CONTROL DEVICE, CONTROL SYSTEM, AND CONTROL METHOD

Abstract

To provide a control device allowing loading motion to be carried out using a work machine by taking into consideration an upper limit of a loading amount.SOLUTION: A control device (10) is provided with an acquisition section (11) acquiring weight information on a weight of an object excavated with a working machine, and a motion control section (12) controlling motion of the working machine so as to adjust a loading amount of objects to a loading destination based on the weight information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for controlling a work machine having a moving part. [Background technology]

[0002] The use of robots has been attracting attention as a response to the decline in the working population due to the low birthrate and aging population, and the increased workload due to labor shortages. In particular, in the construction industry, the aging of on-site workers and the decline in young workers have led to urgent issues of labor shortages and the succession of skills, making it urgent to improve productivity by reducing the number of workers. In this regard, there are high expectations in recent years for the automation of construction work using construction machinery.

[0003] WO2019 / 189260 (Patent Document 1) discloses a technique for calculating an excavation trajectory based on an image of an excavated material before excavation obtained from a sensor attached to an excavator so as to achieve a target excavation volume. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. WO2019 / 189260 Summary of the Invention [Problem to be solved by the invention]

[0005] A cargo-carrying vehicle such as a dump truck for transporting excavated materials is usually set with a loading upper limit such as a maximum loading capacity, and therefore, when loading excavated materials, the loading operation must take into account the loading upper limit. On the other hand, the technology described in Patent Document 1 has a problem in that loading that takes into account the loading upper limit cannot be suitably realized.

[0006] One aspect of the present invention has been made in consideration of the above-mentioned problems, and one example of a purpose of the present invention is to provide a technology that can realize loading operations by a work machine that take into account an upper load limit value. [Means for solving the problem]

[0007] A control device according to one embodiment of the present invention includes an acquisition means for acquiring weight information relating to the weight of an object excavated by a work machine, and an operation control means for controlling the operation of the work machine so as to adjust the loading amount of the object at a loading destination based on the weight information.

[0008] A control system according to one embodiment of the present invention includes a sensor that acquires weight information relating to a weight of an object excavated by a work machine, an acquisition means that acquires weight information relating to the weight of the object from the sensor, and an operation control means that controls the operation of the work machine so as to adjust the amount of the object to be loaded at a destination based on the weight information.

[0009] A control method according to one embodiment of the present invention includes acquiring weight information relating to a weight of an object excavated by a work machine, and controlling the operation of the work machine so as to adjust the loading amount of the object to a loading destination based on the weight information. Effect of the Invention

[0010] According to one aspect of the present invention, a loading operation taking into account the upper loading limit value can be realized. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a configuration of a control system according to a first exemplary embodiment of the present invention. [Diagram 2] 1 is a block diagram showing a configuration of a control device according to a first exemplary embodiment of the present invention. [Diagram 3] FIG. 2 is a flow chart showing the flow of a control method according to the first exemplary embodiment of the present invention. [Figure 4] FIG. 11 is a block diagram showing a configuration of a control system according to a second exemplary embodiment of the present invention. [Diagram 5] FIG. 11 is a flow chart showing the flow of a control method according to a second exemplary embodiment of the present invention. [Figure 6] FIG. 11 is a flow chart showing the flow of a control method according to an exemplary embodiment 3 of the present invention. [Figure 7] FIG. 11 is a block diagram showing a configuration of a control system according to an exemplary embodiment 4 of the present invention. [Figure 8] 13 is a diagram for explaining bucket height control according to a fourth exemplary embodiment of the present invention. [Figure 9] FIG. 11 is a block diagram showing a configuration of a control system according to an exemplary embodiment 5 of the present invention. [Figure 10] FIG. 2 is a block diagram showing an example of a hardware configuration of a control device in each exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Example 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.

[0013] <Control system configuration> The configuration of a control system 1 according to this exemplary embodiment will be described with reference to FIG. 1. FIG. 1 is a block diagram showing the configuration of the control system 1. The control system 1 is a system that controls a work machine having a moving part. As shown in FIG. 1, the control system 1 includes a control device 10 and a sensor E. The control device 10 is connected to the sensor E so as to be able to acquire a detection value of the sensor E. The control device 10 and the sensor E may be connected, for example, by wired communication, or may be connected by wireless communication. The wired communication or wireless communication may be communication according to a communication standard such as 4G, local 5G, Wi-Fi (registered trademark), or LTE (Long Term Evolution).

[0014] (Control device configuration) A detailed configuration of the control device 10 according to this exemplary embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the configuration of the control device 10. The control device 10 is a device that controls a work machine having a moving part. As shown in Fig. 2, the control device 10 includes an acquisition unit (acquisition means) 11 and an operation control unit (operation control means) 12.

[0015] The acquisition unit 11 acquires weight information on the weight of the object excavated by the work machine. Here, the weight information may include, for example, first weight information, which is information on the weight of the object excavated by the work machine and not yet loaded to the loading destination, and second weight information, which is information on the weight of the object excavated by the work machine and already loaded to the loading destination, but this does not limit the present embodiment. For example, when the work machine is a backhoe, the first weight information may be the weight of the object excavated by the backhoe and loaded into the bucket. Also, for example, when the loading destination is a dump truck, the second weight information may be the total amount of soil excavated by the backhoe and dumped into the dump truck.

[0016] The operation control unit 12 controls the operation of the work machine so as to adjust the load amount of the object at the loading destination based on the weight information. As one example, the operation control unit 12 adjusts the load amount by controlling the angle of the movable unit based on the weight information. Also, as another example, the operation control unit 12 adjusts the load amount by controlling the work machine to end the loading operation of the object by the work machine based on the weight information.

[0017] As an example, the operation control unit 12 generates control information for controlling the operation of the work machine so as to adjust the load amount of the object at the loading destination based on the weight information, and provides the generated control information to the work machine. Then, the work machine controls its own operation based on the provided control information.

[0018] Note that specific examples of control of the operation of a work machine based on weight information are not limited to this embodiment, but one example is a process of comparing the weight indicated by the weight information with a predetermined threshold value and generating control information according to the comparison result.

[0019] The operation control unit 12 may also control the operation of the work machine without referring to weight information, for example, the operation control unit 12 controls the work machine to move the movable part to a destination area without referring to weight information. For such control of the operation of the work machine without referring to weight information, some publicly known technology may be adopted.

