Worksite management system and worksite management method

Abstract

This worksite management system comprises: an input data acquisition unit that acquires condition input data from an input device; and a watering condition determination unit that determines watering conditions for an unmanned watering vehicle in a worksite in which an unmanned transport vehicle travels, on the basis of the condition input data.

Description

acquire the outer shape data of the work place 4 from the input device 28. Note that the outer shape data of the work place 4 may be measured in advance by, for example, survey and stored in advance in the work place data acquisition unit 143.

[0027] The haul condition generation unit 144 generates a haul condition of the unmanned haul vehicle 2. The haul condition of the unmanned haul vehicle 2 includes haul traveling data indicating a traveling condition of the unmanned haul vehicle 2. The traveling condition of the unmanned haul vehicle 2 includes a target traveling speed of the unmanned haul vehicle 2 and a haul path indicating a target traveling route of the unmanned haul vehicle 2. The haul condition generation unit 144 can generate the haul traveling data based on, for example, the input data from the input device 28. Note that the haul condition of the unmanned haul vehicle 2 may include the timing of the dumping operation of the dump body 2C and the timing of the lowering operation of the dump body 2C. 2023345882   10 Sep 2026

[0028] The haul condition transmission unit 145 transmits the haul condition generated by the haul condition generation unit 144 to the unmanned haul vehicle 2 via the communication system 15.

[0029] FIG. 6 is a diagram for explaining the haul traveling data of the unmanned haul vehicle 2 according to the embodiment. The haul traveling data defines the traveling condition of the unmanned haul vehicle 2. The haul traveling data includes a traveling point 30, a haul path 31, a target position of the unmanned haul vehicle 2, a target azimuth of the unmanned haul vehicle 2, and a target traveling speed of the unmanned haul vehicle 2. A plurality of traveling points 30 are set at least in the work place 4. A plurality of traveling points 30 are set on the traveling path 8. The traveling point 30 defines the target position of the unmanned haul vehicle 2. The target azimuth and the target traveling speed of the unmanned haul vehicle 2 are set to each of the plurality of traveling points 30. The plurality of traveling points 30 are set at intervals. The interval between the traveling points 30 is set to, for example, longer than or equal to 1 [m] and shorter than or equal to 5 [m]. The intervals between the traveling points 30 may be uniform or non- uniform. The haul path 31 is a virtual line indicating a target traveling route of the unmanned haul vehicle 2. The haul path 31 is defined by a trajectory passing the plurality of traveling points 30. The unmanned haul vehicle 2 travels in the work site along the haul path 31. The target position of the unmanned haul vehicle 2 refers to a target position of the unmanned haul vehicle 2 when passing the traveling point 30. The target position of the unmanned haul vehicle 2 may be defined in a local coordinate system of the unmanned haul vehicle 2 or may be defined in a global coordinate system. The target azimuth of the unmanned haul vehicle 2 refers to a target azimuth of the unmanned haul vehicle 2 when passing the traveling point 30. The target traveling speed of the unmanned 2023345882   10 Sep 2026 haul vehicle 2 refers to a target traveling speed of the unmanned haul vehicle 2 when passing the traveling point 30.

[0030] The expected time calculation unit 146 calculates an expected time at which the unmanned haul vehicle 2 arrives at the work place 4. In the embodiment, the expected time calculation unit 146 calculates the expected time at which the unmanned haul vehicle 2 arrives at the work place 4 based on the haul traveling data of the unmanned haul vehicle 2 and position data indicating a current position of the unmanned haul vehicle 2.

