Drilling system, control device and drilling method

Abstract

To provide an excavation system capable of improving work efficiency at a work site.SOLUTION: An excavation device (20) excavates an object (80) to be excavated at an excavation site. A first detection device (2) is installed at an excavation site separated from the excavation device (20). The first detection device (2) detects information about the object (80) at the excavation site. A control device (10) transmits control information on an operation of the excavation device (20) to the excavation device (20) based on target location data indicating a position of the object (80) corresponding to the information on the object (80). The excavation device (20) performs an operation for excavating according to the control information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] When a work machine performs work at a work site or the like, automatic control or remote control of the work machine is being promoted for the purpose of reducing labor costs, etc. In relation to this technology, Patent Document 1 discloses an operation system for a work machine. The system disclosed in Patent Document 1 acquires the shape of the excavation target using a stereo camera disposed on the upper rotating body of the hydraulic excavator. In this way, the system disclosed in Patent Document 1 realizes remote control or automatic control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 121010 Summary of the Invention [Problem to be solved by the invention]

[0004] In the system disclosed in Patent Document 1, a camera used to acquire the shape of the excavation target is attached to a work machine. In this way, with a method using a camera attached to a work machine, the captured images are limited to those obtained from the work machine, making it difficult to detect objects in the blind spot of the work machine and to implement control that takes the blind spot into account. Furthermore, when a camera is attached to a work machine, the camera image may be blurred due to the shaking of the work machine itself, making it difficult to accurately capture the target. Therefore, the system disclosed in Patent Document 1 may result in a decrease in work efficiency.

[0005] The purpose of the present disclosure has been made to solve such problems, and is to provide an excavation system, a work system, a control device, a control method, and a program that can improve work efficiency at work sites. [Means for solving the problem]

[0006] The excavation system according to the present disclosure comprises an excavation device that excavates an object to be excavated at an excavation site, a first detection device installed at the excavation site that detects information about the object, and a control device that transmits control information about the operation of the excavation device to the excavation device based on object location data that indicates the position of the object and corresponds to the information about the object, and the excavation device performs an operation for excavating in accordance with the control information.

[0007] In addition, the control device according to the present disclosure includes an acquisition means for acquiring target location data indicating the position of an object that is to be excavated by an excavation device at an excavation site, the target location data corresponding to information about the object detected by a first detection device installed at the excavation site, a determination means for determining the operation of the excavation device based on the target location data, and a transmission means for transmitting control information about the operation of the excavation device to the excavation device.

[0008] In addition, the control method disclosed herein acquires target location data indicating the position of an object that is to be excavated by a drilling device at an excavation site, the target location data corresponding to information about the object detected by a first detection device installed at the excavation site, determines the operation of the drilling device based on the target location data, and transmits control information about the operation of the drilling device to the drilling device.

[0009] In addition, the program disclosed herein causes a computer to execute the steps of acquiring target location data indicating the position of an object that is to be excavated by a drilling device at an excavation site, the target location data corresponding to information about the object detected by a first detection device installed at the excavation site; determining the operation of the drilling device based on the target location data; and transmitting control information about the operation of the drilling device to the drilling device. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide an excavation system, a work system, a control device, a control method, and a program that can improve work efficiency at a work site. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of an excavation system according to a first embodiment. [Figure 2] 3 is a flowchart showing a process executed by the excavation system according to the first embodiment. [Figure 3] FIG. 10 is a diagram showing a configuration of an excavation system according to a second embodiment. [Figure 4] 10 is a flowchart showing a process executed by the excavation system according to the second embodiment. [Figure 5] FIG. 10 is a diagram showing a configuration of an excavation system according to a third embodiment. [Figure 6] FIG. 10 is a diagram showing a configuration of an excavation system according to a third embodiment. [Figure 7] 10 is a flowchart showing a process executed by the excavation system according to the third embodiment. [Figure 8] FIG. 10 is a diagram showing a configuration of an excavation system according to a fourth embodiment. [Figure 9] 10 is a flowchart showing a process executed by the excavation system according to the fourth embodiment. [Figure 10]FIG. 10 is a diagram showing a specific system configuration example of an excavation system according to a fourth embodiment. [Figure 11] FIG. 10 is a diagram showing a specific system configuration example of an excavation system according to a fourth embodiment. [Figure 12] FIG. 10 is a diagram showing a specific system configuration example of an excavation system according to a fourth embodiment. [Figure 13] FIG. 10 is a diagram showing a configuration of an excavation system according to a fifth embodiment. [Figure 14] 13 is a flowchart showing a method for controlling a transporter performed by the excavation system according to the fifth embodiment. [Figure 15] FIG. 13 is a diagram showing the configuration of an excavation system according to a sixth embodiment. [Figure 16] 13 is a flowchart showing a process executed by the excavation system according to the sixth embodiment. [Figure 17] FIG. 13 is a diagram showing the configuration of an excavation system according to a seventh embodiment. [Figure 18] 13 is a flowchart showing a process executed by the excavation system according to the seventh embodiment. [Figure 19] 1 is a diagram illustrating an example of the hardware configuration of each device constituting the excavation system according to the present embodiment. FIG. [Figure 20] FIG. 10 is a diagram showing the configuration of a work system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) Hereinafter, embodiments will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, the same elements in each drawing are designated by the same reference numerals, and duplicate explanations have been omitted as necessary.

[0013] FIG. 1 is a diagram illustrating a configuration of a drilling system 1 according to a first embodiment. The drilling system 1 according to the first embodiment includes a first detection device 2, a drilling rig 20, and a control device 10. The control device 10 is communicatively connected to the first detection device 2 via a network 3. The network 3 may be, for example, a wireless network or a wired network. That is, the control device 10 is connected to the first detection device 2 wirelessly or via a wired network. The wireless network may be, for example, a network using a communication line standard such as LTE (Long Term Evolution), or a network used in a specific area such as WiFi (registered trademark) or local 5G. The wired network may be, for example, a local area network (LAN) or optical fiber. The control device 10 may be communicatively connected to the drilling rig 20. Note that in FIG. 1, the control device 10 is depicted separately from the drilling rig 20; however, as shown in FIG. 6 described below, the control device 10 may be mounted on the drilling rig 20.

[0014] The excavation equipment 20 excavates an object 80 to be excavated at an excavation site. In other words, the object 80 is excavated by the excavation equipment 20 at the excavation site. Here, the "excavation site" refers to a part or all of the area where the excavation equipment 20 performs excavation. The object 80 is, for example, soil and sand, but is not limited thereto. The object 80 may be any excavation object, such as a pile of garbage, rocks, gravel, concrete, or building components to be demolished. The excavation equipment 20 is, for example, a construction machine, such as a hydraulic excavator or a backhoe, but is not limited thereto. The excavation equipment 20 may be any work machine (excavator), including construction machines such as a wheel loader and a shovel loader.

[0015] The first detection device 2 (first detection device) is installed at a location away from the excavation device 20. The first detection device 2 detects information (object information) about an object 80 at the excavation site. The first detection device 2 is, for example, a three-dimensional sensor (3D sensor) such as a 3D LiDAR, a stereo camera, or a TOF (Time of Flight) camera, but is not limited to these.

[0016] The first detecting device 2 is installed so as to be able to monitor the object 80 at, for example, an excavation site. The first detecting device 2 is installed, for example, above the excavation site. This allows the first detecting device 2 to detect the state of the object 80 at the excavation site. In other words, the first detecting device 2 is installed at a position where it can detect the state of the object 80 at the excavation site. Furthermore, the "object information" is, for example, information indicating the position of the object 80 at the excavation site. For example, if the first detecting device 2 is a 3D lidar, the object information may be three-dimensional coordinate information of the object 80. Furthermore, if the first detecting device 2 is a stereo camera, the object information may be a three-dimensional captured image. However, the object information is not limited to these.

[0017] The control device 10 is, for example, an information processing device such as a computer. The control device 10 is, for example, a server such as an automatic control server. The control device 10 may be realized by cloud computing. The control device 10 includes an acquisition unit 12, a determination unit 14, and a transmission unit 16. The acquisition unit 12 functions as an acquisition unit. The determination unit 14 functions as a determination unit. The transmission unit 16 functions as a transmission unit. With these components, the control device 10 transmits to the excavation device 20 control information regarding the operation of the excavation device 20, the control information being determined based on target location data indicating the position of the object 80, which is acquired based on information about the object 80. In other words, the control device 10 transmits the control information to the excavation device 20 based on the target location data corresponding to the information about the object 80. The excavation device 20 performs an operation for excavating (excavation operation) in accordance with the control information. The operations of the acquisition unit 12, the determination unit 14, and the transmission unit 16 according to the first embodiment will be described later.

[0018] Fig. 2 is a flowchart showing the processing executed by the excavation system 1 according to the first embodiment. Fig. 2 shows the control method (S12 to S16) executed by the control device 10 according to the first embodiment. As described above, the first detection device 2 detects object information (step S10).

[0019] The control device 10 acquires target location data indicating the position of the target object 80 (step S12). Specifically, the acquisition unit 12 acquires the target location data. The acquisition unit 12 may calculate the target location data using the target object information. Alternatively, the acquisition unit 12 may acquire (receive) the target location data from an intermediate control device (described later) that has calculated the target location data using the target object information.

[0020] Here, the target location data is, for example, data indicating the shape or three-dimensional coordinate position of soil and sand at the excavation site. That is, through processing by the acquisition unit 12, the control device 10 can grasp the shape of the object 80, such as soil and sand. For example, if the first detection device 2 is a 3D lidar, the target location data may be three-dimensional map data obtained by plotting a point cloud acquired by the 3D lidar. Furthermore, if the first detection device 2 is a stereo camera, the target location data may be three-dimensional image data. Furthermore, the target location data may be gradient data geometrically calculated from the object information (three-dimensional coordinate information) acquired from the first detection device 2. The gradient data may indicate the gradient of the object 80 (soil and sand) at a certain position in the excavation site. Furthermore, the target location data may be data (e.g., sediment volume data) indicating the amount (volume) of the object 80, geometrically calculated from the object information (three-dimensional coordinate information) acquired from the first detection device 2. The sediment volume data may indicate the volume of soil and sand in an area where the excavation site is located.