[0020] (Sensor configuration) The sensor E acquires weight information regarding the weight of an object excavated by the work machine. The sensor E may be a sensor group including one or more sensors. As an example, the sensor E may include: A sensor for measuring first weight information, which is information about the weight of an object that has been excavated by a work machine and has not yet been loaded onto a loading destination, or a sensor for outputting data referenced for calculating the first weight information. A sensor for measuring second weight information, which is information about the weight of an object that has been excavated by the work machine and has already been loaded onto a loading destination, or a sensor for outputting data referenced for calculating the second weight information. may be included.

[0021] These sensors may include two-dimensional or three-dimensional sensors that scan a space including an object, or may be weight sensors that more directly measure the weight of an object. These sensors may be configured, for example, by a 2D-LiDAR sensor, a 3D-LiDAR sensor, a depth camera, a stereo camera, a TOF camera, or a radar sensor.

[0022] <Control method flow> In the control system 1 configured as above, the control device 10 executes a control method S1. The flow of the control method S1 will be described with reference to Fig. 3. Fig. 3 is a flow diagram showing the flow of the control method S1. As shown in Fig. 3, the control method S1 includes steps S11 and S12.

[0023] (Step S11) In step S11, the acquisition unit 11 acquires weight information relating to the weight of an object excavated by a work machine.

[0024] (Step S12) In step S12, the operation control section 12 controls the operation of the work machine so as to adjust the load of the object at the loading destination based on the weight information acquired in step S11.

[0025] <Advantages of this exemplary embodiment> In this exemplary embodiment, as described above, weight information on the weight of the object excavated by the work machine is acquired, and the operation of the work machine is controlled so as to adjust the loading amount of the object to be loaded on the loading destination based on the weight information. Therefore, loading operation by the work machine can be preferably realized in consideration of the upper loading limit value.

[0026] The acquisition unit 11 and the operation control unit 12 according to this exemplary embodiment may be implemented as separate devices and may achieve the above-mentioned functions by communicating with each other.

[0027] Exemplary embodiment 2 A 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 the description thereof will be omitted as appropriate.

[0028] <Control system configuration> The configuration of a control system 1A 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 system 1A. As shown in Fig. 4, the control system 1A includes a control device 10A and a weight sensor E7. The control system 1A also includes sensors E1 to E6, which will be described later. In this embodiment, the sensors E1 to E7 may be collectively referred to as sensor E.

[0029] The control system 1A is a system that controls the backhoe 8. More specifically, the control system 1A is a system that controls the backhoe 8 to transport the scooped soil and load it onto a dump truck 9. Fig. 4 shows the backhoe 8 loading piled soil L0 onto the dump truck 9 under the control of the control device 10A. Although one backhoe 8 is shown in Fig. 4, the control device 10A may be configured to control multiple backhoes 8.

[0030] The control device 10A is communicatively connected to the weight sensor E7 and the controller 830 of the backhoe 8 via a network N1. The network N1 is, for example, a wireless local area network (LAN), a wired LAN, a wide area network (WAN), a public line network, a mobile data communication network, or a combination of these networks. However, the configuration of the network N1 is not limited to these.

[0031] Here, the backhoe 8 constitutes an example of a "work machine having a movable part" as set forth in the claims. The soil constitutes an example of an "object" as set forth in the claims. The bucket 824 of the backhoe 8 constitutes an example of a tool included in the "movable part" as set forth in the claims. The loading area 910 of the dump truck 9 constitutes an example of a "destination" as set forth in the claims.

[0032] (Backhoe configuration) The configuration of the backhoe 8, which is the control target of the control system 1A, will be described. The backhoe 8 is not normally operated by a human but performs work autonomously according to a predefined program. As shown in FIG. 4, the backhoe 8 includes a traveling unit 810, a movable unit 820 attached to the traveling unit 810, and a controller 830. Here, the movable unit 820 can be expressed as a configuration for loading an object to a loading destination. The backhoe 8 also includes sensors E1 to E6.

[0033] The traveling unit 810 is a traveling unit that enables the backhoe 8 to move forward, backward, turn right, and turn left. The traveling unit 810 travels using, for example, an endless track belt. The movable unit 820 includes a rotating unit 821, a boom 822 attached to the rotating unit 821, an arm 823 attached to the tip of the boom 822, and a bucket 824 attached to the tip of the arm 823.

[0034] The rotating part 821 can rotate on the traveling part 810 within a plane perpendicular to the paper surface of the figure. When the backhoe 8 is on a level ground, the plane perpendicular to the paper surface of FIG. 4 is a horizontal plane, and this plane will be referred to as the "horizontal plane" for convenience. The boom 822 can rotate back and forth around the boom shaft 822A within a plane approximately perpendicular to the horizontal plane. The arm 823 can rotate back and forth around the arm shaft 823A on the same rotation plane as the boom 822. The bucket 824 can rotate back and forth around the bucket shaft 824A on the same rotation plane as the arm 823. The posture of the backhoe 8 changes as each part of the movable part 820 rotates.

[0035] The sensors E1 to E5 are a group of sensors mounted on the backhoe 8. The sensors E1 to E5 each detect the state of the backhoe 8. The state of the backhoe 8 is, for example, but not limited to, the state of the space in the traveling direction of the backhoe 8, the rotation angle of each part of the movable part 820, etc. In this example, the sensors E1 to E4 each detect the rotation angle of the rotating part 821, the boom 822, the arm 823, or the bucket 824. The sensor E5 is a sensor that captures an image of the space in the traveling direction of the backhoe 8.

[0036] Specifically, the sensor E1 is, for example, a gyro sensor that detects the rotation angle of the rotating part 821. The sensor E1 may also be an encoder that detects the number of revolutions of a motor that rotates the rotating part 821. The sensor E2 is an inclination sensor or a gyro sensor that detects the angle of the boom 822 from the horizontal plane. The sensor E2 may also be an encoder that detects the moving distance of a rod of a hydraulic cylinder that rotates the boom 822. The sensor E3 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects the angle of the arm 823 with respect to the boom 822. The sensor E4 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects the angle of the bucket 824 with respect to the arm 823. The sensor E5 is, for example, a camera that captures an image in the range of the angle of view in the imaging direction. However, the types of the sensors E1 to E5 are not limited to this. The mounting positions of the sensors E1 to E5 are not limited to the positions shown in the figure.

[0037] (Sensor E6) On the other hand, the sensor E6 is a three-dimensional sensor that three-dimensionally detects an object in the bucket 824. The sensor E6 is sometimes called a three-dimensional sensor E6.