[0031] FIG. 7 is a diagram for explaining a method for calculating an expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 according to the embodiment. A current position Pn of the unmanned haul vehicle 2 is detected by the position sensor 22 of the unmanned haul vehicle 2. The sensor data acquisition unit 141 can acquire position data indicating the current position Pn of the unmanned haul vehicle 2 from the position sensor 22 via the communication system 15. A distance Ds from the current position Pn of the unmanned haul vehicle 2 to the work place 4 is equal to the length of the haul path 31 from the current position Pn of the unmanned haul vehicle 2 to the work place 4.  The haul traveling data includes a target traveling speed Vr of the unmanned haul vehicle 2. The expected time calculation unit 146 can calculate the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 based on a time point Tn at which the position sensor 22 detects the current position Pn of the unmanned haul vehicle 2, the distance Ds, and the target traveling speed Vr of the unmanned haul vehicle 2 between the current position Pn and the work place 4. Note that the distance Ds may be regarded as the sum of distances between the traveling points 30 adjacent to each other between the current position Pn and the work place 4. As described above, the target traveling speed Vr is set for each of the 2023345882   10 Sep 2026 plurality of traveling points 30. The target traveling speed Vr may be a different value for each of the plurality of traveling points 30. Note that the expected time calculation unit 146 may calculate a required time Tr required for the unmanned haul vehicle 2 to arrive at the work place 4 from the current position Pn. The required time Tr is equal to the difference between the expected time Te and the time point Tn.

[0032] When the unmanned haul vehicle 2 is traveling on the traveling path 8 toward the loading station 4A, the expected time calculation unit 146 can calculate the expected time Te at which the unmanned haul vehicle 2 arrives at the loading station 4A or the required time Tr based on the haul traveling data set on the traveling path 8 and the position data indicating the current position Pn of the unmanned haul vehicle 2 detected by the position sensor 22. When the unmanned haul vehicle 2 is traveling on the traveling path 8 toward the soil discharging station 4B, the expected time calculation unit 146 can calculate the expected time Te at which the unmanned haul vehicle 2 arrives at the soil discharging station 4B or the required time Tr based on the haul traveling data set on the traveling path 8 and the position data indicating the current position Pn of the unmanned haul vehicle 2 detected by the position sensor 22.

[0033] The target area designation unit 147 designates a watersprinkling target area in the work place 4. The target area designation unit 147 can designate the water- sprinkling target area based on the haul path 31 of the unmanned haul vehicle 2 set in the work place 4. The target area designation unit 147 can designate the water- sprinkling target area based on the outer shape data of the work place 4 acquired by the work place data acquisition unit 143. The manager of the control facility 16 can operate the input device 28 and input the water-sprinkling target area to the management device 14. The input data acquisition unit 2023345882   10 Sep 2026 142 acquires designated input data indicating input data of the water-sprinkling target area from the input device 28. The target area designation unit 147 can designate the water-sprinkling target area based on the designated input data acquired by the input data acquisition unit 142. The driver of the loading equipment 9 can operate the input device 20 and input the watersprinkling target area to the management device 14. The target area designation unit 147 may designate the water- sprinkling target area based on the designated input data from the input device 20 acquired by the input data acquisition unit 142.

[0034] The water-sprinkling condition decision unit 148 decides a water-sprinkling condition of the unmanned water- sprinkling vehicle 3 in the work place 4 based on the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 calculated by the expected time calculation unit 146. When the expected time Te at which the unmanned haul vehicle 2 arrives at the loading station 4A is expected, the water-sprinkling condition decision unit 148 decides the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 in the loading station 4A based on the expected time Te at which the unmanned haul vehicle 2 arrives at the loading station 4A. When the expected time Te at which the unmanned haul vehicle 2 arrives at the soil discharging station 4B is expected, the water-sprinkling condition decision unit 148 decides the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 in the soil discharging station 4B based on the expected time Te at which the unmanned haul vehicle 2 arrives at the soil discharging station 4B.