[0021] The control device 10 determines the operation of the excavation device 20 based on the target location data acquired by the acquisition unit 12 (step S14). Specifically, the determination unit 14 determines the excavation operation of the excavation device 20 based on the target location data. More specifically, the determination unit 14 determines a position (excavation position) to be excavated in the target object 80 based on the position and shape of the target object 80. The determination unit 14 then determines how to operate the excavation device 20 to excavate the excavation position. The determination unit 14 may then generate control information related to the determined operation. This control information is information (commands) for causing the excavation device 20 to execute a specified operation. For example, if the excavation device 20 is a hydraulic excavator, the control information may include the operation trajectory of the bucket to the excavation position, the angle and angular velocity of the arm links and the like for realizing the operation trajectory, the movement speed of the excavation device 20, etc.

[0022] The excavation position may be determined based on various conditions. The administrator may select any one or more of the following conditions as the conditions for determining the excavation position. Alternatively, the determination unit 14 may change the following conditions as appropriate depending on the excavation situation.

[0023] For example, the determination unit 14 may determine a location where earth and sand are piled up within a predetermined excavation range of the excavation location as the excavation position. Note that the determination unit 14 may use sediment amount data or the like to determine an area where the sediment amount is greater than a predetermined threshold or an area where the sediment amount is the greatest as the "location where earth and sand are piled up."

[0024] The determination unit 14 may also use three-dimensional map data, three-dimensional image data, or the like to determine the location where the soil and sand has piled up the highest in the excavation range. Then, the determination unit 14 may determine the location where the soil and sand has piled up the highest as the excavation position. The determination unit 14 may also use three-dimensional map data, three-dimensional image data, or the like to determine the location where the soil and sand height is higher than a predetermined threshold in the excavation range. Then, the determination unit 14 may determine the location where the soil and sand height is higher than a predetermined threshold as the excavation position.

[0025] Furthermore, the determination unit 14 may determine the excavation position using three-dimensional map data, three-dimensional image data, or the like, depending on the height of the excavation equipment 20. For example, the place where sediment is piled up may be pit-shaped. In this way, when the level of the place where sediment is piled up is lower than the level of the ground surface of the excavation equipment 20, the determination unit 14 may determine the place where the sediment is piled up higher than the ground surface of the excavation equipment 20 as the excavation position. Furthermore, when the level of the place where sediment is piled up is the same as the level of the ground surface of the excavation equipment 20, the determination unit 14 may determine the place where the sediment is piled up higher than, for example, a predetermined position of the excavation equipment 20 (such as a predetermined position of the operation room) as the excavation position.

[0026] Furthermore, the determination unit 14 may use three-dimensional map data, three-dimensional image data, or the like to determine the location in the excavation range that is closest to the excavation device 20 as the excavation position. Alternatively, the determination unit 14 may use three-dimensional map data, three-dimensional image data, or the like to determine the location that is farthest in the excavation range that can be excavated without the excavation device 20 moving as the excavation position.

[0027] The determination unit 14 may also determine the excavation position according to the gradient of the soil in the excavation range using gradient data. For example, the determination unit 14 may determine the location with the greatest gradient in the excavation range as the excavation position.

[0028] The control device 10 transmits control information related to the excavation operation of the excavation device 20 to the excavation device 20 (step S16). Specifically, the transmission unit 16 performs control to transmit the control information related to the excavation operation to the excavation device 20. At this time, the transmission unit 16 may generate the control information related to the excavation operation.

[0029] The excavation device 20 performs an excavation operation in accordance with the received control information (step S18). Specifically, the excavation device 20 operates the drive unit in accordance with the control information. As a result, the excavation device 20 excavates the determined excavation position. For example, if the excavation device 20 is a hydraulic excavator, the excavation device 20 operates a crawler (prime mover) so as to achieve the moving speed indicated in the control information. The excavation device 20 also operates a swing motor that operates a swing body and a hydraulic cylinder that operates an arm, etc., so that the bucket moves along the movement trajectory indicated in the control information. Note that the excavation operation is not limited to the operation of excavating the target object 80. The excavation operation may also include, for example, an operation of lifting an arm or a bucket, etc., to excavate the target object 80, an operation of swinging the excavation device 20 toward the excavation site, an operation of moving the excavation device 20 to the excavation site, and an operation of leveling the target object 80 at the excavation site. In other words, the excavation operation may be any operation performed to excavate the target object 80 at the excavation site.

[0030] As described above, in the excavation system 1 according to the first embodiment, the first detection device 2 is provided at the excavation site. Therefore, compared to when a detection device such as a camera is installed on the excavation device 20, it is possible to properly detect an excavation range that is difficult to capture from the excavation device 20. Therefore, it is possible to more properly determine the excavation position to be excavated. Therefore, the excavation system 1 according to the first embodiment can improve work efficiency at an excavation site. Note that the use of the control device 10 according to the first embodiment can also improve work efficiency at an excavation site. Furthermore, the control method executed by the control device 10 and the program that executes the control method can also improve work efficiency at an excavation site.

[0031] Furthermore, when the control device 10 is provided on the excavation rig 20, there may be limitations on the size of the control device 10 so as not to impede the operability of the excavation rig 20, etc. However, by providing the control device 10 at a location remote from the excavation rig 20, the size limitations on the control device 10 are alleviated. This allows the control device 10 to execute complex algorithms. Therefore, it becomes possible to control the complex operations of the excavation rig 20. Furthermore, the control device 10 transmits control information to the excavation rig 20, and the excavation rig 20 performs operations in accordance with the control information, thereby reducing the number of work steps required by on-site workers. These are also true for the other embodiments described below.

[0032] (Embodiment 2) Next, a second embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, the same elements in each drawing are given the same reference numerals, and duplicate explanations are omitted as necessary. The system according to the second embodiment differs from the first embodiment in that it includes a detection device that detects the loading location 90.

[0033] FIG. 3 is a diagram showing the configuration of an excavation system 1 according to a second embodiment. The excavation system 1 according to the second embodiment has a first detection device 2, a second detection device 4, an excavation device 20, and a control device 10. The control device 10 is communicably connected to the second detection device 4 via a network 3. That is, the control device 10 is connected to the second detection device 4 wirelessly or via a wire. Note that the first detection device 2, the control device 10, and the excavation device 20 are substantially the same as those in the first embodiment, and therefore description thereof will be omitted. Note that in FIG. 3, the control device 10 is drawn separately from the excavation device 20, but as shown in FIG. 6 described later, the control device 10 may be mounted on the excavation device 20.

[0034] In the second embodiment, the excavation device 20 not only excavates the object 80 but also loads the excavated object 80 at a loading location 90 where the excavated object 80 is to be loaded. The loading location 90 is, for example, a transport device that transports the object 80, such as a dump truck, but is not limited to this. For example, the loading location 90 may be a section of the work site that is different from the excavation location.

[0035] The second detection device 4 (second detection device) is installed at a location away from the excavation device 20. The second detection device 4 detects information (loading location information) related to the loading location 90. Similar to the first detection device 2, the second detection device 4 is a three-dimensional sensor such as, but not limited to, a 3D lidar, a stereo camera, or a TOF camera.

[0036] The second detection device 4 is installed, for example, so as to be able to monitor the loading place 90. The second detection device 4 is installed, for example, above the loading place 90. This allows the second detection device 4 to detect the state of the loading place 90. In other words, the second detection device 4 is installed in a position where it can detect the state of the loading place 90. Furthermore, the "loading place information" is, for example, information indicating the position of the loading place 90. For example, if the second detection device 4 is a 3D lidar, the loading place information may be three-dimensional coordinate information of the loading place 90. Furthermore, if the second detection device 4 is a stereo camera, the loading place information may be a three-dimensional captured image. However, the loading place information is not limited to these.

[0037] The control device 10 transmits to the excavation device 20 control information regarding the operation of the excavation device 20, the control information being determined based on payload data indicating the position of the object 80 loaded at the loading location 90, which data is acquired based on information about the loading location 90. In other words, the control device 10 transmits control information to the excavation device 20 based on the payload data corresponding to the information about the loading location. The excavation device 20 performs an operation for loading (a loading operation) in accordance with the control information. The loading operation is, for example, an operation of loading the object 80 at the loading location 90, but is not limited thereto, as will be described later. The operations of the acquisition unit 12, the determination unit 14, and the transmission unit 16 according to the second embodiment will be described later. In the second embodiment, the control device 10 (the acquisition unit 12, the determination unit 14, and the transmission unit 16) can also perform substantially the same operations as those according to the first embodiment. The control device 10 (the acquisition unit 12, the determination unit 14, and the transmission unit 16) according to the second embodiment can perform an operation related to loading of the object 80, in addition to the operations according to the first embodiment.

[0038] Fig. 4 is a flowchart showing the processing executed by the excavation system 1 according to the embodiment 2. Fig. 4 shows the control method (S22 to S26) executed by the control device 10 according to the embodiment 2. As described above, the second detection device 4 detects the loading location information (step S20).

[0039] The control device 10 acquires cargo data indicating the position of the object 80 loaded at the loading location 90 (step S22). Specifically, the acquisition unit 12 acquires the cargo data. The acquisition unit 12 may calculate the cargo data using the loading location information. Alternatively, the acquisition unit 12 may acquire (receive) the cargo data from an intermediate control device (described later) that has calculated the cargo data using the loading location information.

[0040] Here, the load data is, for example, data indicating the shape or three-dimensional coordinate position of the earth and sand loaded at the loading location 90. In other words, through processing by the acquisition unit 12, the control device 10 can grasp the shape of the object 80, such as earth and sand loaded at the loading location 90. For example, if the second detection device 4 is a 3D lidar, the load data may be three-dimensional map data obtained by plotting a point cloud acquired by the 3D lidar. Furthermore, if the second detection device 4 is a stereo camera, the load data may be three-dimensional image data. Furthermore, the load data may be gradient data geometrically calculated from the loading location information (three-dimensional coordinate information) acquired from the second detection device 4. The gradient data indicates the gradient of the object 80 (earth and sand, etc.) at a certain position at the loading location 90. Furthermore, the load data may be data (e.g., earth and sand volume data) indicating the amount (volume) of the object 80 at the loading location 90, geometrically calculated from the loading location information (three-dimensional coordinate information) acquired from the second detection device 4. The sediment volume data indicates the volume of sediment in an area of ​​the loading location 90 .