[0038] For example, the sensor E6 is configured by a three-dimensional laser scanner. In this case, the sensor E6 measures the three-dimensional shape of the object by irradiating a space including the bucket 824 with a laser beam. The measurement data is represented by, for example, point cloud data of a three-dimensional space. Each point cloud data includes three-dimensional coordinates, color information, reflectance, etc. However, the sensor E6 is not limited to the three-dimensional laser scanner. For example, the sensor E6 may be configured by a stereo camera.

[0039] (Dump truck configuration) The configuration of the dump truck 9 to which the soil transported by the backhoe 8 is loaded will be described. As shown in Fig. 4, the dump truck 9 has a loading target area 910. The loading target area 910 is, for example, a vessel. When the soil is released from a bucket 824 at an upper portion of the loading target area 910, it is loaded into the loading target area 910.

[0040] (Weight sensor configuration) The weight sensor E7 detects, for example, a total weight which is the sum of the weight of the dump truck 9 itself and the weight of objects loaded on the dump truck 9. The detected total weight may be expressed in kilograms or other units.

[0041] The weight sensor E7 may be configured to output the total weight, or may be configured to output the weight of an object loaded on the dump truck 9 by subtracting a preset own weight of the dump truck 9 from the total weight. In the following description, a configuration in which the weight sensor E7 outputs the weight of an object loaded on the dump truck 9 is mainly taken as an example, but the following description can be easily applied to a configuration in which the weight sensor E7 outputs the total weight.

[0042] (Control device configuration) As described above, the control device 10A includes a control unit (control means) 110A, a storage unit (storage means) 120A, and a communication unit (communication means) 130A. The control unit 110A includes a sensor information acquisition unit (sensor information acquisition means) 11A, a weight information acquisition unit (weight information acquisition means) 12A, a remaining payload specification unit (remaining payload specification means) 13A, and an operation control unit (operation control means) 14A. Details of each unit will be described later.

[0043] The storage unit 120A stores various data and programs referenced by the control unit 110A. Data on the specific gravity of the object, Data on the maximum load capacity of dump trucks 9 Data on the dead weight of dump trucks 9 may be stored.

[0044] The communication unit 130A communicates with the controller 830 of the backhoe 8 and the weight sensor E7 under the control of the control unit 110A. Hereinafter, the control unit 110A controlling the communication unit 130A to transmit and receive data will also be simply described as the control unit 110A transmitting and receiving data.

[0045] (Sensor information acquisition unit) The sensor information acquiring unit 11A acquires sensor information from at least any of the sensors E1 to E7 included in the sensor E. Here, in this embodiment, the sensor information acquired by the sensor information acquiring unit 11A includes at least any of the detection result by the three-dimensional sensor E6 and the detection result by the weight sensor E7.

[0046] (Weight information acquisition unit) The weight information acquisition unit 12A acquires weight information related to the weight of the object excavated by the backhoe 8. More specifically, the weight information acquisition unit 12A acquires weight information related to the weight of the object excavated by the backhoe 8 by referring to the sensor information acquired by the sensor information acquisition unit 11A.

[0047] Here, the specific processing by the weight information acquiring unit 12A is not limited to this embodiment, but includes the following processing as an example.

[0048] Weight information acquisition unit 12A refers to the detection result by three-dimensional sensor E6 and calculates the volume of the object in bucket 824 from the three-dimensional shape of the object in bucket 824 that is indicated by the detection result. Weight information acquisition unit 12A then calculates the weight of the object from the volume of the object using data related to the specific gravity of the object stored in memory unit 120A.

[0049] Also, the configuration may be such that the properties (density, type, hardness, etc.) of the object are identified from the detection result of the three-dimensional sensor E6, and the weight of the object is calculated by further referring to the identified properties of the object. The configuration for identifying the weight of the object is not limited to this. As an example, before the start of excavation, an operator or the like may input information indicating the properties of the object to the control device 10A using a user terminal or the like, and the weight information acquisition unit 12A may identify the weight of the object based on the input information. As another example, the weight information acquisition unit 12A may acquire information indicating the properties of the object from a predetermined server that stores information regarding the excavation site.

[0050] In addition, instead of or together with the three-dimensional sensor E6, a weight sensor that directly measures the weight of the object in the bucket 824 may be provided, and the weight of the object in the bucket 824 may be identified by referring to the detection value of the important sensor.

[0051] The information indicating the weight of the object in the bucket 824 is information regarding the weight of objects excavated by the backhoe 8 that have not yet been loaded into their destinations, and is also referred to in this specification as first weight information.

[0052] Furthermore, the weight information acquisition unit 12A may acquire the weight of the object loaded on the dump truck 9 by referring to the detection result by the weight sensor E7.

[0053] Here, the information indicating the weight of the objects loaded onto the dump truck 9 is information regarding the weight of the objects excavated by the backhoe 8 that have been completely loaded onto the dump truck 9, and is also referred to in this specification as the second weight information.

[0054] (Remaining loading capacity identification part) The remaining load amount specification unit 13A specifies the remaining load amount, which is the difference between the upper limit of the load amount at the loading destination and the already loaded load amount. Here, the upper limit of the load amount at the loading destination refers to the maximum load amount of the dump truck 9, for example.

[0055] As an example, the remaining load capacity determination unit 13A calculates the remaining load capacity by subtracting the weight of the object loaded on the dump truck 9, as indicated by the detection result by the weight sensor E7, from the maximum load capacity of the dump truck 9 stored in the memory unit 120A.

[0056] (Motion control unit) The operation control unit 14A controls the operation of the backhoe 8 so as to adjust the load of the object on the dump truck 9 based on the weight information acquired by the weight information acquisition unit 12D.

[0057] As an example, the operation control unit 14A controls the angle of the movable unit 820 included in the backhoe 8 based on the weight information acquired by the weight information acquisition unit 12A. Here, the angle of the movable unit 820 controlled by the operation control unit 14A includes the angle of the bucket 824, as an example.

[0058] Moreover, the operation control unit 14A according to the present embodiment sets the angle of the movable unit 820 according to the remaining load identified by the remaining load identifying unit 13A and the weight information acquired by the weight information acquiring unit 12A, for example, and controls the movable unit 820 according to the set angle. Here, the angle of the movable unit 820 set by the operation control unit 14A includes the angle of the bucket 824, for example.

[0059] <Control method flow> In the control system 1A configured as above, the control device 10A executes a control method S1A. The flow of the control method S1A will be described with reference to Fig. 5. Fig. 5 is a flow diagram showing the flow of the control method S1A. As shown in Fig. 5, the control method S1A includes steps S101 to S106.