[0035] In addition, the water-sprinkling condition decision unit 148 decides the water-sprinkling condition of the unmanned watersprinkling vehicle 3 in the work place 4 where the unmanned haul vehicle 2 travels based on the condition input data from the input device 28 acquired by the input data acquisition unit 142. The 2023345882   10 Sep 2026 manager of the control facility 16 can operate the input device 28 and input the water-sprinkling condition of the unmanned watersprinkling vehicle 3 to the management device 14. The input data acquisition unit 142 acquires condition input data indicating input data of the water-sprinkling condition of the unmanned watersprinkling vehicle 3 from the input device 28. The watersprinkling condition decision unit 148 can decide the watersprinkling condition of the unmanned water-sprinkling vehicle 3 in the work place 4 based on the condition input data acquired by the input data acquisition unit 142. When the condition input data of the unmanned water-sprinkling vehicle 3 in the loading station 4A is input, the water-sprinkling condition decision unit 148 decides the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 in the loading station 4A based on the condition input data acquired by the input data acquisition unit 142. When the condition input data of the unmanned water-sprinkling vehicle 3 in the soil discharging station 4B is input, the water- sprinkling condition decision unit 148 decides the water- sprinkling condition of the unmanned water-sprinkling vehicle 3 in the soil discharging station 4B based on the condition input data acquired by the input data acquisition unit 142. The driver of the loading equipment 9 can operate the input device 20 and input the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 to the management device 14. The water-sprinkling condition decision unit 148 may decide the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 in the work place 4 based on the condition input data from the input device 20 acquired by the input data acquisition unit 142.

[0036] The water-sprinkling condition generation unit 149 generates the water-sprinkling condition of the unmanned watersprinkling vehicle 3 decided by the water- sprinkling condition decision unit 148. The water- sprinkling condition of the unmanned water-sprinkling vehicle 3 includes water-sprinkling traveling data 2023345882   10 Sep 2026 indicating a traveling condition of the unmanned water- sprinkling vehicle 3. The traveling condition of the unmanned watersprinkling vehicle 3 includes a target traveling speed of the unmanned water-sprinkling vehicle 3 and a water-sprinkling path indicating a target traveling route of the unmanned water sprinkling vehicle 3. Note that the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 generated by the watersprinkling condition generation unit 149 may include the timing of starting sprinkling from the water-sprinkling spray 3D, the timing of stopping sprinkling from the water-sprinkling spray 3D, and a sprinkling amount from the water-sprinkling spray 3D. In addition, when a plurality of water- sprinkling sprays 3D are provided in the unmanned water- sprinkling vehicle 3, the water-sprinkling condition may include the number of water-sprinkling sprays 3D that execute water sprinkling. In addition, when the water- sprinkling spray 3D is installed at each of a plurality of positions of the unmanned water-sprinkling vehicle 3, the water-sprinkling condition may include an installation position of the water-sprinkling spray 3D that executes water sprinkling.

[0037] The water-sprinkling condition transmission unit 150 transmits the water-sprinkling condition generated by the watersprinkling condition generation unit 149 to the unmanned water sprinkling vehicle 3 via the communication system 15.

[0038] FIG. 8 is a diagram for explaining the water- sprinkling traveling data of the unmanned water-sprinkling vehicle 3 according to the embodiment. The water- sprinkling traveling data defines the traveling condition of the unmanned water-sprinkling vehicle 3. The water- sprinkling traveling data includes a traveling point 40, a water-sprinkling path 41, a target position of the unmanned water-sprinkling vehicle 3, a target azimuth of the unmanned watersprinkling vehicle 3, and a target traveling speed of the unmanned water-sprinkling vehicle 3. A plurality of traveling points 40 are 2023345882   10 Sep 2026 set at least in the work place 4. The plurality of traveling points 40 are set on the traveling path 8. The water-sprinkling path 41 is a virtual line indicating a target traveling route of the unmanned water-sprinkling vehicle 3. The function of the haul traveling data and the function of the water- sprinkling traveling data are similar. The description of the water-sprinkling traveling data is omitted.

[0039] The display control unit 151 controls the display device 29. The display control unit 151 causes the display device 29 to display predetermined display data.

[0040] The control device 17 includes an input data transmission unit 171 and a display control unit 172. The input data transmission unit 171 acquires input data generated by operating the input device 20. The input data transmission unit 171 transmits the input data from the input device 20 to the management device 14 via the communication system 15. The display control unit 172 controls the display device 21. The display control unit 172 causes the display device 21 to display predetermined display data.

