Excavation machine, method for controlling excavation machine, and excavation system

A method of controlling an excavation machine, the method comprising:

• in controlling an excavation machine including an excavation device and a detection device that detects a state of an object to be excavated by the excavation device,
• generating a plurality of pieces of excavation information in which a state of a first portion that is a portion before excavated by a learning excavation device, and a first operation of when the learning excavation device excavates the first portion are associated with each other;
• obtaining a state of a second portion that is a portion intended to be excavated by the excavation device;
• selecting the state of the first portion on the basis of a degree of similarity to the state of the second portion, from among the states of the first portions of the plurality of pieces of excavation information, and determining the first operation corresponding to the selected state, as a second operation of when the excavation device excavates the second portion;
• and
• operating the excavation device using the determined second operation,
• wherein the object to be excavated by the excavation device is a rock mass including rock, and the state of the first portion and the state of the second portion included in the excavation information include at least one of information of particle size distribution of the rock, information of a shape of the rock mass, information of a color of the rock mass, and information of humidity of the rock mass, and
• wherein the information of particle size distribution of the rock includes at least one of a quantity of edges extracted from an image of the first portion or the second portion imaged by an imaging device, and a ratio of variation of the quantity of edges to variation of a size of a structural element, the ratio having been obtained by changing the size of the structural element used in processing before the edge is extracted, and the information of a shape of the rock mass includes a distance between the imaging device and the rock mass.

An excavation system comprising:

• an excavation machine including
• an excavation device provided with an excavation work tool,
• a detection device that detects a state of an object to be excavated by the excavation device, and
• a control device that operates the excavation device;
• and
• a management device including
• a storage device that stores a plurality of pieces of excavation information in which a state of a first portion that is a portion before excavated by a learning excavation device, and a first operation of when the learning excavation device excavates the first portion are associated with each other, and
• a processing device that obtains a state of a second portion that is a portion intended to be excavated by the excavation device, the state having been detected by the detection device,
• selects the state of the first portion corresponding to the state of the second portion, from among the states of the first portions of the plurality of pieces of excavation information, and determines the first operation corresponding to the selected state, as a second operation of when the excavation device excavates the second portion, and
• transmits information for operating the excavation device with the determined second operation to the control device,
• wherein the object to be excavated by the excavation device is a rock mass including rock, and the state of the first portion and the state of the second portion included in the excavation information include at least one of information of particle size distribution of the rock, information of a shape of the rock mass, information of a color of the rock mass, and information of humidity of the rock mass, and
• wherein the information of particle size distribution of the rock includes at least one of a quantity of edges extracted from an image of the first portion or the second portion imaged by an imaging device, and a ratio of variation of the quantity of edges to variation of a size of a structural element, the ratio having been obtained by changing the size of the structural element used in processing before the edge is extracted, and the information of a shape of the rock mass includes a distance between the imaging device and the rock mass.