[0041] The control device 10 determines the operation of the excavator 20 based on the payload data acquired by the acquisition unit 12 (step S24). Specifically, the determination unit 14 determines the loading operation (such as a dumping operation) of the excavator 20 based on the payload data. Further, for example, the determination unit 14 determines the position (loading position) at the loading location 90 where the object 80 should be loaded, based on the position and shape of the object 80 loaded at the loading location 90. Then, the determination unit 14 determines how to operate the excavator 20 to load (dump) the object 80 at the loading position (dumping position). The determination unit 14 may then generate control information related to the determined operation. This control information is information (commands) for causing the excavator 20 to execute a specified operation. For example, if the excavator 20 is a hydraulic excavator, the control information may include the bucket movement trajectory to the loading position, the angle and angular velocity of the arm links and the like for realizing the movement trajectory, the movement speed of the excavator 20, and the like.

[0042] The loading position may be determined based on various conditions. The administrator may select any one or more of the conditions listed below as the conditions for determining the loading position. Alternatively, the determination unit 14 may change the conditions listed below as appropriate depending on the loading situation.

[0043] The determination unit 14 may use three-dimensional map data, three-dimensional image data, or the like to determine the location where the height of the soil and sand is the lowest in the loading location 90. Then, the determination unit 14 may determine the location where the height of the soil and sand is the lowest as the loading position. Furthermore, the determination unit 14 may use three-dimensional map data, three-dimensional image data, or the like to determine the location where the height of the soil and sand is lower than a predetermined threshold in the loading location 90. Then, the determination unit 14 may determine the location where the height of the soil and sand is lower than the threshold as the loading position.

[0044] Furthermore, the determination unit 14 may use the gradient data to determine the loading position according to the gradient of the soil and sand at the loading location 90. For example, the determination unit 14 may determine, as the loading position, a location at the loading location 90 with the smallest gradient, or a location with a gradient smaller than a predetermined threshold value.

[0045] The determination unit 14 may also determine, as the loading position, a location with little sediment in the loading location 90. The determination unit 14 may also use sediment amount data or the like to determine, as the "location with little sediment," an area where the amount of sediment is less than a predetermined threshold or an area where the amount of sediment is the least.

[0046] Furthermore, the determination unit 14 may determine, as the loading position, a location at the front of the loading location 90, which is a transportation device, using three-dimensional map data, three-dimensional image data, or the like. Alternatively, the determination unit 14 may determine, as the loading position, a location at the center of the loading location 90, which is a transportation device, using three-dimensional map data, three-dimensional image data, or the like. Note that the "front" and "center" of the transportation device may be determined in advance to correspond to predetermined areas on the loading platform (vessel) of the transportation device, respectively.

[0047] Furthermore, if there are multiple loading locations 90 at the work site, the determination unit 14 may use the sediment volume data to determine the loading location 90 with the least amount of sediment as the loading position. Alternatively, if there are multiple loading locations 90 that are transportation devices at the work site, the determination unit 14 may use the sediment volume data to determine the loading location 90 with the greatest amount of sediment as the loading position. This allows the transportation device to be filled with sediment quickly, and allows the transportation device to quickly move on to a process of transporting the transportation device outside the work site.

[0048] The determination unit 14 may determine an operation other than the soil dumping operation as the loading operation. For example, the determination unit 14 may determine to perform a leveling operation. Specifically, the determination unit 14 may use gradient data to determine to level the soil at the location at the loading location 90 where the gradient is the steepest or where the gradient is greater than a predetermined threshold. The loading operation includes, for example, an operation of lifting the object 80 to be excavated, such as soil, an operation of turning the excavation device 20 toward the loading location 90, an operation of moving the excavation device 20 to the loading location 90, etc. Furthermore, the loading operation includes, for example, an operation of placing the object 80 at the loading location 90 (an operation of lowering the lifted object 80, a soil dumping operation), an operation of the excavation device 20 pounding the soil at the loading location 90 to prevent the soil from piling up higher than a predetermined height, etc. In other words, a "loading operation" is an operation performed to load an object 80 onto a loading location 90, and may be any operation performed on the object 80 at the loading location 90.

[0049] The control device 10 transmits control information related to the loading operation of the excavation device 20 to the excavation device 20 (step S26). Specifically, the transmission unit 16 performs control for transmitting the control information related to the loading operation to the excavation device 20. At this time, the transmission unit 16 may generate the control information related to the loading operation.

[0050] The excavator 20 executes the loading operation in accordance with the received control information (step S28). Specifically, the excavator 20 operates the drive unit in accordance with the control information. As a result, the excavator 20 loads (discharges) the target object 80 at the determined loading position. For example, if the excavator 20 is a hydraulic excavator, the excavator 20 operates the crawler so as to achieve the moving speed indicated in the control information. Furthermore, the excavator 20 operates the swing motor, hydraulic cylinder, etc. so that the bucket moves along the movement trajectory indicated in the control information.

[0051] As described above, in the excavation system 1 according to the second embodiment, the second detection device 4 is provided at the loading location 90. Therefore, compared to when a detection device such as a camera is installed on the excavation device 20, the loading location 90, which is difficult to capture from the excavation device 20, can be properly detected. Therefore, the loading position where the object 80 should be loaded can be more properly determined. Therefore, the excavation system 1 according to the second embodiment can further improve the work efficiency at the excavation site. Note that the use of the control device 10 according to the second embodiment can also further improve the work efficiency at the excavation site. Furthermore, the control method executed by the control device 10 and the program that executes the control method can also further improve the work efficiency at the excavation site.

[0052] Moreover, the excavation system 1 according to the second embodiment is configured to use a plurality of detection devices to control the operation of the excavation device 20. Specifically, in the second embodiment, the first detection device 2 and the second detection device 4 are used to determine both the excavation position and the loading position. This makes it possible to increase the precision of the control of the excavation device 20. In other words, the excavation operation and loading operation of the excavation device 20 can be controlled as a series of operations. In this case, the control information may include data indicating the excavation operation and the loading operation.

[0053] (Embodiment 3) Next, a third embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, the same elements are given the same reference numerals in each drawing, and duplicate explanations are omitted as necessary. The system according to the third embodiment differs from the other embodiments described above in that it includes a detection device that detects the attitude of the excavation equipment.

[0054] 5 and 6 are diagrams showing the configuration of an excavation system 1 according to embodiment 3. The excavation system 1 according to embodiment 3 includes a first detection device 2, a second detection device 4, a third detection device 6, an excavation device 20, and a control device 10.

[0055] FIG. 5 shows an example in which the control device 10 is provided outside the drilling rig 20. In this case, the control device 10 is communicatively connected to the third detection device 6 via the network 3. That is, the control device 10 is connected to the third detection device 6 wirelessly or via a wire. On the other hand, FIG. 6 shows an example in which the control device 10 is provided inside the drilling rig 20. In this case, the control device 10 is communicatively connected to the third detection device 6 via wiring such as a cable.

[0056] The first detection device 2, the second detection device 4, and the control device 10 are substantially the same as those in the other embodiments described above, and therefore description thereof will be omitted. Although the excavation system 1 has the second detection device 4 in Figures 5 and 6, the excavation system 1 according to the third embodiment does not necessarily have to have the second detection device 4.

[0057] The third detection device 6 (third detection device) detects information (drilling device information) related to the state of the drilling rig 20. The third detection device 6 may be, but is not limited to, an attitude sensor, a position detection device, a direction sensor, a three-dimensional sensor, etc. Note that although the third detection device 6 is depicted in FIGS. 5 and 6 as being provided on the drilling rig 20, the third detection device 6 does not have to be installed on the drilling rig 20.

[0058] The excavator 20 has an operating unit 22 and a drive unit 24. The operating unit 22 is a member that operates to allow the excavator 20 to perform work. The operating unit 22 is, for example, a crawler, a bucket, a rotating body, a boom, an arm, etc. The drive unit 24 is a device that drives the operating unit 22. The drive unit 24 is, for example, a prime mover, a hydraulic cylinder, a motor, etc.

[0059] The control device 10 transmits to the excavation device 20 control information regarding the operation of the excavation device 20, the control information being determined based on the attitude of the excavation device 20 acquired based on the information about the state of the excavation device 20. In other words, the control device 10 transmits control information to the excavation device 20 based on device data indicating the state of the excavation device 20, which corresponds to the information about the state of the excavation device 20. The excavation device 20 performs an excavation operation or a loading operation in accordance with this control information. The operations of the acquisition unit 12, the determination unit 14, and the transmission unit 16 according to the third embodiment will be described later. In the third embodiment, the control device 10 (acquisition unit 12, determination unit 14, and transmission unit 16) can also perform substantially the same operations as those according to the above-mentioned embodiments.

[0060] Fig. 7 is a flowchart showing the processing executed by the excavation system 1 according to the third embodiment. Fig. 7 shows the control method (S32 to S38) executed by the control device 10 according to the third embodiment. As described above, the third detection device 6 detects excavation device information (step S30).

[0061] The control device 10 acquires equipment data, which is data indicating the current state of the drilling device 20 (step S32). Specifically, the acquisition unit 12 acquires the equipment data. The acquisition unit 12 may calculate the equipment data using the drilling device information. Alternatively, the acquisition unit 12 may acquire (receive) the equipment data from an intermediate control device (described later) that has calculated the equipment data using the drilling device information.

[0062] Here, the equipment data is, for example, information indicating the current attitude, orientation, and position of the excavator 20 and the operating unit 22. For example, the equipment data may indicate a state in which the arm is extended and the bucket is far from the main body of the excavator 20. The equipment data may also indicate a state in which the boom is extended upward and the bucket is in a high position.