[0041] The control device 18 includes a sensor data transmission unit 181, a haul condition acquisition unit 182, and a traveling control unit 183. The sensor data transmission unit 181 acquires detected data of each of the position sensor 22, the azimuth sensor 23, and the speed sensor 24. The sensor data transmission unit 181 transmits the detected data of each of the position sensor 22, the azimuth sensor 23, and the speed sensor 24 to the management device 14 via the communication system 15. The haul condition acquisition unit 182 acquires the haul condition transmitted from the management device 14. The traveling control unit 183 controls the traveling device 2B based on the haul condition acquired by the haul condition acquisition unit 182. The traveling control unit 183 controls the traveling device 2B so that the unmanned haul 2023345882   10 Sep 2026 vehicle 2 travels along the haul path 31 based on the haul traveling data of the unmanned haul vehicle 2 and the detected data of the position sensor 22. The traveling control unit 183 controls the traveling device 2B so that a deviation is reduced between the detected position of the unmanned haul vehicle 2 detected by the position sensor 22 when passing the traveling point 30 and the target position of the unmanned haul vehicle 2 set at the traveling point 30. The traveling control unit 183 controls the traveling device 2B so that a deviation is reduced between the detected azimuth of the unmanned haul vehicle 2 detected by the azimuth sensor 23 when passing the traveling point 30 and the target azimuth of the unmanned haul vehicle 2 set at the traveling point 30. The traveling control unit 183 controls the traveling device 2B so that a deviation is reduced between the detected traveling speed of the unmanned haul vehicle 2 detected by the speed sensor 24 when passing the traveling point 30 and the target traveling speed of the unmanned haul vehicle 2 set at the traveling point 30.

[0042] The control device 19 includes a sensor data transmission unit 191, a water-sprinkling condition acquisition unit 192, a traveling control unit 193, and a water-sprinkling control unit 194. The sensor data transmission unit 191 acquires detected data of each of the position sensor 25, the azimuth sensor 26, and the speed sensor 27.  The sensor data transmission unit 191 transmits the detected data of each of the position sensor 25, the azimuth sensor 26, and the speed sensor 27 to the management device 14 via the communication system 15. The water-sprinkling condition acquisition unit 192 acquires the water-sprinkling condition transmitted from the management device 14. The traveling control unit 193 controls the traveling device 3B based on the watersprinkling condition acquired by the water-sprinkling condition acquisition unit 192. The function of the traveling control unit 183 and the function of the traveling control unit 193 are similar. The traveling control unit 193 controls the traveling device 3B so 2023345882   10 Sep 2026 that the unmanned water-sprinkling vehicle 3 travels along the water-sprinkling path 41 based on the water-sprinkling traveling data of the unmanned water-sprinkling vehicle 3 and the detected data of each of the position sensor 25 and the azimuth sensor 26. In addition, the traveling control unit 193 controls the traveling device 3B so that the unmanned water-sprinkling vehicle 3 travels at the target traveling speed based on the detected data of the speed sensor 27. The water-sprinkling control unit 194 controls the water-sprinkling spray 3D based on the water-sprinkling condition acquired by the water-sprinkling condition acquisition unit 192. The water-sprinkling control unit 194 controls the timing of starting sprinkling from the water-sprinkling spray 3D, the timing of stopping sprinkling from the water-sprinkling spray 3D, and a sprinkling amount from the water-sprinkling spray 3D based on the water-sprinkling condition acquired by the water sprinkling condition acquisition unit 192. Furthermore, in addition, when a plurality of water-sprinkling sprays 3D are provided in the unmanned water-sprinkling vehicle 3, the watersprinkling control unit 194 controls the number of water-sprinkling sprays 3D that execute water sprinkling based on the watersprinkling condition acquired by the water-sprinkling condition acquisition unit 192. In addition, when the water-sprinkling spray 3D is installed at each of a plurality of positions of the unmanned water- sprinkling vehicle 3, the water-sprinkling control unit 194 controls the installation position of the water-sprinkling spray 3D that executes water sprinkling based on the water- sprinkling condition acquired by the water-sprinkling condition acquisition unit 192.