[0060] (Step S101) In step S101, the sensor information acquisition unit 11A acquires sensor information from at least any one of the sensors E1 to E7 included in the sensor E. Here, in this embodiment, the sensor information acquired by the sensor information acquisition unit 11A includes at least any one of the detection result by the three-dimensional sensor E6 and the detection result by the weight sensor E7.

[0061] (Step S102) In step S102, the weight information acquisition unit 12A acquires weight information related to the weight of the object excavated by the backhoe 8. Here, the weight information includes the first weight information and the second weight information described above. The specific processing by the weight information acquisition unit 12A has been described above, and therefore will not be described here.

[0062] (Step S103) In step S103, the remaining load amount specifying unit 13A specifies the remaining load amount, which is the difference between the upper limit of the load amount at the loading destination and the loaded load amount. The specific process by the remaining load amount specifying unit 13A has been described above, so the description will be omitted here.

[0063] (Step S104) In step S104, the operation control unit 14A determines whether the remaining payload identified in step S103 is equal to or less than the first threshold. If the remaining payload is equal to or less than the first threshold (YES in step S104), the operation control unit 14A proceeds to step S105, and if not (NO in step S104), the operation control unit 14A proceeds to step S106.

[0064] Here, the specific value of the first threshold value is not limited to this embodiment, but may be set to, for example, about 3.0 to 5.0% of the maximum load capacity of the dump truck 9. For example, when the maximum load capacity of the dump truck 9 is 10 tons, the first threshold value may be set to 0.3 tons, 0.5 tons, or another value.

[0065] (Step S105) In step S105, the operation control unit 14A controls the backhoe 8 to finish the loading operation of the object.

[0066] (Step S106) In step S106, the operation control unit 14A controls the backhoe 8 to perform a loading operation. As an example, in this step, the operation control unit 14A sets the angle of the movable unit 820 according to the first weight information acquired in step S102 and the remaining load amount identified in step S103, and controls the backhoe 8 based on the set angle.

[0067] In this embodiment, as described above, the operation control unit 14A performs the operations of steps S104 to S106 to control the backhoe 8 so as to adjust the load of the object at the loading destination based on the weight information.

[0068] The processing in steps S104 to S105 can also be expressed as follows: That is, when the weight indicated by the second weight information acquired in step S102 becomes equal to or greater than a predetermined threshold, the operation control unit 14A controls the backhoe 8 to end the loading operation of the object by the backhoe 8.

[0069] Here, the specific value of the predetermined threshold value does not limit the present embodiment, but may be set to, for example, about 95.0 to 97.0% of the maximum load capacity of the dump truck 9. For example, when the maximum load capacity of the dump truck 9 is 10 tons, the predetermined threshold value may be set to 9.70 tons, 9.50 tons, or another value.

[0070] <Advantages of this exemplary embodiment> As described above, in this embodiment, the operation control unit 14A controls the angle of the movable unit 820 included in the backhoe 8 based on weight information related to the weight of the object excavated by the backhoe 8. More specifically, the operation control unit 14A controls the angle of the bucket 824 as the angle of the movable unit 820 based on weight information related to the weight of the object excavated by the backhoe 8. Therefore, according to the configuration of this embodiment, a loading operation that takes into account the upper load limit can be suitably realized.

[0071] As described above, in this embodiment, the operation control unit 14A sets the angle of the movable unit 820 according to the remaining load and weight information, and controls the movable unit 820 according to the set angle. Therefore, according to the configuration of this embodiment, a loading operation that takes into account the upper load limit can be suitably realized.

[0072] As described above, in this embodiment, the operation control unit 14A sets the angle of the movable unit 820 according to the first weight information and the remaining load. Therefore, according to the configuration of this embodiment, a loading operation that takes into account the upper load limit can be suitably realized.

[0073] As described above, in this embodiment, when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value, the operation control unit 14A controls the backhoe 8 to terminate the loading operation of the object by the backhoe 8. Therefore, according to the configuration of this embodiment, the loading operation can be suitably realized while taking into account the upper loading limit value.

[0074] Exemplary embodiment 3 A third 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 and second exemplary embodiments are given the same reference numerals, and the description thereof will be omitted as appropriate.

[0075] <Control system configuration> The configuration of the control system according to this embodiment has the same configuration as the components described in the second exemplary embodiment, and therefore a description thereof will be omitted here.

[0076] <Control method flow> The flow of a control method S1B by the control system according to this embodiment will be described below with reference to Fig. 6. Fig. 6 is a flow diagram showing the flow of the control method S1B. As shown in Fig. 6, the control method S1B includes steps S101 to S103 and S201 to S205.

[0077] (Step S101) to (Step S103) Steps S101 to S103 are similar to steps S101 to S103 described in the second exemplary embodiment, and therefore a description thereof will be omitted here.

[0078] (Step S201) In step S201, the operation control unit 14A determines whether the remaining load capacity identified in step S103 is greater than the second threshold value. If the remaining load capacity is greater than the second threshold value (YES in step S201), the operation proceeds to step S202. If not (NO in step S201), the operation proceeds to step S203.

[0079] Here, the specific value of the second threshold value is not limited to this embodiment, but can be set, for example, by multiplying the maximum weight of an object that can be scooped by bucket 824 by a coefficient for considering an error. As an example, if the maximum weight of an object that can be scooped by bucket 824 is 2.5 tons and the coefficient for considering an error is 1.1, the second threshold value can be set to 2.75 tons.

[0080] (Step S202) In step S202, the operation control unit 14A performs a loading operation in a first mode. Here, the first mode is a mode in which all objects in the bucket 824 are discharged to the dump truck 9. As an example, the operation control unit 14A controls the backhoe 8 to open (tilt) the bucket 824 at a predetermined position.

[0081] Here, the operation control unit 14A may control the backhoe 8 to fully open the bucket 824 at one location, or may control the backhoe 8 to move the bucket 824 while opening it to load the target object.

[0082] (Step S203) In step S203, the operation control unit 14A determines whether the remaining payload identified in step S103 is equal to or less than a third threshold. If the remaining payload is equal to or less than the third threshold (YES in step S203), the process proceeds to step S204. If not (NO in step S203), the process proceeds to step S205.

[0083] Here, the specific value of the third threshold value does not limit the present embodiment, but may be set to, for example, about 3.0 to 5.0% of the maximum load capacity of the dump truck 9. For example, when the maximum load capacity of the dump truck 9 is 10 tons, the third threshold value may be set to 0.3 tons, 0.5 tons, or another value.

