Abstract: A remote operation apparatus capable of remotely operating a work machine efficiently and with high accuracy is provided. A remote operation apparatus (100) is connected to a work machine (200) via a communication network N, and includes an operation input unit (101) that inputs an operation signal to the remote operation apparatus (100), the operation signal in response to an operation performed by an operator, an operation calculation unit (108) that acquires a magnitude of an operation from the operation signal, an operation change amount calculation unit (109) that acquires an operation change amount from the operation signal, a communication delay time measurement unit (110) that measures a communication delay time, and a speed calculation unit (111) that calculates an operation speed of the work machine (200) based on the magnitude of the operation, the operation change amount, and the communication delay time.

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.

Abstract: A posture recovery apparatus capable of automatically recovering a posture of a work machine is realized. The setting unit (11) sets a safe posture range based on a posture of the work machine before operation. The acquisition unit (12) acquires posture information on the work machine in operation. In a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit (13) causes the work machine to carry out a recovery operation.

Abstract: In a related technique, a target point sequence is generated without considering the content of a work of a construction machine, which causes a problem that an actual trajectory of the construction machine is significantly deviated from the target point sequence depending on the content of the work of the construction machine. A work control method according to the present invention includes: a target point setting step (S1) of generating, based on work content information, a work target point sequence indicating a target trajectory on which target points a construction machine is to move to are plotted, and a construction machine control step (S2) of controlling the construction machine in accordance with the work target point sequence.

Abstract: A work control method according to the present invention includes: an initial motion input model generation step; and a feedback control step, in which the initial motion input model generation step includes: a first initial motion input value measurement step of measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state of the movable part; a second initial motion input value measurement step of measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state of the movable part; and a model generation step of generating an initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value with respect to a desired posture of the construction machine.

Abstract: In a related method, there is a problem that an accuracy of control is not sufficiently high.

Abstract: Provided is an excavation point identification apparatus which can efficiently carry out excavation even if a shape of an excavation target has changed. An extraction section (12) extracts, with reference to pieces of height information at a plurality of points of an excavation target to be excavated by an excavation apparatus, a plurality of excavation point candidates each of which is a candidate for an excavation point at which the excavation apparatus starts excavation. An inference section (13) infers, based on an excavation track of the excavation apparatus, an excavation amount, in which the excavation apparatus carries out excavation, for each of the plurality of excavation point candidates which have been extracted by the extraction section (12). A selection section (14) selects an excavation point from among the plurality of excavation point candidates based on the excavation amount which has been inferred by the inference section (13).

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.

Abstract: The shape and the position of a workpiece are measured without having to prepare three-dimensional CAD data in advance. A workpiece measurement method for measuring a shape and a position of a workpiece constituted of a plurality of components includes: an acquiring step for acquiring three-dimensional point, cloud data of the workpiece; an outline estimating step for estimating at least one boundary frame indicating an outline corresponding to each of the plurality of components by using the point cloud data and a condition defined in correspondence with the shape of the workpiece serving as a measurement target; and an optimizing step for optimizing the at least one boundary frame estimated in the outline estimating step by adjusting a parameter in accordance with an evaluation function, and identifying a shape of each of the plurality of components.

Abstract: A filtering device is configured to estimate the characteristics of noise superposed on measurement data relating to the status of a controlled machine based on the status information representing the status of a controlled machine, thus adjusting the filtering to eliminate noise based on the estimated noise characteristics.

Abstract: A weld-line generating apparatus includes a point-cloud-data acquiring unit that acquires 3D point cloud data of workpieces to be welded that are arranged in a predetermined space, an edge extracting unit that extracts 3D point cloud data of edges from the 3D point cloud data acquired by the point-cloud-data acquiring unit, a workpiece point-cloud-data generating unit that generates a 3D point cloud data component of each of the workpiece based on 3D point cloud data that is obtained by removing the 3D point cloud data of edges extracted by the edge extracting unit from the 3D point cloud data acquired by the point-cloud-data acquiring unit, and a weld-line generating unit 24 that generates weld lines for the workpieces based on the 3D point cloud data components of the workpieces generated by the workpiece point-cloud-data generating unit.