[0063] The control device 10 executes the processes of S12 to S14 shown in FIG. 2 or the processes of S22 to S24 shown in FIG. 4 (step S34). Then, the control device 10 determines the control operation of the operation unit 22 based on the equipment data (step S36). Specifically, the determination unit 14 determines the operation of the operation unit 22 for executing the excavation operation or loading operation determined in the process of S34 based on the equipment data. Then, the determination unit 14 can generate control information related to the determined operation. This control information is information (commands) for causing the excavation device 20 to execute the specified operation. For example, if the excavation device 20 is a hydraulic excavator, the control information can include the operation trajectory of the bucket to the excavation position or the loading position, the swing angle and swing angular velocity of the rotating body, the angle and angular velocity of the arm linkages and the like for realizing the operation trajectory, the travel speed of the excavation device 20, etc.

[0064] For example, when the equipment data indicates that the horizontal distance from the main body of the excavation equipment 20 to the bucket is farther than a predetermined threshold, the decision unit 14 may decide to perform an operation such that the bucket is moved closer to the main body of the excavation equipment 20 before rotating the rotating body. This makes it possible to prevent the arm or bucket from colliding with objects around the excavation equipment 20 when the rotating body is rotating.

[0065] The control device 10 transmits control information related to the operation of the operation unit 22 of the excavation device 20 to the excavation device 20 (step S38). Specifically, the transmission unit 16 performs control to transmit the control information related to the operation of the operation unit 22 of the excavation device 20 to the excavation device 20. At this time, the transmission unit 16 may generate the control information related to the operation of the operation unit 22 of the excavation device 20.

[0066] The excavator 20 performs an operation in accordance with the received control information (step S40). Specifically, the excavator 20 operates the drive unit 24 in accordance with the control information. As a result, the operation unit 22 of the excavator 20 performs the determined operation. For example, when performing an excavation operation by bringing the bucket close to the main body of the excavator 20 and then rotating the rotating body, the excavator 20 first controls the hydraulic cylinder that drives the arm so that the arm bends relative to the boom. Thereafter, the excavator 20 controls the motor that drives the rotating body to rotate the rotating body and position the bucket to face the excavation site. Then, the excavator 20 controls the hydraulic cylinder that drives the boom and arm to move the bucket to the excavation position.

[0067] As described above, the excavation system 1 according to the third embodiment has the third detection device 6 that detects excavation device information. Therefore, the excavation device 20 can operate according to its current attitude. Therefore, the excavation device 20 can operate efficiently. Therefore, the excavation system 1 according to the third embodiment can further improve the work efficiency at an excavation site. Note that the use of the control device 10 according to the third embodiment also makes it possible to improve the work efficiency at an excavation site. Furthermore, the use of the control method executed by the control device 10 and the program that executes the control method also makes it possible to improve the work efficiency at an excavation site.

[0068] (Fourth embodiment) Next, a fourth embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. Furthermore, in each drawing, the same elements are given the same symbols, and duplicate explanations are omitted as necessary. The fourth embodiment corresponds to a more specific embodiment of the above-mentioned embodiments. Specifically, the system according to the fourth embodiment differs from the other embodiments described above in that it includes an intermediate control device. Note that the fourth embodiment shows an example in which the object 80 is soil and sand.

[0069] 8 is a diagram showing the configuration of an excavation system 100 according to the fourth embodiment. The excavation system 100 according to the fourth embodiment has a control device 10, an excavation device 20, an object detection device 102, a load detection device 104, and a construction machine detection device 106. The excavation system 100 according to the fourth embodiment also has a soil shape analysis device 112, a soil load analysis device 114, and a construction machine analysis device 116.

[0070] The object detection device 102 corresponds to the first detection device 2. The object detection device 102 is installed so as to be able to monitor an object 80 at, for example, an excavation site 70. The object detection device 102 is installed, for example, above the excavation site 70. The object detection device 102 detects information (object information) relating to the object 80 at the excavation site 70. More specifically, the object detection device 102 detects information indicating the position of the object 80 at the excavation site 70. The object detection device 102 is, for example, a three-dimensional sensor such as a 3D lidar, a stereo camera, or a TOF camera.

[0071] The cargo detection device 104 corresponds to the second detection device 4. The cargo detection device 104 is installed so as to be able to monitor, for example, the loading place 90. The cargo detection device 104 is installed, for example, above the loading place 90. The cargo detection device 104 detects information related to the loading place 90 (loading place information). More specifically, the cargo detection device 104 detects information indicating the position of the object 80 in the loading place 90. The cargo detection device 104 is, for example, a three-dimensional sensor such as a 3D lidar, a stereo camera, or a TOF camera.

[0072] The construction machine detection device 106 corresponds to the third detection device 6. The construction machine detection device 106 includes an attitude sensor, a position detection device, a direction sensor, and a three-dimensional sensor. The construction machine detection device 106 detects information (excavation machine information) relating to the attitude and position of the excavation machine 20.

[0073] The attitude sensor detects the attitude of the operating unit 22. The attitude sensor is, for example, an inclination sensor, a gyro sensor, a stroke sensor, an angle sensor, or a force sensor. The inclination sensor and the gyro sensor may be installed in the operating unit 22, for example, in the bucket, the arm, or the boom. The stroke sensor may be installed in, for example, a hydraulic cylinder. The angle sensor and the force sensor may be installed between the operating units 22, for example, in the joint between the main body and the boom, the joint between the boom and the arm, the joint between the arm and the bucket, and the motor that rotates the rotating body.

[0074] The orientation sensor detects the direction in which the drilling rig 20 is facing. The orientation sensor is, for example, a Global Navigation Satellite System (GNSS), a gyro sensor, or a linear encoder. The orientation sensor may be installed, for example, on the main body of the drilling rig 20. The position detection device detects the position coordinates of the drilling rig 20 and the operating unit 22. The position detection device is, for example, a GNSS, a 3D lidar, or a stereo camera.

[0075] The soil shape analysis device 112, the soil load analysis device 114, and the construction equipment analysis device 116 are intermediate control devices. The intermediate control device is a computer. The intermediate control device is, for example, an edge server. The intermediate control devices are installed near the work site. That is, the soil shape analysis device 112 can be installed near the object detection device 102. The soil load analysis device 114 can be installed near the load detection device 104. The construction equipment analysis device 116 can be installed near the construction equipment detection device 106, that is, near the excavation equipment 20 or at the excavation equipment 20. Note that the intermediate control devices can also be applied to excavation systems according to other embodiments.

[0076] The intermediate control device is communicatively connected to the control device 10 via the network 3. The soil shape analysis device 112 is communicatively connected to the object detection device 102. The soil load analysis device 114 is communicatively connected to the load detection device 104. The construction machine analysis device 116 is communicatively connected to the construction machine detection device 106. The operation of the intermediate control device will be described later.

[0077] 9 is a flowchart showing processing executed by the excavation system 100 according to the fourth embodiment. Note that, hereinafter, the object information, loading location information, and excavation equipment information detected by each detection device (the object detection device 102, the loaded object detection device 104, and the construction equipment detection device 106) are collectively referred to as detection information.

[0078] First, each detection device detects detection information (step S100). Specifically, as described above, the object detection device 102 detects object information. The loaded object detection device 104 detects loading location information. The construction machine detection device 106 detects excavation machine information.

[0079] Next, each intermediate control device generates processing data to be processed by the control device 10 and transmits it to the control device 10 (step S102). The operations of the soil shape analysis device 112, the soil loading analysis device 114, and the construction machine analysis device 116 will be described below.

[0080] The sediment shape analysis device 112 acquires (receives) object information from the object detection device 102. Then, the sediment shape analysis device 112 uses the object information to analyze the shape of the sediment (object 80) at the excavation site 70. Then, the sediment shape analysis device 112 calculates (generates) object location data in the same manner as the processing of S12 described above. Here, the object location data is processed data processed by the control device 10. The sediment shape analysis device 112 transmits the object location data to the control device 10.

[0081] The sediment loading analysis device 114 acquires (receives) loading location information from the load detection device 104. Then, the sediment loading analysis device 114 analyzes the shape of the sediment (object 80) at the loading location 90 using the loading location information. Then, the sediment loading analysis device 114 calculates (generates) load data in the same manner as the processing of S22 described above. Here, the load data is processed data processed by the control device 10. The sediment loading analysis device 114 transmits the load data to the control device 10.

[0082] The construction machine analysis device 116 acquires (receives) excavation machine information from the construction machine detection device 106. Then, the construction machine analysis device 116 uses the excavation machine information to analyze the state of the excavation machine 20, such as its posture. Then, the construction machine analysis device 116 calculates (generates) machine data in the same manner as the processing of S32 described above. Here, the machine data is processed data processed by the control device 10. The construction machine analysis device 116 transmits the machine data to the control device 10.

[0083] The control device 10 receives processing data (target location data, payload data, or equipment data) from each intermediate control device (step S104). Then, the processes of S34 to S40 shown in FIG. 7 are executed (step S106). For example, when the control device 10 receives the target location data and equipment data, it determines an excavation position using the target location data (S14). Then, it determines a control operation for the operation unit 22 from the determined excavation position and equipment data (S36). Then, the control device 10 transmits control information to the excavation device 20 (S38), and the excavation device 20 executes an excavation operation (S40). The same applies when the control device 10 receives payload data and equipment data.

[0084] As described above, the excavation system 100 according to the fourth embodiment has an intermediate control device between each detection device and the control device 10. This distributes the processing load between the intermediate control device and the control device 10, and the control device 10 does not need to generate processing data. Therefore, it is possible to reduce the processing load on the control device 10.

[0085] 10 to 12 are diagrams showing specific system configuration examples of the excavation system 100 according to the fourth embodiment. Figure 10 shows an example of detecting the position of the drilling device 20 from outside the drilling device 20. The drilling device 20 shown in Figure 10 has an operating unit 22, a drive unit 24, a motion control device 26, an attitude sensor 106A, and an internal computer 116A. The motion control device 26, the attitude sensor 106A, and the internal computer 116A will be described later.