[0084] In step S203, the operation control unit 14A may be configured to determine whether to proceed to step S204 or S205 by further referring to the weight of the object in the bucket 824 instead of or in addition to the remaining load amount. As an example, the operation control unit 14A may be configured to accumulate the weight of the object loaded on the target dump truck 9, and proceed to step S204 if the accumulated weight is equal to or less than a third threshold, and proceed to step S205 if not.

[0085] (Step S204) In step S204, the operation control unit 14A controls the backhoe 8 to end the loading operation of the object. As an example, the operation control unit 14A controls the backhoe 8 to stop the operation. The operation control unit 14A may also control the backhoe 8 to perform an operation of leveling the object loaded on the dump truck 9. The operation control unit 14A may also control the backhoe 8 to perform an operation of leveling the object remaining at the excavation site. For example, the control device 10A may control the backhoe 8 so that the dump truck 9 loaded with the object moves to another location and waits until the next dump truck 9 arrives at the excavation site. When the next dump truck 9 arrives at the excavation site, the control device 10A executes the control method S1B of FIG. 6 and controls the backhoe 8 to load the object onto the dump truck 9.

[0086] (Step S205) In step S205, the operation control unit 14A performs the loading operation in the second mode. Here, the second mode is a mode in which the object in the bucket 824 is discharged little by little to the dump truck 9. As an example, the operation control unit 14A controls the backhoe 8 to tilt the bucket 824 at a predetermined position by a predetermined angle.

[0087] Here, the operation control unit 14A may control the backhoe 8 to tilt the bucket 824 by a predetermined angle or to increase the angle of the bucket 824 by a predetermined angle every time a predetermined unit time has passed (every 2 seconds, every 3 seconds, etc.). For example, under the control of the operation control unit 14A, the backhoe 8 may alternate between an operation of tilting or increasing the tilt of the bucket 824 at predetermined time intervals and an operation of returning the angle of the bucket 824 to its original state, so that the bucket 824 opens while swinging, and the object in the bucket 824 is released little by little into the dump truck 9.

[0088] Furthermore, the operation control unit 14A may adjust the angle or the increment of the angle of the bucket 824 based on the remaining load. For example, the operation control unit 14A may control the backhoe 8 so that the angle or the increment of the angle becomes larger as the remaining load increases. More specifically, the operation control unit 14 may control the backhoe 8 so that the remaining load and the angle or the increment of the angle have a positive correlation, for example.

[0089] Furthermore, the operation control unit 14A may adjust the angle of the bucket 824 based on the weight of the object in the bucket 824. For example, the operation control unit 14A may control the backhoe 8 so that the angle or the increment of the angle becomes smaller as the weight of the object in the bucket 824 increases. More specifically, the operation control unit 14A may control the backhoe 8 so that the remaining load and the angle or the increment of the angle have a negative correlation, for example.

[0090] Furthermore, the operation control unit 14A may perform control to change the angle of the bucket 824 while providing a waiting time so that there is a gap until the detection value of the weight sensor E7 becomes stable. In other words, the operation control unit 14A may repeatedly perform control to wait until a predetermined unit time has elapsed after changing the angle of the bucket 824.

[0091] Furthermore, the operation control unit 14A may be configured to set an upper limit on the opening angle of the bucket 824, thereby controlling the object in the bucket 824 to not fall too far.

[0092] Furthermore, the operation control unit 14A may identify the property of the object from the detection result of the three-dimensional sensor E6, and may vary the control of the bucket 824 depending on the identified property. For example, the opening angle of the bucket 824 or the increase in the opening angle may be controlled to be smaller as the moisture content of the object decreases.

[0093] <Advantages of this exemplary embodiment> As described above, in this embodiment, since it is determined whether to end the loading operation or to perform the loading operation in either the first mode or the second mode depending on the remaining load amount, etc., it is possible to preferably realize the loading operation taking into consideration the upper loading limit value. Also, as described above, in the second mode, the loading method of the object is controlled while finely adjusting it, so that it is possible to more preferably realize the loading operation taking into consideration the upper loading limit value.

[0094] 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 the description thereof will be omitted as appropriate.

[0095] <Control system configuration> The configuration of a control system 1C according to this exemplary embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the configuration of the control system 1C. As shown in Fig. 7, the control system 1C includes a control device 10C instead of the control device 10A included in the control system 1A according to the second embodiment. Furthermore, the control system 1C further includes a three-dimensional sensor E8 arranged directly above the parked dump truck 9, in addition to the sensors E1 to E7 included in the control system 1A according to the second embodiment.

[0096] (Structure of 3D sensor) The three-dimensional sensor E8 is a sensor that three-dimensionally detects an object in a space including the loading target area 910. Hereinafter, the three-dimensional sensor E8 may be simply referred to as the sensor E8. For example, the three-dimensional sensor E8 is configured by a three-dimensional laser scanner. In this case, the three-dimensional sensor E8 measures the three-dimensional shape of an object in the space including the loading target area 910 by irradiating the space with a laser beam. The measurement data is represented by, for example, point cloud data of a three-dimensional space. Each point cloud data includes three-dimensional coordinates, color information, reflectance, and the like. However, the three-dimensional sensor E8 is not limited to a three-dimensional laser scanner. For example, the three-dimensional sensor E8 may be configured by a stereo camera.

[0097] (Control device configuration) A detailed configuration of the control device 10C according to this exemplary embodiment will be described. As shown in Fig. 7, the control device 10C includes a control unit (control means) 110C, a storage unit (storage means) 120A, and a communication unit (communication means) 130A. The control unit 110C includes a sensor information acquisition unit (sensor information acquisition means) 11C, a weight information acquisition unit (weight information acquisition means) 12A, a remaining load amount specification unit (remaining load amount specification means) 13A, and an operation control unit (operation control means) 14C.

[0098] The sensor information acquisition unit 11C acquires the detection results by the three-dimensional sensor E8 in addition to the detection values ​​of the sensors E1 to E7. The acquired detection results by the three-dimensional sensor E8 may be configured to be referred to by the weight information acquisition unit 12A and the remaining load amount determination unit 13A.

[0099] The operation control unit 14C may further refer to the detection result by the three-dimensional sensor E8 when performing the process described in the embodiment 2 or 3. As an example, the operation control unit 14C may be configured to control the horizontal and vertical positions of the bucket 824 that releases the object by referring to the detection result by the three-dimensional sensor E8.