Abstract: In order to generate a trajectory that enables efficient excavation of an object, an excavation trajectory generation apparatus 4 includes: an excavation point obtaining section 110 configured to obtain information related to an excavation point at which an object 2 is to be excavated; a parameter calculation section 120 configured to calculate a parameter to be used for generating an excavation trajectory; and an excavation trajectory generation section 140 configured to generate a trajectory with which an excavator 3 excavates the object 2, based on the excavation point, accumulation height information for the object 2 at the excavation point, and an excavation possible range for the excavator 3 to excavate the object 2.

Abstract: The present invention provides an excavation system capable of improving the work efficiency at a worksite. An excavation device (20) excavates an object (80) treated as an excavation target at an excavation spot. A first detection device (2) is installed at an excavation spot away from the excavation device (20). The first detection device (2) detects information related to the object (80) at the excavation spot. A control device (10) transmits, to the excavation device (20), control information related to operations of the excavation device (20) based on target location data indicating the position of the object (80), which corresponds to information related to the object (80). The excavation device (20) executes operations for excavation in accordance with the control information.

Abstract: A convergence determination unit determines whether a state of the bucket has converged to a current target state. A target state update unit is configured to update a target state of the bucket when the convergence determination unit determines that the state of the bucket has converged to the current target state. The convergence determination unit includes a first convergence determination unit and a second convergence determination unit. The first convergence determination unit determines whether a swing angle of each mechanism has converged to the corresponding target swing angle under a first convergence condition. The second convergence determination unit determines whether a swing angle of each mechanism has converged to the corresponding target swing angle under a second convergence condition, which is stricter than the first convergence condition.

Abstract: A motion control apparatus for controlling a control object to follow a target trajectory includes a position acquisition unit that acquires a present position of the control object, and a target trajectory generation unit that generates the target trajectory from the present position to a final position where the control object reaches. The apparatus includes a moving velocity determination unit that determines a moving velocity at which the control object moves in each position on the target trajectory, and a control target position calculation unit that sets a control target position in a traveling direction on a tangent vector of the target trajectory at the present position in order to perform feedback control so that the control object follows the target trajectory at the moving velocity. A control input calculation unit calculates a control input to the control object by the feedback control using the control target position as a target value.

Abstract: A remote operation apparatus capable of remotely operating a work machine efficiently and with high accuracy is provided. A remote operation apparatus (100) is connected to a work machine (200) via a communication network N, and includes an operation input unit (101) that inputs an operation signal to the remote operation apparatus (100), the operation signal in response to an operation performed by an operator, an operation calculation unit (108) that acquires a magnitude of an operation from the operation signal, an operation change amount calculation unit (109) that acquires an operation change amount from the operation signal, a communication delay time measurement unit (110) that measures a communication delay time, and a speed calculation unit (111) that calculates an operation speed of the work machine (200) based on the magnitude of the operation, the operation change amount, and the communication delay time.

Abstract: A plurality of memory cells corresponding to an address space larger than 2n and smaller than 2(n+1), an invalid address detecting circuit, and an invalid signal outputting circuit are comprised. Upon command input, the invalid address detecting circuit invalidates a command in the case where the invalid address detecting circuit detects a fact that an address signal supplied from exterior indicates an invalid address space. Therefore, at the time of invalid address supply, internal circuits are not activated and an erroneous write or erase operation can be prevented. Since the internal circuits do not operate, power consumption can be reduced substantially. The invalid signal outputting circuit outputs an invalid signal by receiving the fact of invalid address signal detection by the invalid address detecting circuit. Therefore, a system unit mounting the semiconductor memory device can easily recognize that the invalid address signal has been supplied to the semiconductor memory device.