[0086] The excavation system 100 shown in Fig. 10 has an attitude sensor 106A and a position detection device 106B as the construction machine detection device 106. The attitude sensor 106A is installed in the operation unit 22 of the excavation equipment 20, etc. Meanwhile, the position detection device 106B is installed outside the excavation equipment 20 (for example, in a position that allows a bird's-eye view of the entire work site). The attitude sensor 106A detects the attitude of the operation unit 22 of the excavation equipment 20. The position detection device 106B detects, for example, the position coordinates of the operation unit 22 of the excavation equipment 20.

[0087] The excavation system 100 shown in Fig. 10 has an on-board computer 116A and a construction machine position measuring device 116B as a construction machine analysis device 116. The on-board computer 116A is a computer mounted on the excavation machine or a computer built into the excavation machine 20. The on-board computer 116A is communicably connected to the attitude sensor 106A. The on-board computer 116A is also communicably connected to the control device 10 via a network 3.

[0088] The construction machine position measuring device 116B is installed near the position detection device 106B. The construction machine position measuring device 116B is connected to the position detection device 106B so as to be able to communicate with it. In addition, the construction machine position measuring device 116B is connected to the control device 10 via the network 3 so as to be able to communicate with it.

[0089] The built-in computer 116A receives detection information (excavation device information) indicating the attitude of the operating unit 22 from the attitude sensor 106A. Then, the built-in computer 116A uses this information to analyze the attitude of the operating unit 22 of the excavation device 20. Then, the built-in computer 116A calculates (generates) device data indicating the attitude of the operating unit 22 in the same manner as the processing of S32 described above. The built-in computer 116A transmits the device data indicating the attitude of the operating unit 22 to the control device 10.

[0090] The construction machine position measuring device 116B receives detection information (excavation machine information) indicating the position coordinates of the operation unit 22 of the excavation machine 20 from the position detection device 106B. Then, the construction machine position measuring device 116B calculates (generates) device data indicating the position of the excavation machine 20 in the same manner as the processing of S32 described above. The construction machine position measuring device 116B transmits the device data indicating the position of the excavation machine 20 to the control device 10.

[0091] The control device 10 receives device data (processing data) from the built-in computer 116A and the construction machine position measuring device 116B. Then, the control device 10 determines the control operation of the operating unit 22 based on the device data (processing data), similar to the processing of S106 described above. The control device 10 transmits control information indicating the determined control operation to the built-in computer 116A of the excavation device 20. The built-in computer 116A controls the operation control device 26 in accordance with the control information.

[0092] The operation control device 26 is a device that controls the drive unit 24 to operate the operation unit 22. Under the control of the operation control device 26, the operation unit 22 performs the operation determined by the control device 10. The operation control device 26 may be, for example, a device that is attached to an operation lever in the operation room of the excavation device 20 and operates the operation lever. Furthermore, the operation control device 26 may be, for example, a mechanism that operates the drive unit 24 by transmitting a control signal to the drive unit 24.

[0093] Fig. 11 shows an example in which the position of the excavation equipment 20 is detected by a detection device (sensor) inside the excavation equipment 20. The excavation equipment 20 shown in Fig. 11 has an operation unit 22, a drive unit 24, a motion control device 26, an attitude sensor 106A, a positioning sensor 106C, and an internal computer 116A. The positioning sensor 106C will be described later.

[0094] The excavation system 100 shown in FIG. 11 has an attitude sensor 106A and a positioning sensor 106C as the construction machine detection device 106. The positioning sensor 106C is built into the excavation equipment 20. The positioning sensor 106C is communicably connected to the built-in computer 116A. The positioning sensor 106C is, for example, a GNSS. The positioning sensor 106C detects the position coordinates (latitude, longitude, etc.) of the excavation equipment 20.

[0095] The excavation system 100 shown in FIG. 11 has an on-board computer 116A as the construction machine analysis device 116. The on-board computer 116A receives detection information (excavation device information) indicating the attitude of the operation unit 22 from the attitude sensor 106A. The on-board computer 116A also receives detection information (excavation device information) indicating the position coordinates of the excavation device 20 from the positioning sensor 106C. Then, the on-board computer 116A calculates (generates) device data indicating the attitude of the operation unit 22 and the position of the excavation device 20, similar to the processing of S32 described above. The on-board computer 116A transmits the device data to the control device 10. The subsequent processing is substantially similar to the processing in the system shown in FIG. 10.

[0096] FIG. 12 shows an example in which the control device 10 is built into an excavation device 20. The excavation device 20 shown in FIG. 12 has the control device 10, an operating unit 22, a drive unit 24, a motion control device 26, and an attitude sensor 106A. The excavation system 100 shown in FIG. 12 has the control device 10 and a construction machine position measuring device 116B as a construction machine analysis device 116. In other words, the control device 10 has at least some of the functions of the construction machine analysis device 116. The other configurations are substantially similar to the configuration shown in FIG. 10.

[0097] The control device 10 is communicatively connected to the soil shape analysis device 112, the construction machine position measurement device 116B, and the soil load analysis device 114 via the network 3. The control device 10 can perform substantially the same processing as the built-in computer 116A. That is, the control device 10 receives detection information (excavation device information) indicating the attitude of the operating unit 22 from the attitude sensor 106A. The control device 10 then uses this information to analyze the attitude of the operating unit 22 of the excavation device 20. The control device 10 then calculates (generates) device data indicating the attitude of the operating unit 22 in the same manner as the processing of S32 described above. Other processing by the control device 10 is substantially the same as that shown in FIG. 10.

[0098] (Embodiment 5) Next, a fifth embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. Furthermore, in each drawing, the same elements are given the same symbols, and duplicate explanations are omitted as necessary. The fifth embodiment corresponds to a more specific embodiment of the first to third embodiments described above. The fifth embodiment differs from the other embodiments described above in that the control device 10 controls the excavation device 20 and a device other than the excavation device 20 (a first device).

[0099] 13 is a diagram showing the configuration of an excavation system 100 according to the fifth embodiment. The excavation system 100 according to the fifth embodiment has a control device 10, an excavation device 20, an object detection device 102, a load detection device 104, a sediment shape analysis device 112, and a sediment loading analysis device 114. Furthermore, the excavation system 100 according to the fifth embodiment has a transport device 30 corresponding to the loading location 90. Note that in this embodiment, the sediment shape analysis device 112 and the sediment loading analysis device 114 may not be required.

[0100] The transporting device 30 transports the excavated object 80. The transporting device 30 is, for example, a dump truck, a trailer, a forklift, a railroad vehicle, or a transport robot. The transporting device 30 is connected to the control device 10 so as to be able to communicate wirelessly. The control device 10 can control the operation of the transporting device 30. In other words, the transporting device 30 operates under the control of the control device 10.

[0101] Specifically, the control device 10 determines the operation of a transport device 30 (first device), which is a device other than the excavation device 20, based on the payload data. Then, the control device 10 transmits control information (carrier device control information) related to the operation of the transport device 30 to the transport device 30. The transport device 30 operates in accordance with the control information. A specific example of control of the transport device 30 will be described below. In the example described below, the control device 10 determines the operation of the transport device 30 based on the payload data, and transmits the control information related to the operation of the transport device 30 to the transport device 30.

[0102] FIG. 14 is a flowchart showing a control method for the transporting device 30 performed by the excavation system 100 according to the fifth embodiment. FIG. 14 shows a control method (S202 to S208) executed by the control device 10 according to the fifth embodiment. The load detection device 104 detects loading location information in the same manner as in S100 (step S200). The sediment loading analysis device 114 generates load data and transmits it to the control device 10 in the same manner as in S102 (step S201). The control device 10 acquires (receives) the load data in the same manner as in S104 (step S202). If the sediment loading analysis device 114 is not provided, the processes of S201 to S202 can be replaced with the process of S22 in FIG. 4.

[0103] The determination unit 14 of the control device 10 uses the load data to determine whether the load amount of the transporting device 30 is equal to or greater than a predetermined threshold (step S204). For example, if the load data is sediment volume data, the determination unit 14 determines whether the sediment volume of the transporting device 30 is equal to or greater than a threshold. Also, for example, if the load data is three-dimensional map data of sediment, the determination unit 14 determines whether the height of the sediment of the transporting device 30 is equal to or greater than a threshold.

[0104] If the load capacity of the transporting device 30 is not equal to or greater than the threshold (NO in S204), the process returns to the beginning. Then, the processes of S10 to S18 or S20 to S28 may be executed. On the other hand, if the load capacity of the transporting device 30 is equal to or greater than the threshold (YES in S204), the determination unit 14 determines that the load capacity of the transporting device 30 has reached the allowable capacity (is full). Then, the determination unit 14 determines a transporting operation of the transporting device 30 (step S206). The transporting operation is an operation by which the transporting device 30 transports the object 80, which is the load. The transporting operation includes, for example, starting the engine of the transporting device 30, controlling the accelerator and steering, and transporting the earth and sand (object 80) to a predetermined accumulation location. In this case, the transporting operation may include turning on the automatic control (automatic driving) function of the transporting device 30.

[0105] The control device 10 transmits control information (carrying device control information) related to the carrying operation of the carrying device 30 to the carrying device 30 (step S208). Specifically, the transmitting unit 16 performs control to transmit the control information related to the carrying operation to the carrying device 30. At this time, the transmitting unit 16 may generate the control information related to the carrying operation.

[0106] The transporting device 30 performs a transporting operation in accordance with the received control information (step S210). Specifically, the transporting device 30 operates the driving parts such as the engine, accelerator, and steering in accordance with the control information. As a result, the transporting device 30 starts moving to the collection site.

[0107] As described above, in the excavation system 100 according to the fifth embodiment, the control device 10 is configured to control the operation of a device (first device) other than the excavation device 20. Therefore, it is possible to improve the work efficiency of the entire work site. Furthermore, in the excavation system 100 according to the fifth embodiment, the control device 10 determines the operation of the transporting device 30 based on the payload data, and transmits control information regarding the operation of the transporting device 30 to the transporting device 30. As a result, when the load capacity of the transporting device 30 reaches the allowable load, the transporting device 30 can be moved without bothering the worker. Therefore, it is possible to further improve the work efficiency.