[0043] [Water-Sprinkling Condition] Next, the water-sprinkling condition of the unmanned watersprinkling vehicle 3 in the work place 4 will be described. In the embodiment, the water-sprinkling condition includes a first water- 2023345882   10 Sep 2026 sprinkling condition, a second water-sprinkling condition, and a third water- sprinkling condition. The first water-sprinkling condition is a water-sprinkling condition for sprinkling water to a first water-sprinkling area 51 of the work place 4. The first water-sprinkling condition is a water-sprinkling condition requiring a first time T1 from the start of water sprinkling to the end of water sprinkling. The second water-sprinkling condition is a water-sprinkling condition for sprinkling water to a second water-sprinkling area 52 of the work place 4 larger than the first water-sprinkling area 51. The second water-sprinkling condition is a water- sprinkling condition requiring a second time T2 longer than the first time T1 from the start of water sprinkling to the end of water sprinkling. The third water-sprinkling condition is a water-sprinkling condition in which water is not sprinkled to the work place 4. In the following description, the first watersprinkling condition is appropriately referred to as a simple water-sprinkling condition, the second water-sprinkling condition is appropriately referred to as a wide-area water-sprinkling condition, and the third water-sprinkling condition is appropriately referred to as a non-water-sprinkling condition.

[0044] In the embodiment, the water-sprinkling condition decision unit 148 decides at least one of the simple water- sprinkling condition, the wide-area water-sprinkling condition, and the nonwater-sprinkling condition as the water-sprinkling condition based on the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4. In addition, the water-sprinkling condition decision unit 148 decides at least one of the simple water- sprinkling condition, the wide-area water-sprinkling condition, and the non-water-sprinkling condition as the watersprinkling condition based on the condition input data acquired by the input data acquisition unit 142. 2023345882   10 Sep 2026

[0045] The simple water-sprinkling condition is generated based on the haul path 31 of the unmanned haul vehicle 2. The wide-area water-sprinkling condition is generated based on the watersprinkling target area designated by the target area designation unit 147. In the embodiment, the water-sprinkling target area designated by the target area designation unit 147 is the second water- sprinkling area 52.

[0046] FIG. 9 is a schematic view for explaining a method for generating the simple water-sprinkling condition according to the embodiment. As illustrated in FIG. 9, when the unmanned haul vehicle 2 travels along the haul path 31 in the work place 4, the water-sprinkling condition generation unit 149 generates the simple water-sprinkling condition based on the haul path 31. The watersprinkling condition generation unit 149 may generate the simple water-sprinkling condition based on the haul path 31 of the unmanned haul vehicle 2 that traveled in the work place 4 before the execution of the water-sprinkling work. The water-sprinkling condition generation unit 149 may generate the simple watersprinkling condition based on the haul path 31 of the unmanned haul vehicle 2 scheduled to travel in the work place 4 after the execution of the water- sprinkling work. The water-sprinkling condition generation unit 149 may generate the simple watersprinkling condition based on the haul path 31 of a target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 is calculated by the expected time calculation unit 146. The water-sprinkling condition generation unit 149 may generate the simple water-sprinkling condition based on the haul path 31 of the past vehicle indicating the unmanned haul vehicle 2 that traveled in the work place 4 in the past before the target vehicle.  The water- sprinkling condition generation unit 149 may generate the simple water-sprinkling condition based on the haul path 31 of the 2023345882   10 Sep 2026 future vehicle indicating the unmanned haul vehicle 2 scheduled to travel in the work place 4 in the future than the target vehicle.

[0047] The water-sprinkling condition includes the watersprinkling path 41 of the unmanned water-sprinkling vehicle 3. In the generation of the simple water- sprinkling condition, the water-sprinkling condition generation unit 149 generates the watersprinkling path 41 to match at least a part of the haul path 31. In the example illustrated in FIG. 9, the water-sprinkling condition generation unit 149 generates the water- sprinkling path 41 so that the entire haul path 31 and the water-sprinkling path 41 coincide with each other. Note that the water-sprinkling condition generation unit 149 may generate the water-sprinkling path 41 so that a part of the haul path 31 and the water-sprinkling path 41 coincide with each other.