[0100] More specifically, the operation control unit 14C may be configured to control the height of the bucket 824 in the first mode described in embodiment 3 and the height of the bucket 824 in the second mode by referring to the detection results by the three-dimensional sensor E8.

[0101] FIG. 8 is a diagram for explaining height control of the bucket 824 by the operation control unit 14C. As shown in FIG. 8, the operation control unit 14C refers to the detection result by the three-dimensional sensor E8, and in the first mode, controls the bucket 824 using height information indicating a height H1 from the bottom surface of the vessel of the dump truck 9. On the other hand, the operation control unit 14C refers to the detection result by the three-dimensional sensor E8, and in the second mode, controls the bucket 824 using height information indicating a height H2 from the top surface of an object loaded on the vessel of the dump truck 9. In this way, by the operation control unit 14C using the height information indicating the height H2 in the second mode, the bucket 824 can be controlled so that the bucket 824 does not touch the object loaded on the vessel of the dump truck 9.

[0102] <Advantages of this exemplary embodiment> As described above, in this embodiment, in the second mode, the bucket 824 is controlled using height information indicating the height H2 from the top surface of the object loaded in the vessel of the dump truck 9. Therefore, the object can be discharged while preventing the bucket 824 from touching the object already loaded on the dump truck 9. Therefore, loading in the second mode can be preferably performed without adversely affecting the weight measurement of the object already loaded on the dump truck 9.

[0103] [Additional Notes for Exemplary Embodiment 4] In the above description, a configuration is given in which the height of the bucket 824 in the first mode and the height of the bucket 824 in the second mode are controlled by referring to the detection results by the three-dimensional sensor E8, but this embodiment is not limited to this.

[0104] The operation control unit 14C may be configured to set the height of the bucket 824 on the vessel of the dump truck 9 to a predetermined first height in the first mode, and to set the height of the bucket 824 on the vessel of the dump truck 9 to a predetermined second height higher than the first height in the second mode. Even with such a configuration, loading in the second mode can be suitably performed while suppressing adverse effects on weight measurement of objects already loaded on the dump truck 9.

[0105] Exemplary embodiment 5 The 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 the description thereof will be omitted as appropriate.

[0106] <Control system configuration> The configuration of a control system 1D according to this exemplary embodiment will be described with reference to Fig. 9. Fig. 9 is a block diagram showing the configuration of the control system 1D. As shown in Fig. 9, the control system 1D includes a control device 10D instead of the control device 10A included in the control system 1A according to the second embodiment. In addition, compared to the control system 1A according to the second embodiment, the control system 1D does not include sensors E6 and E7, but includes a three-dimensional sensor E9 that includes the piled up objects L0, the backhoe 8, and the dump truck 9 in the sensor viewing angle.

[0107] (Structure of 3D sensor) The three-dimensional sensor E9 is a sensor that three-dimensionally detects objects in a space including the piled objects L0, the backhoe 8, and the loading area 910. Hereinafter, the three-dimensional sensor E9 may be simply referred to as the sensor E9. For example, the three-dimensional sensor E9 is configured by a three-dimensional laser scanner. In this case, the three-dimensional sensor E9 measures the three-dimensional shape of the object in the space including the piled objects L0, the backhoe 8, and the loading area 910 by irradiating the space with a laser beam. The measurement data is represented by, for example, point cloud data of a three-dimensional space. Each point cloud data includes three-dimensional coordinates, color information, reflectance, and the like. However, the three-dimensional sensor E9 is not limited to a three-dimensional laser scanner. For example, the three-dimensional sensor E9 may be configured by a stereo camera.

[0108] (Control device configuration) A detailed configuration of the control device 10D according to this exemplary embodiment will be described. As shown in Fig. 9, the control device 10D includes a control unit (control means) 110D, a storage unit (storage means) 120A, and a communication unit (communication means) 130A. The control unit 110D includes a sensor information acquisition unit (sensor information acquisition means) 11D, a weight information acquisition unit (weight information acquisition means) 12D, a remaining load amount specification unit (remaining load amount specification means) 13D, and an operation control unit (operation control means) 14A.

[0109] The sensor information acquisition unit 11D acquires the detection results by the three-dimensional sensor E9 in addition to the detection values ​​of the sensors E1 to E5. The acquired detection results by the three-dimensional sensor E9 are supplied to the weight information acquisition unit 12D and the remaining load amount determination unit 13D.

[0110] The weight information acquisition unit 12D acquires the first weight information and the second weight information described in the above embodiment with reference to the detection result by the three-dimensional sensor E9. As an example, the weight information acquisition unit 12D calculates the first weight information with reference to the three-dimensional shape of the object in the bucket 824 included in the detection result by the three-dimensional sensor E9. The weight information acquisition unit 12D also calculates the second weight information with reference to the three-dimensional shape of the object in the loading target area 910 included in the detection result by the three-dimensional sensor E9.

[0111] The remaining payload identifying unit 13D refers to the second weight information acquired by the weight information acquiring unit 12D to identify the remaining payload described in the above embodiment.

[0112] Other configurations and processes of the control system 1D according to this embodiment are similar to those of the control system according to the above-described embodiment, and therefore description thereof will be omitted.

[0113] <Advantages of this exemplary embodiment> As described above, in this embodiment, the first weight information and the second weight information are identified by referring to the detection result of the three-dimensional sensor E9. With this configuration, it is possible to preferably realize a loading operation that takes into account the upper loading limit value.

[0114] [Software implementation example] A part or all of the functions of the control devices 10, 10A, 10C, and 10D may be realized by hardware such as an integrated circuit (IC chip), or may be realized by software.

[0115] In the latter case, the control devices 10, 10A, 10C, and 10D 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 includes 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 devices 10, 10A, 10C, and 10D. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing each function of the control devices 10, 10A, 10C, and 10D.

[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] In each of the exemplary embodiments described above, when the control device 10, 10A, 10C, 10D (hereinafter referred to as "control device 10, etc.") controls multiple backhoes 8, the multiple backhoes 8 may be controlled in the same mode, or the multiple backhoes 8 may be controlled in different modes. As an example, the control device 10, etc. may refer to the position of the piled up object L0, the position of each of the multiple backhoes 8, the position of the dump truck 9, and the weight of the object already loaded on the dump truck 9, and control a first backhoe of the multiple backhoes 8 in the first mode described above and a second backhoe in the second mode described above.

[0120] [Additional Note 2] In each of the exemplary embodiments described above, the control device 10 or the like may, for example, control the operation of the work machine when loading an object at a loading destination, and also control the operation of the work machine when scooping up the object. In this case, as one example, the control device 10 or the like may control the backhoe 8 so that the amount of object scooped up by the backhoe 8 in the second mode is less than that in the first mode.

