluation means evaluates the ease of excavation by referring to the height of the object and the gradient of the height of the object.

[0154] According to the above configuration, by moving the object to a destination identified by reference to the ease of excavation evaluated by reference to the height of the object and the gradient of the object's height, the object can be given a shape that is easy to excavate, thereby improving excavation efficiency.

[0155] (Appendix 18) The evaluation means evaluates the excavation ease by referring to an evaluation value regarding an average gradient of the height of the excavation range, an evaluation value regarding an average height of a remote position of the excavation range, and an evaluation value regarding an average height of the excavation target area. 18. The control system of claim 17.

[0156] According to the above configuration, by evaluating the ease of excavation by referring to an evaluation value relating to the average gradient of the height of the excavation range, an evaluation value relating to the average height of the distal position of the excavation range, and an evaluation value relating to the average height of the area to be excavated, the target object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0157] (Appendix 19) The control system according to any one of appendices 16 to 18, wherein the identification means identifies, from among a plurality of destination candidates, a destination candidate having a relatively low evaluation result for excavation ease by the evaluation means as the destination.

[0158] According to the above configuration, by moving the object to a destination identified based on the evaluation result, the object can be made into a shape that is easier to excavate, thereby improving excavation efficiency.

[0159] (Appendix 20) 20. The control system of any one of appendixes 15 to 19, wherein the destination of the object is a position in the excavation target area where the height of the object is lower than other positions.

[0160] According to the above configuration, by identifying as the destination a position where the height of the object within the excavation area is lower than other positions, the object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0161] (Appendix 21) 21. The control system of any one of claims 15 to 20, further comprising a sensor for measuring information regarding the deposition status.

[0162] According to the above configuration, by moving the object to a destination identified based on information about the deposition condition measured by the sensor, the object can be given a shape that makes it easier to excavate, thereby improving excavation efficiency.

[0163] (Appendix 22) 214. The control system of any one of appendices 15 to 213, wherein the area to be excavated is an area in which the object is deposited that is capable of being excavated.

[0164] According to the above configuration, the target object is made in a state that makes it easier to excavate, thereby improving work efficiency.

[0165] (Appendix 23) The evaluation value regarding the average gradient of the height of the excavation range is configured to increase as the gradient value toward the excavator increases. 5. The control method according to claim 4.

[0166] According to the above configuration, by identifying the destination of the object by referring to an evaluation value configured to increase as the gradient value toward the excavator increases, the object can be given a shape that is easier to excavate, thereby improving excavation efficiency.

[0167] (Appendix 24) 7. The control method according to any one of claims 1 to 6, wherein the origin of the object is a position where the height of the object is greater than other positions within the excavation target area.

[0168] According to the above configuration, by identifying a position where the height of the object within the excavation area is higher than other positions as the starting point of movement, the object can be made into a shape that is easier to excavate, thereby improving excavation efficiency.

[0169] (Appendix 25) A computer-readable non-transitory recording medium having recorded thereon a program for causing a computer to function as a control means for controlling an excavator, an acquisition means for acquiring information regarding the deposition status of accumulated objects, an identification means for identifying a destination of the objects in the excavation target area by referring to the acquired information regarding the deposition status, and an instruction means for instructing the excavator to move the objects to the destination.

[0170] According to the above configuration, the same effects as those of Supplementary Note 1 are achieved.

[0171] (Appendix 26) A program for causing a computer to function as a control means for controlling an excavator, an acquisition means for acquiring information regarding the deposition status of accumulated objects, an identification means for identifying a destination of the object in the excavation target area by referring to the acquired information regarding the deposition status, and an instruction means for instructing the excavator to move the object to the destination.

[0172] [Additional Note 3] A part or all of the above-described embodiments can be further expressed as follows.

[0173] A control device having at least one processor that executes an acquisition process for acquiring information regarding the deposition status of deposited objects, a determination process for determining a destination of the object in an excavation target area according to the deposition status, and an instruction process for instructing an excavator to move the object to the destination.

[0174] The control device may further include a memory that stores a program for causing the processor to execute the acquisition process, the identification process, and the instruction process. The program may be recorded in a computer-readable, non-transitory, tangible recording medium. [Explanation of symbols]

[0175] 1, 3, 40, 40B Control device 2, 4, 5 Control System 10, 21, 30, 41, 51 Acquisition part 11, 22, 32, 43, 61 Specific part 12, 23, 33, 44, 62 Instruction section 46, 53, 63 Communications Department 47, 54, 64 Memory 31, 42, 52 Evaluation section 50 First control device 60 Second control device 100 Communication Network 200 Backhoe 200a bucket 201 Controller 202 Sensor 300 Objects a21 Squeezing area a22 Drilling target area a23 Excavation range P1 Turning center p21 Drilling site S1, S2 control method

Claims

1. an acquiring step of acquiring information about a deposition state of the deposited object using a sensor that senses the object from above; A process of identifying a destination of the object in an excavation target area as a plurality of destination candidates according to the accumulation state; an instruction step of instructing an excavator to move the object to the destination; and an evaluation step of evaluating the ease of excavation of the object within a range in which a bucket of the excavator can pass based on a self-position of the excavator, by referring to information regarding the pile-up state, In the specifying step, one of the plurality of destination candidates is specified by referring to the excavation ease. Control methods.