[0108] The control device 10 may control a device (first device) other than the excavation device 20 and the transporting device 30. For example, if the loading location 90 is not the transporting device 30, the control device 10 may control an alarm (first device) provided in a management room or the like. Then, if the load capacity of the transporting device 30 is equal to or greater than the threshold (YES in S204), the decision unit 14 of the control device 10 decides the operation of the alarm. Specifically, the decision unit 14 decides to cause the alarm to output a notification that the loading location 90 is full (full notification). Then, the transmission unit 16 of the control device 10 transmits control information to the alarm to cause the alarm to output the full notification. As a result, the alarm notifies that the loading location 90 is full by a screen, sound, lamp, or the like.

[0109] Furthermore, for example, the control device 10 may control any work machine including construction machines such as ground leveling machines (bulldozers, motor graders, etc.). As shown in FIG. 8, the excavation device 20 according to the fifth embodiment may include a construction machine detection device 106. The excavation system 100 according to the fifth embodiment may include the intermediate control device described in the fourth embodiment. These are also the same in the other embodiments.

[0110] (Embodiment 6) Next, a sixth embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, in each drawing, the same elements are given the same symbols, and duplicate explanations are omitted as necessary. The sixth embodiment corresponds to a more specific embodiment of the first to third embodiments described above. The sixth embodiment differs from the other embodiments described above in that there are multiple loading locations 90.

[0111] FIG. 15 is a diagram showing the configuration of an excavation system 100 according to a sixth embodiment. The excavation system 100 according to the sixth embodiment includes a control device 10, a plurality of excavation rigs 20A, 20B, and 20C, an object detection device 102, a load detection device 104, a sediment shape analysis device 112, and a sediment load analysis device 114. In the sixth embodiment, a plurality of loading locations 90A, 90B, and 90C are present. The load detection device 104 detects information (loading location information) relating to each of the plurality of loading locations 90A to 90C. A plurality of load detection devices 104 may be installed, one for each of the plurality of loading locations 90. Although three excavation rigs 20 and three loading locations 90 are shown in FIG. 15, the numbers of excavation rigs 20 and loading locations 90 are each arbitrary. Furthermore, the number of excavation rigs 20 and the number of loading locations 90 do not need to be the same. In this embodiment, the soil shape analyzer 112 and the soil loading analyzer 114 may be omitted.

[0112] The control device 10 determines which of the multiple loading places 90A to 90C the excavator 20 will operate at. In the example shown below, the control device 10 determines which of the multiple loading places 90 the excavator 20 will operate at, based on the payload data of each of the multiple loading places 90.

[0113] FIG. 16 is a flowchart showing the processing executed by the excavation system 100 according to the sixth embodiment. FIG. 16 shows a control method (S302 to S308) executed by the control device 10 according to the sixth embodiment. The load detection device 104 detects loading place information for each of the plurality of loading places 90 in the same manner as in S100 (step S300). The sediment loading analysis device 114 generates load data from each of the plurality of loading place information and transmits it to the control device 10 in the same manner as in S102 (step S301). The control device 10 acquires (receives) load data for each of the plurality of loading places 90 in the same manner as in S104 (step S302). If the sediment loading analysis device 114 is not provided, the processing of S301 to S302 can be replaced with the processing of S22 in FIG. 4.

[0114] The determination unit 14 of the control device 10 uses the cargo data to determine whether the load amount at a certain loading location 90 (loading location X) is equal to or greater than a predetermined threshold (step S304). The determination method may be substantially the same as the determination method used in the processing of S204. If the load amounts at all loading locations 90 are not equal to or greater than the threshold (NO in S304), the processing returns to the beginning. Then, the processing of S10 to S18 or the processing of S20 to S28 may be executed.

[0115] On the other hand, if the loading capacity of a certain loading location 90 is equal to or greater than the threshold (YES in S304), the determination unit 14 determines that the loading capacity of that loading location 90 (loading location X) has reached the allowable capacity (becomes full). In this case, the determination unit 14 determines the loading location 90 where the loading operation of each excavator 20 will be performed (step S306). At this time, the determination unit 14 may perform substantially the same processing as in S24.

[0116] For example, it is assumed that the control device 10 controls each excavation rig 20 so that the excavation rig 20A performs a loading operation at the loading location 90A, the excavation rig 20B performs a loading operation at the loading location 90B, and the excavation rig 20C performs a loading operation at the loading location 90C. In this case, when the loading location 90A is full, the determination unit 14 determines that the loading location 90 at which the excavation rig 20A will perform the loading operation is the loading location 90B or the loading location 90C. Furthermore, at this time, the determination unit 14 may determine that the loading location 90 at which the excavation rig 20A will perform the loading operation is the loading location 90B or the loading location 90C, whichever has the larger (or smaller) load amount. In this case, the determination unit 14 also determines that the loading location 90 at which the excavation rig 20B will perform the loading operation is the loading location 90B. Similarly, the determination unit 14 determines the loading location 90 where the excavator 20C performs the loading operation as the loading location 90C.

[0117] The control device 10 transmits, to each excavation device 20, control information indicating the loading location 90 where the corresponding excavation device 20 will perform the loading operation (step S308). Specifically, the transmitting unit 16 performs control to transmit the control information to each excavation device 20. At this time, the transmitting unit 16 may generate control information indicating the loading location 90 where the loading operation will be performed.

[0118] The excavation equipment 20 performs a loading operation in accordance with the received control information (step S310). Specifically, each excavation equipment 20 performs a loading operation on the loading location 90 indicated in the control information. In the above example, the excavation equipment 20A performs a loading operation on the loading location 90B or the loading location 90C. Furthermore, the excavation equipment 20B performs a loading operation on the loading location 90B. The excavation equipment 20C performs a loading operation on the loading location 90C.

[0119] 15 shows an example in which there are multiple excavation devices 20, but there may not be multiple excavation devices 20. Also, the processing of S304 shown in FIG. 16 may be omitted. In this case, the determination unit 14 may determine the loading location 90 at which each excavation device 20 will perform the loading operation in S306, for example, according to the load capacity of each loading location 90, without performing the processing of S304. For example, the determination unit 14 may determine that the excavation device 20A will perform the loading operation at a loading location 90 with a larger load capacity than the other loading locations 90, and that the excavation device 20B will perform the loading operation at a loading location 90 with a smaller load capacity than the other loading locations 90.

[0120] As described above, in the excavation system 100 according to the sixth embodiment, the control device 10 is configured to determine which of the multiple loading locations 90 the excavation device 20 will operate at. This can improve work efficiency. In particular, when there are multiple excavation devices 20, the control device 10 can link the multiple excavation devices 20 together to prevent one excavation device 20 from interfering with another excavation device 20.

[0121] Furthermore, in the excavation system 100 according to the sixth embodiment, the control device 10 determines which of the multiple loading places 90 the excavation device 20 should operate at, based on the cargo data for each of the multiple loading places 90. This makes it possible to avoid the excavation device 20 performing a loading operation at a loading place 90 that is full. Therefore, it is possible to improve work efficiency.

[0122] (Embodiment 7) Next, a seventh embodiment will be described with reference to the drawings. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In addition, in each drawing, the same elements are given the same symbols, and duplicate explanations are omitted as necessary. The seventh embodiment corresponds to a more specific embodiment of the above-mentioned first to third embodiments. The seventh embodiment differs from the other above-mentioned embodiments in that there are multiple work sites.

[0123] FIG. 17 is a diagram showing the configuration of an excavation system 200 according to a seventh embodiment. The excavation system 200 includes a control device 10 and a plurality of work sites 40A and 40B. The work site 40A includes an excavation rig 20A, an object detection device 102A, a load detection device 104A, an excavation location 70A, an object 80A, and a transporter 30A (loading location 90A). The work site 40B includes an excavation rig 20B, an object detection device 102B, a load detection device 104B, an excavation location 70B, an object 80B, and a transporter 30B (loading location 90B). The control device 10 is wirelessly connected to the detection devices, the excavation rigs 20, and the transporter 30 of each work site 40 so as to be able to communicate with each other. Note that, although the seventh embodiment describes the loading location 90 as being the transporter 30, the loading location 90 does not have to be the transporter 30. In addition, although the number of work sites 40 is two in FIG. 17, the number of work sites 40 is arbitrary.

[0124] The work site 40A will now be described. The excavation equipment 20A excavates an object 80A (earth and sand) at the excavation location 70A. The excavation equipment 20A loads (discharges, etc.) the excavated object 80A onto a transporter 30A (loading location 90A). An object detection device 102A detects detection information (object information) related to the object 80A at the excavation location 70A. A loaded object detection device 104A detects detection information (loading location information) related to the object 80 loaded on the transporter 30A (loading location 90A). The transporter 30 transports the loaded object 80 to a predetermined location outside the work site 40A. The same applies to the work site 40B.

[0125] The control device 10 receives detection information (object information and load location information) from each detection device (object detection device 102 and load detection device 104) at each work site 40. The control device 10 determines the operation of each excavation device 20 at each of the multiple work sites 40 in accordance with the detection information (object location data and load data) received from each detection device at each work site 40. The control device 10 then transmits control information indicating the operation of each excavation device 20 to the corresponding excavation device 20. The control device 10 also determines the operation of each transport device 30 at each of the multiple work sites 40 in accordance with processed data (object location data and load data) obtained from the detection information received from each detection device at each work site 40. The control device 10 then transmits control information indicating the operation of each transport device 30 to the corresponding transport device 30.

[0126] That is, the control device 10 analyzes the situation of each of the multiple work sites 40 based on at least one of the target location data for each of the multiple work sites 40 and the payload data for each of the multiple work sites 40. Then, the control device 10 transmits control information for the excavation equipment 20 at each of the multiple work sites 40 to the excavation equipment 20 at each of the multiple work sites 40 according to the analyzed situation. Also, the control device 10 transmits control information for the operation of the transport equipment 30 at each of the multiple work sites 40 to the transport equipment 30 at each of the multiple work sites 40 according to the analyzed situation.