[0048] For example, after the unmanned haul vehicle 2 traveled in the work place 4, the unmanned water-sprinkling vehicle 3 may sprinkle water while traveling along the water-sprinkling path 41. The unmanned water-sprinkling vehicle 3 may sprinkle water while traveling along an already-traveled area indicating a traveling area where the unmanned haul vehicle 2 already traveled before performing the water-sprinkling work. Before the unmanned haul vehicle 2 travels in the work place 4, the unmanned watersprinkling vehicle 3 may sprinkle water while traveling along the water-sprinkling path 41. The unmanned water- sprinkling vehicle 3 may sprinkle water while traveling along a scheduled traveling area indicating a traveling area where the unmanned haul vehicle 2 is scheduled to travel after performing the water-sprinkling work. The first water-sprinkling area 51 to be sprinkled with water under the simple water-sprinkling condition overlaps at least a part of the traveling area of the unmanned haul vehicle 2.

[0049] FIG. 10 is a schematic view for explaining a method for generating the wide-area water-sprinkling condition according to 2023345882   10 Sep 2026 the embodiment. As illustrated in FIG. 10, the target area designation unit 147 designates the second water-sprinkling area 52, that is a water- sprinkling target area, as the work place 4. The water- sprinkling condition generation unit 149 generates the wide-area water-sprinkling condition based on the second watersprinkling area 52 designated by the target area designation unit 147. As illustrated in FIG. 10, a plurality of haul paths 31 may be set in the work place 4. In the example illustrated in FIG. 10, the haul path 31 includes a haul path 31R, a haul path 31P, and a haul path 31F.  The haul path 31R is the haul path 31 of the unmanned haul vehicle 2 that traveled in the work place 4 before performing the water-sprinkling work. The haul path 31P is the haul path 31 of the unmanned haul vehicle 2 that traveled in the work place 4 in the past before the unmanned haul vehicle 2 that traveled in the haul path 31R. The haul path 31F is the haul path 31 of the unmanned haul vehicle 2 scheduled to travel in the work place 4 after the water-sprinkling work is performed. The haul path 31R is, for example, the haul path 31 of the target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te is calculated. The haul path 31P is the haul path 31 of the past vehicle indicating the unmanned haul vehicle 2 that traveled in the work place 4 in the past before the target vehicle. The haul path 31F is the haul path 31 of the future vehicle indicating the unmanned haul vehicle 2 scheduled to travel in the work place 4 in the future than the target vehicle. The target area designation unit 147 designates the second water-sprinkling area 52 to include each of the haul path 31R, the haul path 31P, and the haul path 31F.

[0050] The water-sprinkling condition includes the watersprinkling path 41 of the unmanned water-sprinkling vehicle 3. In generating the wide-area water-sprinkling condition, the watersprinkling condition generation unit 149 generates the watersprinkling path 41 so that the unmanned water-sprinkling vehicle 3 2023345882   10 Sep 2026 sprinkles water to the entire second water-sprinkling area 52. In the example illustrated in FIG. 10, the water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that the unmanned water-sprinkling vehicle 3 repeats straight traveling and turning a plurality of times. The second water-sprinkling area 52 to be sprinkled with water under the wide-area water-sprinkling condition overlaps with a traveling area where the unmanned haul vehicle 2 traveling along each of the plurality of haul paths 31 (31R, 31P, and 31F) travels.

