Control device, control system, and control method

Abstract

Realized is a loading action which is carried out by a work machine while taking into consideration an upper limit load. A control apparatus ( 10 ) includes: an acquisition section ( 11 ) of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control section ( 12 ) of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.

What is claimed is: 
     
         1 . A control apparatus, comprising at least one processor, the at least one processor carrying out:
 an acquisition process of acquiring weight information on a weight of a target object which has been excavated by a work machine; and   an action control process of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.   
     
     
         2 . The control apparatus according to  claim 1 , wherein:
 in the action control process, the at least one processor controls an angle of a movable part based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.   
     
     
         3 . The control apparatus according to  claim 2 , wherein:
 the movable part includes an arm and a bucket which is attached to an end portion of the arm; and   in the action control process, the at least one processor controls an angle of the bucket based on the weight information.   
     
     
         4 . The control apparatus according to  claim 2 , comprising wherein:
 the at least one processor further carries out a remaining load identification process of identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination; and   in the action control process, the at least one processor sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the angle which has been set.   
     
     
         5 . The control apparatus according to  claim 4 , wherein:
 the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and   in the action control process, the at least one processor sets an angle of the movable part in accordance with the first weight information and the remaining load.   
     
     
         6 . The control apparatus according to  claim 1 , wherein:
 the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and   in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the at least one processor controls, in the action control process, the work machine to terminate an action to load the target object by the work machine.   
     
     
         7 . A control system, comprising:
 a sensor that acquires weight information on a weight of a target object which has been excavated by a work machine; and   at least one processor, the at least one processor carrying out   an acquisition process of acquiring the weight information on the weight of the target object from the sensor, and   an action control process of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.   
     
     
         8 . The control system according to  claim 7 , wherein:
 in the action control process, the at least one processor controls an angle of a movable part based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.   
     
     
         9 . The control system according to  claim 8 , wherein:
 the movable part includes an arm and a bucket which is attached to an end portion of the arm; and   in the action control process, the at least one processor controls an angle of the bucket based on the weight information.   
     
     
         10 . The control system according to  claim 8 , comprising wherein:
 the at least one processor further carries out an identification process of identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination; and   in the action control process, the at least one processor sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the angle which has been set.   
     
     
         11 . The control system according to  claim 10 , wherein:
 the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and   in the action control process, the at least one processor sets an angle of the movable part in accordance with the first weight information and the remaining load.   
     
     
         12 . The control system according to  claim 7 , wherein:
 the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and   in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the at least one processor controls, in the action control process, the work machine to terminate an action to load the target object by the work machine.   
     
     
         13 . A control method, comprising:
 acquiring weight information on a weight of a target object which has been excavated by a work machine; and   controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.   
     
     
         14 . The control method according to  claim 13 , wherein:
 in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of a movable part is controlled based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.   
     
     
         15 . The control method according to  claim 14 , wherein:
 the movable part includes an arm and a bucket which is attached to an end portion of the arm; and   in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the bucket is controlled based on the weight information.   
     
     
         16 . The control method according to  claim 14 , further comprising:
 identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination,   in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the movable part being set in accordance with the remaining load and the weight information, and the movable part being controlled in accordance with the angle which has been set.   
     
     
         17 . The control method according to  claim 16 , wherein:
 the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and   in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the movable part is set in accordance with the first weight information and the remaining load.   
     
     
         18 . The control method according to  claim 13 , wherein:
 the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and   in order to control the action of the work machine such that the load is adjusted based on the weight information, in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the work machine is controlled to terminate an action to load the target object by the work machine.