[0127] 18 is a flowchart showing the processing executed by the excavation system 200 according to the seventh embodiment. First, for each work site 40, the processing of S10 to S12 and S20 to S22 is executed (step S400). That is, the object detection device 102 of each work site 40 acquires object information (S10). The control device 10 acquires object location data related to each work site 40 (S12). Furthermore, the load detection device 104 of each work site 40 acquires loading location information (S20). The control device 10 acquires load data related to each work site 40 (S22).

[0128] The control device 10 analyzes the status of each work site 40 based on the target location data and cargo data for each work site 40 (step S402). Specifically, the determination unit 14 of the control device 10 analyzes the progress status of each work site 40. Then, for each work site 40, at least one of S14 to S18, S24 to S28, and S204 to S210 is executed (step S404). A specific example will be described below.

[0129] For example, at the work site 40A, the decision unit 14 determines from the payload data that the payload of the transporter 30A has reached the allowable load. Therefore, the decision unit 14 determines that the transporter 30A should be moved at the work site 40A. On the other hand, at the work site 40B, the decision unit 14 determines from the payload data that the payload of the transporter 30B has not reached the allowable load. Therefore, the decision unit 14 determines that the transporter 30B should not be moved at the work site 40B yet.

[0130] In this case, the decision unit 14 decides to move the transporting device 30A for the work site 40A (S206). Then, the transmission unit 16 performs control to transmit control information indicating that the transporting device 30A is to be moved to the transporting device 30A (S208). As a result, the transporting device 30A starts moving (S210). On the other hand, the decision unit 14 decides to proceed with the excavation operation for the work site 40B (S14). The transmission unit 16 performs control to transmit control information regarding the excavation operation to the excavation device 20 (S16). As a result, the excavation device 20 performs the excavation operation (S18). This prevents the transporting device 30B at the work site 40B from interfering with the progress of the transporting device 30A at the work site 40A. In other words, it is possible to prevent the transporting devices 30 from concentrating at the transport location of the object 80, causing congestion, etc.

[0131] Furthermore, for example, the determination unit 14 determines from the load data at the work site 40A that the load weight of the transporter 30A will soon reach its capacity. Therefore, the determination unit 14 determines that it will soon be time to move the transporter 30A at the work site 40A. On the other hand, the determination unit 14 determines from the load data at the work site 40B that the load weight of the transporter 30B has reached its capacity. Therefore, the determination unit 14 determines that the transporter 30B should be moved at the work site 40B.

[0132] In this case, the decision unit 14 decides that for the work site 40A, the object 80 loaded on the transporter 30A should be leveled (S24). On the other hand, for the work site 40B, the decision unit 14 decides to move the transporter 30B (S206). Then, the transmission unit 16 performs control to transmit control information indicating that the loaded object 80 should be leveled to the excavation device 20A (S26). As a result, the excavation device 20A levels the object 80 loaded on the transporter 30A (S28). On the other hand, the transmission unit 16 performs control to transmit control information indicating that the transporter 30B should be moved to the transporter 30B (S208). As a result, the transporter 30B starts moving (S210). This makes it possible to avoid the transporter 30A at the work site 40A interfering with the progress of the transporter 30B at the work site 40B. In other words, it is possible to prevent the transport devices 30 from concentrating at the transport location of the object 80, causing congestion and the like.

[0133] It should be noted that the control device 10 can perform control other than the examples described above. For example, the control device 10 can also link the work site 40A and the work site 40B. For example, the decision unit 14 may determine that progress at the work site 40A is delayed based on the payload data at the work site 40A. In this case, the decision unit 14 may decide to dispatch the excavation rig 20B (and the transporting device 30B) at the work site 40B to the work site 40A. Alternatively, in this case, the decision unit 14 may decide to abandon the work at the work site 40A. In this case, the decision unit 14 may decide to withdraw the excavation rig 20A and the transporting device 30A from the work site 40A and dispatch the excavation rig 20A and the transporting device 30A to the work site 40B.

[0134] In this way, the control device 10 of the excavation system 200 according to the seventh embodiment is configured to analyze the situations of the plurality of work sites 40 and determine the work to be performed at each of the plurality of work sites 40. This makes it possible to improve the work efficiency of the plurality of work sites 40 as a whole.

[0135] (Example of hardware configuration) 19 is a diagram illustrating an example of the hardware configuration of each device constituting the excavation system according to this embodiment. Each device (control device 10 and intermediate control device) can be realized by an information processing device 50. The information processing device 50 has a control unit 52, an input unit 53, a display unit 54, a storage unit 56, and a communication unit 58. These components allow the information processing device 50 (each device) to function as a computer.

[0136] The control unit 52 is, for example, an arithmetic processing unit (processor) such as a CPU. The control unit 52 controls the operation of the information processing device 50. The control unit 52 controls the operation of the input unit 53, the display unit 54, the storage unit 56, and the communication unit 58. The control unit 52 also performs necessary processing in response to an operation accepted by the input unit 53. The control unit 52 also controls the display unit 54 to display necessary information. The control unit 52 also performs necessary processing in response to information and signals received by the communication unit 58. The control unit 52 can also execute a program stored in the storage unit 56. This allows each component of the control device 10 (the acquisition unit 12, the determination unit 14, and the transmission unit 16) to be realized.

[0137] The input unit 53 and the display unit 54 are user interfaces. The input unit 53 can be realized by including a touch panel, a keyboard, a mouse, or the like. The display unit 54 can be realized by including a display device such as a touch panel or an LCD (Liquid Crystal Display), or a printer, or the like. Furthermore, the input unit 53 and the display unit 54 can be physically configured as one unit using a touch panel, or the like.

[0138] The storage unit 56 is a storage device such as a memory or a hard disk. The storage unit 56 stores various programs and various information. The communication unit 58 is a device that performs processing necessary for the control device 10, the intermediate control device, and each detection device to communicate with each other via wired or wireless communication.

[0139] Note that each component of the control device 10 is not limited to being realized by software programs. At least one of the components of the control device 10 may be realized by a combination of hardware, firmware, and software. Furthermore, each component of the control device 10 may be realized using a user-programmable integrated circuit, such as an FPGA (field-programmable gate array) or a microcomputer. In this case, a program consisting of each of the above components may be realized using this integrated circuit.

[0140] (Variation) The present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. For example, the above-described embodiments can be applied to each other. For example, the seventh embodiment can be combined with the third or fourth embodiment.

[0141] Furthermore, in the above-described flowchart, the order of each process (step) can be changed as appropriate. For example, in the flowchart shown in Fig. 7, the process of S34 may be executed before the process of S30.

[0142] Furthermore, the control device 10 does not have to be a single physical device. In other words, the control device 10 can be realized by a plurality of physically separated devices. The plurality of processes of the control device 10 described above may be executed by a plurality of devices. In other words, the process of the acquisition unit 12, the process of the determination unit 14, and the process of the transmission unit 16 may be executed by a plurality of separate devices (control devices 10).

[0143] Furthermore, in the intermediate control device according to the above-described embodiment, processing data is generated from each piece of detection information, and the control device 10 determines the operation of the excavation device 20, etc., but the present invention is not limited to this configuration. The intermediate control device may determine the operation of the excavation device 20, etc., and transmit data indicating the determined operation to the control device 10. Alternatively, the control device 10 may have the functions of the intermediate control device described above. In this case, the control device 10 may generate processing data from each piece of detection information, and determine the operation of the excavation device 20, etc.

[0144] Furthermore, in the above-described embodiment, the excavation is performed by a construction machine (excavation device 20), but the present invention is not limited to this configuration. This embodiment is applicable when any work machine performs work at a work site. The work machine may perform work on an object 80, such as wood, iron pipes, rebar, or iron plates. The work machine may include, for example, construction machinery or heavy machinery. The work machine may also be, for example, a bulldozer, a crane, a dump truck, a trailer, a forklift, or the like.

[0145] FIG. 20 is a diagram showing the configuration of a work system 300 according to a modified example. The work system 300, which corresponds to an excavation system, has a detection device 302 corresponding to the first detection device, a work machine 320 corresponding to the excavation device 20, and a control device 10. The work machine 320 performs work on an object 80, which is the work target, at a work site. The detection device 302 is installed in a location remote from the work machine 320, and detects information about the object 80 at the work site. The control device 10 transmits to the work machine 320 control information related to the operation of the work machine 320, the control information being determined based on object location data indicating the position of the object 80 acquired based on the information related to the object 80. In other words, the control device 10 transmits to the work machine 320 control information related to the operation of the work machine 320 based on object location data indicating the position of the object 80, which corresponds to the information related to the object 80. The work machine 320 performs an operation in accordance with the control information.

[0146] In this case, the acquisition unit 12 of the control device 10 acquires target location data indicating the position of the target object 80 from information related to the target object 80 detected by the detection device 302. The determination unit 14 determines the operation of the work machine 320 based on the acquired target location data. The transmission unit 16 transmits control information related to the operation of the work machine 320 to the work machine 320. Even with this configuration, it is possible to improve work efficiency at a work site. Furthermore, it is also possible to improve work efficiency at a work site using the control method executed by the control device 10 and the program that executes the control method.

[0147] In the above example, the program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to a computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can supply the program to a computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.