2. The information on the deposition status includes information on a height of the object and a gradient of the height of the object, In the evaluation step, the excavation ease is evaluated with reference to the height of the object and the gradient of the height of the object. The control method according to claim 1 .

3. In the evaluation step, the excavation easiness is evaluated by referring to an evaluation value regarding an average gradient of the height of the excavation range, an evaluation value regarding an average height of a remote position of the excavation range, and an evaluation value regarding an average height of the excavation target area. The control method according to claim 2 .

4. In the identifying step, a destination candidate having a relatively low evaluation result of excavation ease in the evaluating step is identified as the destination from among a plurality of destination candidates. A control method according to any one of claims 1 to 3.

5. The destination of the object is a position where the height of the object is lower than other positions in the excavation target area. A control method according to any one of claims 1 to 4.

6. The excavation target area is an area in which the object is deposited that can be excavated. A control method according to any one of claims 1 to 5.

7. An acquisition means for acquiring information regarding a deposition state of the deposited object by using a sensor that senses the object from above; A destination specifying means for specifying a destination of the object in the excavation target area as a plurality of destination candidates according to the accumulation state; an instruction means for instructing the excavator to move the object to the destination; and an evaluation means for evaluating the ease of excavation of the object within a range in which a bucket of the excavator can pass based on a self-position of the excavator, by referring to information regarding the pile-up state; The specifying means specifies one of the plurality of destination candidates by referring to the excavation ease. Control device.

8. The information on the deposition status includes information on a height of the object and a gradient of the height of the object, The evaluation means evaluates the excavation ease with reference to the height of the object and the gradient of the height of the object. The control device according to claim 7.

9. The evaluation means evaluates the excavation ease by referring to an evaluation value regarding an average gradient of the height of the excavation range, an evaluation value regarding an average height of a remote position of the excavation range, and an evaluation value regarding an average height of the excavation target area. The control device according to claim 8.

10. The specifying means specifies, as the destination, a destination candidate having a relatively low evaluation result of excavation ease by the evaluating means, among a plurality of destination candidates. A control device according to any one of claims 7 to 9.

11. The destination of the object is a position where the height of the object is lower than other positions in the excavation target area. A control device according to any one of claims 7 to 10.

12. The excavation target area is an area in which the object is deposited that can be excavated. A control device according to any one of claims 7 to 11.

13. An acquisition means for acquiring information regarding a deposition state of the deposited object by using a sensor that senses the object from above; A destination specifying means for specifying a destination of the object in the excavation target area as a plurality of destination candidates according to the accumulation state; an instruction means for instructing the excavator to move the object to the destination; and an evaluation means for evaluating the ease of excavation of the object within a range in which a bucket of the excavator can pass based on a self-position of the excavator, by referring to information regarding the pile-up state; The specifying means specifies one of the plurality of destination candidates by referring to the excavation ease. Control system.

14. The information on the deposition status includes information on a height of the object and a gradient of the height of the object, The evaluation means evaluates the excavation ease with reference to the height of the object and the gradient of the height of the object.

14. The control system of claim 13.

15. The evaluation means evaluates the excavation ease by referring to an evaluation value regarding an average gradient of the height of the excavation range, an evaluation value regarding an average height of a remote position of the excavation range, and an evaluation value regarding an average height of the excavation target area.

15. The control system of claim 14.

16. The specifying means specifies, as the destination, a destination candidate having a relatively low evaluation result of excavation ease by the evaluating means, among a plurality of destination candidates. A control system according to any one of claims 13 to 15.

17. The destination of the object is a position where the height of the object is lower than other positions in the excavation target area. A control system according to any one of claims 13 to 16.

18. Further comprising a sensor for measuring information regarding the deposition status. A control system according to any one of claims 13 to 17.

19. The excavation target area is an area in which the object is deposited that can be excavated.

19. A control system according to any one of claims 13 to 18.

20. A program for causing a computer to function as an acquisition means for acquiring information regarding the deposition status of accumulated objects using a sensor that senses from above the objects, a destination identification means for identifying a destination of the object in an excavation target area from a plurality of candidate destinations according to the deposition status by referring to the ease of excavation of the object, an instruction means for instructing an excavator to move the object to the destination, and an evaluation means for evaluating the ease of excavation of the object within a range that the bucket of the excavator can pass through based on the current position of the excavator by referring to the information regarding the deposition status.

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