[0051] In the example illustrated in FIG. 10, the target area designation unit 147 designates the second water- sprinkling area 52 to include each of the haul path 31R, the haul path 31P, and the haul path 31F. The target area designation unit 147 may designate the second water- sprinkling area 52 to include the haul path 31R and the haul path 31P and not to include the haul path 31F. The target area designation unit 147 may designate the second water sprinkling area 52 to include the haul path 31R and the haul path 31F and not to include the haul path 31P. The target area designation unit 147 may designate the second water-sprinkling area 52 to include the haul path 31P and the haul path 31F and not to include the haul path 31R. In addition, when there are a plurality of haul paths 31P of the past vehicle, the second water-sprinkling area 52 may be designated so that the second water-sprinkling area 52 includes each of the plurality of haul paths 31P.

[0052] FIG. 11 is a schematic view for explaining the method for generating the wide-area water-sprinkling condition according to the embodiment. As illustrated in FIG. 11, the target area designation unit 147 may designate the second water-sprinkling area 52 in the work place 4 based on the outer shape of the work place 4. The outer shape data indicating the outer shape of the work place 4 is acquired by the work place data acquisition unit 143. The target area designation unit 147 may designate the second 2023345882   10 Sep 2026 water-sprinkling area 52 in which the outer shape of the work place 4 is reduced. The outer shape of the work place 4 and the outer shape of the second water-sprinkling area 52 may be similar. In generating the wide-area water- sprinkling condition, the watersprinkling condition generation unit 149 may generate the watersprinkling path 41 so that the entire second water-sprinkling area 52 designated based on the outer shape of the work place 4 is sprinkled with water by the unmanned water-sprinkling vehicle 3.

[0053] FIG. 12 is a schematic view for explaining the method for generating the wide-area water-sprinkling condition according to the embodiment. As illustrated in FIG. 12, the target area designation unit 147 may designate the second water-sprinkling area 52 in the work place 4 based on designated input data from the input device 28. The manager can operate the input device 28 and designate the second water-sprinkling area 52 in the work place 4. In generating the wide-area water-sprinkling condition, the watersprinkling condition generation unit 149 may generate the watersprinkling path 41 so that the entire second water-sprinkling area 52 designated based on the input data from the input device 28 is sprinkled with water by the unmanned water-sprinkling vehicle 3. When the work place 4 is the loading station 4A, the driver may operate the input device 20 and designate the second water sprinkling area 52 in the work place 4. The target area designation unit 147 may designate the second water-sprinkling area 52 in the work place 4 based on the designated input data from the input device 20. Note that the loading equipment 9 may exist as manned equipment in the loading station 4A, and a manned vehicle not having a bulldozer or working equipment (a light vehicle or the like) may exist as manned equipment in the soil discharging station 4B. When the work place 4 is the soil discharging station 4B, a driver of manned equipment such as a bulldozer or a manned vehicle may operate an input device provided in the manned equipment to designate the second water-sprinkling area 52 in the work place 4. 2023345882   10 Sep 2026

[0054] [Generation of Water-Sprinkling Path] As described with reference to FIG. 9, the water- sprinkling condition generation unit 149 can automatically generate the watersprinkling path 41 based on the haul path 31 of the unmanned haul vehicle 2. In addition, as described with reference to FIGS. 10, 11, and 12, the water-sprinkling condition generation unit 149 can automatically generate the water-sprinkling path 41 based on the second water-sprinkling area 52 that is the water- sprinkling target area. In the following description, the water-sprinkling path 41 automatically generated based on the haul path 31 indicating the target traveling route of the unmanned haul vehicle 2 or the second water-sprinkling area 52 designated as the work place 4 is appropriately referred to as an automatically generated path.

[0055] FIG. 13 is a schematic view for explaining a method for generating the water-sprinkling path 41 according to the embodiment. As illustrated in FIG. 13, the manager of the control facility 16 can operate the input device 28 and input the water sprinkling path 41 to the management device 14. The input data acquisition unit 142 acquires path input data indicating input data of the water-sprinkling path 41 from the input device 28. The water-sprinkling condition generation unit 149 can generate the water-sprinkling path 41 based on the path input data acquired by the input data acquisition unit 142. In the generation of the water-sprinkling path 41, the display control unit 151 causes the display device 29 to display display data indicating the work place 4. While checking the work place 4 displayed on the display device 29, the manager can operate the input device 28 and generate the water-sprinkling path 41. Note that the water-sprinkling condition generation unit 149 may generate the water-sprinkling path 41 based on the path input data from the input device 20. In the generation of the water-sprinkling path 41, the display control unit 172 2023345882   10 Sep 2026 causes the display device 21 to display display data indicating the work place 4. While checking the work place 4 displayed on the display device 21, the driver can operate the input device 20 and generate the water-sprinkling path 41. In the following description, the water-sprinkling path 41 generated based on the path input data from the input device 28 or the input device 20 is appropriately referred to as a manually generated path.

