Control device, control method, and control system

Abstract

In order to specify and instruct to where to move an object in order to form the object in a shape that allows the object to be easily excavated, a control method includes: acquiring information pertaining to a deposition state of the object deposited; specifying a destination of the object in an excavation target region with reference to the acquired information pertaining to the deposition state; and instructing an excavator to move the object to the destination.

What is claimed is: 
     
         1 . A control method comprising:
 (a) acquiring information pertaining to a deposition state of an object deposited;   (b) specifying a destination of the object in an excavation target region, the destination being in accordance with the deposition state; and   (c) instructing an excavator to move the object to the destination.   
     
     
         2 . The control method according to  claim 1 , further comprising (d) evaluating ease of excavation of the object with reference to the information pertaining to the deposition state, wherein
 in (b), the destination is specified with reference to the ease of excavation.   
     
     
         3 . The control method according to  claim 2 , wherein
 the information pertaining to the deposition state includes a height of the object and information pertaining to a gradient of the height of the object, and   in (d), the ease of excavation is evaluated with reference to the height of the object and the gradient of the height of the object.   
     
     
         4 . The control method according to  claim 3 , wherein in (d), the ease of excavation is evaluated with reference to an evaluation value concerning an average gradient of the height in an excavation range and an evaluation value concerning an average height at a far position in the excavation range and an average height in the excavation target region. 
     
     
         5 . The control method according to  claim 2 , wherein in (b), among a plurality of destination candidates, a destination candidate for which a result of evaluation of the ease of excavation in (d) is relatively low is specified as the destination. 
     
     
         6 . The control method according to  claim 1 , wherein the destination of the object is a position at which the height of the object in the excavation target region is lower than at another position. 
     
     
         7 . The control method according to  claim 1 , wherein the excavation target region is a region in which the object is deposited and in which excavation is capable of being carried out. 
     
     
         8 . A control apparatus comprising at least one processor, the at least one processor carrying out:
 an acquisition process for acquiring information pertaining to a deposition state of an object deposited;   a specification process for specifying a destination of the object in an excavation target region, the destination being in accordance with the deposition state; and   an instruction process for instructing an excavator to move the object to the destination.   
     
     
         9 . The control apparatus according to  claim 8 , wherein the at least one processor further carries out an evaluation process for evaluating ease of excavation of the object with reference to the information pertaining to the deposition state, and
 in the specification process, the at least one processor specifies the destination with reference to the ease of excavation.   
     
     
         10 . The control apparatus according to  claim 9 , wherein
 the information pertaining to the deposition state includes a height of the object and information pertaining to a gradient of the height of the object, and   in the evaluation process, the at least one processor evaluates the ease of excavation with reference to the height of the object and the gradient of the height of the object.   
     
     
         11 . The control apparatus according to  claim 10 , wherein in the evaluation process, the at least one processor evaluates the ease of excavation with reference to an evaluation value concerning an average gradient of the height in an excavation range and an evaluation value concerning an average height at a far position in the excavation range and an average height in the excavation target region. 
     
     
         12 . The control apparatus according to  claim 9 , wherein in the specification process, among a plurality of destination candidates, the at least one processor specifies, as the destination, a destination candidate for which a result of evaluation of the ease of excavation in the evaluation process is relatively low. 
     
     
         13 . The control apparatus according to  claim 8 , wherein the destination of the object is a position at which the height of the object in the excavation target region is lower than at another position. 
     
     
         14 . The control apparatus according to  claim 8 , wherein the excavation target region is a region in which the object is deposited and in which excavation is capable of being carried out. 
     
     
         15 . A control system comprising at least one processor, the at least one processor carrying out:
 an acquisition process for acquiring information pertaining to a deposition state of an object deposited;   a specification process for specifying a destination of the object in an excavation target region, the destination being in accordance with the deposition state; and   an instruction process for instructing an excavator to move the object to the destination.   
     
     
         16 . The control system according to  claim 15 , wherein the at least one processor further carries out an evaluation process for evaluating ease of excavation of the object with reference to the information pertaining to the deposition state, and
 in the specification process, the at least one processor specifies the destination with reference to the ease of excavation.   
     
     
         17 . The control system according to  claim 16 , wherein
 the information pertaining to the deposition state includes a height of the object and information pertaining to a gradient of the height of the object, and   in the evaluation process, the at least one processor evaluates the ease of excavation with reference to the height of the object and the gradient of the height of the object.   
     
     
         18 . The control system according to  claim 17 , wherein in the evaluation process, the at least one processor evaluates the ease of excavation with reference to an evaluation value concerning an average gradient of the height in an excavation range and an evaluation value concerning an average height at a far position in the excavation range and an average height in the excavation target region. 
     
     
         19 . The control system according to  claim 16 , wherein in the specification process, among a plurality of destination candidates, the at least one processor specifies, as the destination, a destination candidate for which a result of evaluation of the ease of excavation in the evaluation process is relatively low. 
     
     
         20 .- 22 . (canceled) 
     
     
         23 . A non-transitory computer-readable storage medium storing therein a program for causing a computer to carry out the acquisition process, the specification process, and the instruction process according to  claim 8 .