[0121] [Additional Note 3] In each of the exemplary embodiments described above, a work machine such as the backhoe 8 may include the control device 10. In other words, a work machine such as the backhoe 8 and the control device 10 may be configured as an integrated device.

[0122] [Additional Note 4] 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.

[0123] [Additional Note 5] In each of the exemplary embodiments described above, each unit of the control device 10 or the like may be shared and implemented by a plurality of devices, and the functions of the control device 10 or the like according to each of the exemplary embodiments described above may be realized by communication between the plurality of devices. In this case, some or all of the plurality of devices may be provided on the cloud.

[0124] [Additional Note 6] 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.

[0125] (Appendix 1) An acquisition means for acquiring weight information relating to a weight of an object excavated by the work machine; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; A control device comprising:

[0126] According to the above configuration, the control device acquires weight information relating to the weight of the object excavated by the work machine and controls the operation of the work machine to adjust the loading amount of the object to be loaded on the loading destination based on the weight information. Therefore, according to the above configuration, it is possible to preferably realize loading operation by the work machine that takes into account the loading upper limit value.

[0127] (Appendix 2) The operation control means controls an angle of a movable part provided on the work machine for loading the object onto the loading destination based on the weight information. 2. The control device according to claim 1.

[0128] According to the above configuration, the control device controls the angle of the movable part for loading the object at the loading destination based on weight information related to the weight of the object excavated by the work machine. Therefore, according to the above configuration, it is possible to preferably realize a loading operation taking into account the loading upper limit value.

[0129] (Appendix 3) The movable part includes an arm and a bucket attached to a tip of the arm, The operation control means controls the angle of the bucket based on the weight information. 3. The control device according to claim 2.

[0130] According to the above configuration, the control device controls the angle of the bucket attached to the tip of the arm based on weight information related to the weight of the object excavated by the work machine. Therefore, according to the above configuration, it is possible to preferably realize a loading operation that takes into account the upper load limit.

[0131] (Appendix 4) a remaining load amount specifying means for specifying a remaining load amount which is a difference between an upper limit value of a load amount at the loading destination and an amount of a load already loaded, The operation control means sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the set angle. 4. The control device according to claim 2 or 3.

[0132] According to the above configuration, the control device sets the angle of the movable part according to the remaining load and the weight information, and controls the movable part according to the set angle. Therefore, according to the above configuration, it is possible to preferably realize a loading operation taking into account the upper load limit.

[0133] (Appendix 5) The weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and has not yet been loaded onto the loading destination, The operation control means sets an angle of the movable part in accordance with the first weight information and the remaining load. 5. The control device according to claim 4.

[0134] According to the above configuration, the control device sets the angle of the movable part in accordance with the first weight information and the remaining load amount. Therefore, according to the configuration of the present embodiment, it is possible to preferably realize a loading operation taking into account the upper load limit value.

[0135] (Appendix 6) The weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, the operation control means controls the work machine to terminate an operation of loading the object by the work machine when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value. 6. The control device according to any one of claims 1 to 5.

[0136] According to the above configuration, when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold, the control device controls the work machine to end the loading operation of the object by the work machine. Therefore, according to the configuration of this embodiment, the loading operation can be preferably realized in consideration of the upper loading limit value.

[0137] (Appendix 7) a sensor for acquiring weight information relating to a weight of an object excavated by the work machine; An acquisition means for acquiring weight information relating to a weight of the object from the sensor; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; A control system including:

[0138] The above configuration provides the same effects as those of Supplementary Note 1.

[0139] (Appendix 8) The operation control means controls an angle of a movable part provided on the work machine for loading the object onto the loading destination based on the weight information. 8. The control system of claim 7.

[0140] The above configuration provides the same effects as those of Supplementary Note 2.

[0141] (Appendix 9) The movable part includes an arm and a bucket attached to a tip of the arm, The operation control means controls the angle of the bucket based on the weight information. 9. The control system of claim 8.

[0142] The above configuration provides the same effects as those of Supplementary Note 3.

[0143] (Appendix 10) a determining unit for determining a remaining load amount, which is a difference between an upper limit of a load amount at the loading destination and an amount of the load already loaded, The operation control means sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the set angle. 10. The control system according to claim 8 or 9.

[0144] The above configuration provides the same effects as those of Supplementary Note 4.

[0145] (Appendix 11) The weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and has not yet been loaded onto the loading destination, The operation control means sets an angle of the movable part in accordance with the first weight information and the remaining load. 11. The control system of claim 10.

[0146] The above configuration provides the same effects as those of Supplementary Note 5.

[0147] (Appendix 12) The weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, the operation control means controls the work machine to terminate an operation of loading the object by the work machine when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value. 12. The control system of any one of claims 7 to 11.

[0148] The above configuration provides the same effects as those of Supplementary Note 6.

[0149] (Appendix 13) Obtaining weight information relating to a weight of an object excavated by the work machine; and controlling an operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; A control method comprising:

[0150] The above configuration provides the same effects as those of Supplementary Note 1.

[0151] (Appendix 14) and controlling an angle of a movable unit provided on the work machine for loading the object onto the loading destination based on the weight information, in order to control the operation of the work machine so as to adjust the load weight based on the weight information. 14. The control method of claim 13.

[0152] The above configuration provides the same effects as those of Supplementary Note 2.

[0153] (Appendix 15) The movable part includes an arm and a bucket attached to a tip of the arm, controlling an angle of the bucket based on the weight information to control operation of the work machine to adjust the load based on the weight information. 15. The control method of claim 14.

[0154] The above configuration provides the same effects as those of Supplementary Note 3.

[0155] (Appendix 16) and determining a remaining load amount, which is a difference between an upper limit value of a load amount at the loading destination and an amount of the load already loaded; setting an angle of the movable part in accordance with the remaining load and the weight information, and controlling the movable part in accordance with the set angle, in order to control the operation of the work machine so as to adjust the load based on the weight information. 16. The control method according to claim 14 or 15.

[0156] The above configuration provides the same effects as those of Supplementary Note 4.

[0157] (Appendix 17) The weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and has not yet been loaded onto the loading destination, setting an angle of the movable part according to the first weight information and the remaining load weight so as to control an operation of the work machine so as to adjust the load weight based on the weight information; 17. The control method according to claim 16.

[0158] The above configuration provides the same effects as those of Supplementary Note 5.