[0148] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) an excavation device for excavating an object to be excavated at an excavation site; a first detection device that is installed at the excavation site and detects information about the object; a control device that transmits control information regarding the operation of the drilling rig to the drilling rig based on object location data indicating a position of the object corresponding to information about the object; and The drilling device performs an operation for drilling in response to the control information. Drilling system. (Appendix 2) a second detection device that is installed at a loading location where the object is loaded and detects information about the loading location; and the control device transmits the control information to the excavator based on payload data indicating a position of the object loaded at the loading location corresponding to information about the loading location; The excavator performs operations for loading in response to the control information. 1. A drilling system as described in Appendix 1. (Appendix 3) a third detection device for detecting information regarding the condition of the drilling rig; and The control device transmits the control information to the drilling rig based on equipment data indicating a state of the drilling rig corresponding to information regarding the state of the drilling rig. 1. A drilling system as described in Appendix 2. (Appendix 4) an intermediate control device that transmits to the control device processing data to be processed by the control device based on one or more information of the information about the object, the information about the loading location, and the information about the state of the excavation device; and The controller transmits control information to the drilling rig based on the processed data. 1. A drilling system as described in Appendix 3. (Appendix 5) The controller determines that the excavator will operate at one or more of the load locations. 5. The drilling system of any one of claims 2 to 4. (Appendix 6) a plurality of said drilling rigs; The control device transmits the control information to each of the drilling rigs. 6. The drilling system of any one of clauses 2 to 5. (Appendix 7) a plurality of work sites each including the excavation equipment, the first detection device, and the excavation location; The control device transmits the control information to the excavator at each of the plurality of work sites. 7. The drilling system of any one of clauses 2 to 6. (Appendix 8) the loading location is a transport device that transports the object, The control device transmits, to the transport device, transport device control information relating to the operation of the transport device based on the payload data. 8. The drilling system of any one of clauses 2 to 7. (Appendix 9) The control device determines a trajectory along which the drilling rig will operate, and transmits the control information corresponding to the trajectory to the drilling rig. 9. The drilling system of any one of clauses 1 to 8. (Appendix 10) an acquisition means for acquiring information about an object to be excavated by an excavation device at an excavation site, the information relating to the object being detected by a first detection device installed at the excavation site, and object location data indicating the position of the object; a determining means for determining an operation of the drilling rig based on the target location data; transmitting means for transmitting control information relating to the operation of said drilling rig to said drilling rig; A control device having: (Appendix 11) the acquiring means acquires cargo data indicating a position of the object loaded at the loading location, the cargo data corresponding to the information about the loading location detected by a second detecting device installed at the loading location, the cargo data being information about the loading location where the object is loaded; The determining means determines the operation of the excavator based on the payload data. 11. The control device of claim 10. (Appendix 12) the acquisition means acquires equipment data indicating a state of the drilling equipment corresponding to information about the state of the drilling equipment detected by a third detection device that detects information about the state of the drilling equipment; The determining means determines the operation of the drilling rig based on the rig data. 12. The control device of claim 11. (Appendix 13) the acquisition means acquires processing data to be processed by the control device, the processing data being transmitted from the intermediate control device based on one or more pieces of information among information about the object, information about the loading location, and information about the state of the excavation device; The determining means determines the operation of the drilling rig based on the processed data. 13. The control device of claim 12. (Appendix 14) The determining means determines that the excavator will operate at one or more of the load locations. 14. The control device according to any one of appendices 11 to 13. (Appendix 15) The transmitting means transmits the control information to each of the plurality of drilling rigs. 15. The control device according to any one of appendices 11 to 14. (Appendix 16) a plurality of work sites each including the excavation equipment, the first detection device, and the excavation location; The determining means determines operation of the excavator for each of the plurality of work sites; The transmitting means transmits the control information to the excavation equipment at each of the plurality of work sites. 16. The control device according to any one of appendices 11 to 15. (Appendix 17) the loading location is a transport device that transports the object, The determining means determines an operation of the transporting device based on the load data; The transmitting means transmits to the transport device control information relating to the operation of the transport device. 17. The control device according to any one of appendices 11 to 16. (Appendix 18) The determining means determines a trajectory along which the drilling device will move; The transmitting means transmits the control information corresponding to the trajectory to the excavation device. 18. The control device according to any one of appendices 11 to 17. (Appendix 19) acquiring information about an object to be excavated by an excavation device at an excavation site, the information corresponding to information about the object detected by a first detection device installed at the excavation site, and object location data indicating a position of the object; determining an operation of the drilling rig based on the target location data; Transmitting control information to the drilling rig regarding operation of the drilling rig Control method. (Appendix 20) acquiring load data indicating a position of the object loaded at the loading location, the load data corresponding to the information about the loading location detected by a second detection device installed at the loading location; determining operation of the excavator based on the payload data; 19. The control method of claim 19. (Appendix 21) acquiring equipment data indicative of the state of the drilling rig corresponding to information about the state of the drilling rig detected by a third detection device that detects information about the state of the drilling rig; determining operation of the drilling rig based on the rig data; 21. The control method of claim 20. (Appendix 22) Acquire processing data transmitted from the intermediate control device based on one or more pieces of information among information about the object, information about the loading location, and information about the state of the excavation equipment; determining an operation of the drilling rig based on the processed data; 22. The control method of claim 21. (Appendix 23) Determining that the excavator operates at one or more of the load locations. 23. The control method according to any one of appendices 20 to 22. (Appendix 24) transmitting the control information to each of the plurality of drilling rigs; 24. The control method according to any one of appendices 20 to 23. (Appendix 25) a plurality of work sites each including the excavation equipment, the first detection device, and the excavation location; determining operation of the excavator for each of the plurality of work sites; transmitting the control information to the excavator at each of the plurality of work sites; 25. The control method of any one of appendices 20 to 24. (Appendix 26) the loading location is a transport device that transports the object, determining an operation of the transporter based on the payload data; transmitting transport device control information to the transport device regarding the operation of the transport device; 26. The control method of any one of appendices 20 to 25. (Appendix 27) determining a trajectory along which the drilling rig will operate; transmitting the control information corresponding to the trajectory to the drilling rig; 27. A control method according to any one of appendices 20 to 26. (Appendix 28) acquiring object location data indicating a location of an object to be excavated by an excavation device at an excavation site, the object corresponding to information about the object detected by a first detection device installed at the excavation site; determining an operation of the drilling rig based on the target location data; transmitting control information to the drilling rig regarding operation of the drilling rig; A non-transitory computer-readable medium storing a program that causes a computer to execute the program. (Appendix 29) a work machine that performs work on an object that is a work target at a work site; a detection device that is installed at a location remote from the work machine and detects information about the object at the work site; a control device that transmits control information related to the operation of the work machine to the work machine based on object location data indicating the position of the object, which corresponds to information related to the object; and The work machine performs an operation in accordance with the control information. Working system. (Appendix 30) an acquisition means for acquiring information about an object that is a target of work by a work machine at a work site, said information corresponding to information about the object detected by a detection device installed in a location remote from the work machine, and object location data indicating the position of the object; a determination means for determining an operation of the work machine based on the target location data; a transmitting means for transmitting control information relating to the operation of the work machine to the work machine; A control device having: (Appendix 31) acquiring target location data indicating the position of an object that is the target of work by a work machine at a work site, the target location data corresponding to information about the object detected by a detection device installed at a location remote from the work machine; determining an operation of the work machine based on the target location data; Transmitting control information to the work machine regarding the operation of the work machine Control method. (Appendix 32) acquiring information about an object that is a target of work by a work machine at a work site, said information corresponding to information about the object detected by a detection device installed at a location remote from the work machine, and object location data indicating the position of the object; determining an operation of the work machine based on the target location data; controlling the work machine to transmit control information relating to the operation of the work machine to the work machine; A non-transitory computer-readable medium storing a program that causes a computer to execute the program.

[0149] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0150] This application claims priority based on Japanese Patent Application No. 2019-113106, filed on June 18, 2019, the disclosure of which is incorporated herein in its entirety. [Explanation of symbols]

[0151] 1. Drilling System 2. First detection device 3 Network 4. Second detection device 6. Third detection device 10 Control device 12 Acquisition Department 14 Decision Section 16 Transmitter 20. Drilling Rig 22 Operating unit 24 Drive unit 26 Motion control device 30 Transporting Device 40 Work Site 70 Excavation Site 80 Objects 90 Loading area 100 Drilling System 102 Object detection device 104 Load detection device 106 Construction machinery detection device 112 Sediment Shape Analysis Device 114 Sediment Loading Analysis Device 116 Construction Machinery Analysis Device 200 Drilling System 300 Work System 302 Detection Device 320 Work Machinery

Claims

1. a loading place recognition means for acquiring, at a loading place where the excavated object is loaded, load data relating to the loading place, the load data being information relating to the loading place and relating to the position of the object loaded at the loading place; a control means for transmitting to the working means control information relating to the operation of a working means for moving the object to the loading location in accordance with the load data, the control information indicating at least the position of the object to be leveled among the objects loaded at the loading location; and Drilling system including:

2. The control means acquires information about the object at the excavation site, and transmits the control information to the work means according to the information about the object and the payload data. The drilling system of claim 1 .

3. The control means acquires information about the state of the working means, and transmits the control information to the working means according to one or more of the information about the state of the working means, the information about the object, and the load data.

3. A drilling system according to claim 1 or 2.

4. The control means determines a trajectory along which the working means will move, and transmits the control information corresponding to the trajectory to the working means. A drilling system according to any one of claims 1 to 3.

5. At a loading location where the excavated object is loaded, load data is acquired, the load data being information about the loading location and relating to the position of the object loaded at the loading location; transmitting control information to the working means for moving the object to the loading location in accordance with the load data, the control information indicating at least the position of the object to be leveled among the objects loaded at the loading location; Drilling method.

6. obtaining information about the object at the excavation site; transmitting the control information to the working means in accordance with information about the object and the load data; The excavation method according to claim 5.

7. obtaining information about the status of the working means; transmitting the control information to the working means in response to one or more of information regarding the state of the working means, information regarding the object, and the payload data; 7. The excavation method according to claim 5 or 6.

8. determining a trajectory along which the working means will move, and transmitting the control information corresponding to the trajectory to the working means; 8. A drilling method according to any one of claims 5 to 7.

9. a loading place recognition unit that acquires, at a loading place where the excavated object is loaded, load data that is information about the loading place and is related to the position of the object loaded at the loading place; a control unit that transmits to the working unit control information relating to the operation of the working unit that moves the object to the loading location in accordance with the loaded object data, the control information indicating at least the position of the object to be leveled among the objects loaded at the loading location; and A control device including:

10. The control unit acquires information about the object at the excavation site, and transmits the control information to the working unit according to the information about the object and the payload data. The control device according to claim 9.

11. The control unit acquires information about the state of the working unit, and transmits the control information to the working unit according to one or more of the information about the state of the working unit, the information about the object, and the load data. The control device according to claim 9 or 10.

12. the control unit determines a trajectory along which the working unit will move, and transmits the control information corresponding to the trajectory to the working unit. The control device according to any one of claims 9 to 11.

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