[0159] (Appendix 18) The weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, controlling an operation of the work machine so as to adjust the load weight based on the weight information, when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold, the work machine is controlled to terminate the loading operation of the object by the work machine; 18. The control method according to any one of appendix 13 to 17.

[0160] The above configuration provides the same effects as those of Supplementary Note 6.

[0161] (Appendix 19) A program that causes a computer to function as a control device that controls a work machine having a movable part, The computer, An acquisition means for acquiring weight information relating to a weight of an object excavated by the work machine; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; A program that functions as a

[0162] The above configuration provides the same effects as those of Supplementary Note 1.

[0163] (Appendix 20) The operation control means controls an angle of a movable part provided on the work machine for loading the object onto the loading destination based on the weight information. 19. The program according to claim 19.

[0164] The above configuration provides the same effects as those of Supplementary Note 2.

[0165] (Appendix 21) The movable part includes an arm and a bucket attached to a tip of the arm, The operation control means controls the angle of the bucket based on the weight information. 21. The program according to claim 20.

[0166] The above configuration provides the same effects as those of Supplementary Note 3.

[0167] (Appendix 22) a remaining load amount specifying means for specifying a remaining load amount which is a difference between an upper limit value of a load amount at the loading destination and an amount of a load already loaded, The operation control means sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the set angle. 21. The program according to claim 19 or 20.

[0168] The above configuration provides the same effects as those of Supplementary Note 4.

[0169] (Appendix 23) The weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and has not yet been loaded onto the loading destination, The operation control means sets an angle of the movable part in accordance with the first weight information and the remaining load. 23. The program according to claim 22.

[0170] The above configuration provides the same effects as those of Supplementary Note 5.

[0171] (Appendix 24) The weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, the operation control means controls the work machine to terminate an operation of loading the object by the work machine when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value. 24. The program of claim 19.

[0172] The above configuration provides the same effects as those of Supplementary Note 6.

[0173] (Appendix 25) A storage medium storing a program for causing a computer to function as a control device for controlling a work machine having a movable part, The program causes the computer to An acquisition means for acquiring weight information relating to a weight of an object excavated by the work machine; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; A storage medium that stores a program that functions as a

[0174] The above configuration provides the same effects as those of Supplementary Note 1.

[0175] (Appendix 26) A control device having at least one processor that executes an acquisition process for acquiring weight information regarding the weight of an object excavated by a work machine, and an operation control process for controlling the operation of the work machine so as to adjust the loading amount of the object at a loading destination based on the weight information.

[0176] The control device may further include a memory that stores a program for causing the processor to execute the acquisition process and the operation control process. The program may be recorded in a computer-readable, non-transitory, tangible recording medium. [Explanation of symbols]

[0177] 1. 1A control system 10, 10A, 10C, 10D Control device 11 Acquisition Department 11A, 11C, 11D Sensor information acquisition section 12 Motion control section 12A, 11D Weight information acquisition section 13A, 13D Remaining load capacity identification part 14A Operation Control Unit 110A, 110C, 110D Control section 120A storage unit 130A Communication section 820 Moving parts 824 Bucket E, E1, E2, E3, E4, E5 Sensors E7 Weight Sensor

Claims

1. An acquisition means for acquiring weight information relating to a weight of an object excavated by the work machine; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; a remaining load amount specifying means for specifying a remaining load amount, which is a difference between an upper limit value of a load amount at the loading destination and an amount of load already loaded; Equipped with the weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and for which loading at the loading destination has not been completed, The operation control means controls an angle of a movable part provided in the work machine for loading the object to the loading destination in accordance with the first weight information and the remaining load amount. Control device.

2. The movable part includes an arm and a bucket attached to a tip of the arm, The operation control means controls the angle of the bucket based on the weight information. The control device according to claim 1 .

3. The operation control means sets an angle of the movable part in accordance with the remaining load amount and the weight information, and controls the movable part in accordance with the set angle. The control device according to claim 1 or 2.

4. the weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, The operation control means controls the work machine to terminate the loading operation of the object by the work machine when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value. A control device according to any one of claims 1 to 3.

5. a sensor for acquiring weight information relating to a weight of an object excavated by the work machine; an acquisition means for acquiring weight information relating to a weight of the object from the sensor; an operation control means for controlling the operation of the work machine so as to adjust the amount of the object loaded on the loading destination based on the weight information; a remaining load amount specifying means for specifying a remaining load amount, which is a difference between an upper limit value of a load amount at the loading destination and an amount of load already loaded; Including, the weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and for which loading at the loading destination has not been completed, The operation control means controls an angle of a movable part provided in the work machine for loading the object to the loading destination in accordance with the first weight information and the remaining load amount. Control system.

6. The movable part includes an arm and a bucket attached to a tip of the arm, The operation control means controls the angle of the bucket based on the weight information. The control system of claim 5.

7. The operation control means sets an angle of the movable part in accordance with the remaining load amount and the weight information, and controls the movable part in accordance with the set angle. A control system according to claim 5 or 6.

8. the weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, The operation control means controls the work machine to terminate the loading operation of the object by the work machine when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold value. A control system according to any one of claims 5 to 7.

9. obtaining weight information relating to a weight of an object excavated by the work machine; Controlling the operation of the work machine so as to adjust the amount of loading of the object to the loading destination based on the weight information; and Identifying a remaining load amount, which is a difference between an upper limit of the load amount at the loading destination and the load amount already loaded. Including, the weight information includes first weight information which is information regarding a weight of an object that has been excavated by the work machine and for which loading at the loading destination has not been completed, In the controlling, an angle of a movable part provided in the work machine for loading the object to the loading destination is controlled according to the first weight information and the remaining load amount. Control methods.

10. The movable part includes an arm and a bucket attached to a tip of the arm, Controlling the angle of the bucket based on the weight information to control operation of the work machine to adjust the load based on the weight information. The control method according to claim 9.

11. In order to control the operation of the work machine so as to adjust the load amount based on the weight information, an angle of the movable part is set according to the remaining load amount and the weight information, and the movable part is controlled according to the set angle.

11. A control method according to claim 9 or 10.

12. the weight information includes second weight information which is information regarding a weight of an object that has been excavated by the work machine and has already been loaded onto the loading destination, In order to control the operation of the work machine so as to adjust the load weight based on the weight information, when the weight indicated by the second weight information becomes equal to or greater than a predetermined threshold, the work machine is controlled so as to terminate the loading operation of the object by the work machine. A control method according to any one of claims 9 to 11.

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