[0056] That is, in the embodiment, the water-sprinkling path 41 that can be generated by the water-sprinkling condition generation unit 149 includes a manually generated path generated based on the path input data acquired by the input data acquisition unit 142 and an automatically generated path generated based on the haul path 31 indicating the target traveling route of the unmanned haul vehicle 2 or the water-sprinkling target area designated as the work place 4.

[0057] When the manually generated path is generated, the watersprinkling condition generation unit 149 does not generate the automatically generated path. When each of the manually generated path and the automatically generated path is generated in the water-sprinkling condition generation unit 149, the manually generated path may be preferentially used. When each of the manually generated path and the automatically generated path is generated in the water-sprinkling condition generation unit 149, the manually generated path may be enabled and the automatically generated path may be disabled.

[0058] [Decision of Water-Sprinkling Condition Based on Expected Time]Each of FIGS. 14 and 15 is a diagram for explaining a method for deciding the water-sprinkling condition based on the expected time Te according to the embodiment. As described with reference to FIG. 7, the expected time calculation unit 146 can calculate the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 or the required time Tr. The simple water- 2023345882   10 Sep 2026 sprinkling condition is a water-sprinkling condition requiring the first time T1 from the start of water sprinkling to the end of water sprinkling. The wide-area water-sprinkling condition is a water-sprinkling condition requiring the second time T2 longer than the first time T1 from the start of water sprinkling to the end of water sprinkling.

[0059] In FIGS. 14 and 15, a horizontal axis represents the elapsed time from the time point Tn at which the current position Pn of the unmanned haul vehicle 2 is detected. The expected time calculation unit 146 calculates the expected time Te or the required time Tr before the water sprinkling of the unmanned water sprinkling vehicle 3 is started. The water-sprinkling condition decision unit 148 decides the water-sprinkling condition so that the water sprinkling ends by the expected time Te. FIGS. 14 and 15 describe the relationship among the required time Tr, the first time T1, and the second time T2 when the water sprinkling is started at the time point Tn.

[0060] As illustrated in FIG. 14, when the wide-area watersprinkling condition is a water-sprinkling condition in which the water sprinkling does not end by the expected time Te, and the simple water-sprinkling condition is a water-sprinkling condition in which the water sprinkling ends by the expected time Te, the water-sprinkling condition decision unit 148 decides the first water-sprinkling condition as the water-sprinkling condition. That is, when the required time Tr is shorter than the second time T2 and longer than the first time T1, the water-sprinkling condition decision unit 148 decides the first water-sprinkling condition as the water-sprinkling condition.

[0061] As illustrated in FIG. 15, when both the simple watersprinkling condition and the wide-area water- sprinkling condition are water-sprinkling conditions in which the water sprinkling ends by the expected time Te, the water-sprinkling condition decision 2023345882   10 Sep 2026 unit 148 decides the second water-sprinkling condition as the water- sprinkling condition. That is, when the required time Tr is longer than the first time T1 and the second time T2, the watersprinkling condition decision unit 148 decides the second watersprinkling condition as the water- sprinkling condition.

[0062] In addition, as described later, when the required time Tr is shorter than the first time T1 and it is not necessary to sprinkle water, the water-sprinkling condition decision unit 148 decides the non-water- sprinkling condition as the water-sprinkling condition. For example, water sprinkling may be determined to be unnecessary based on a water-sprinkling history of the work place 4. For example, when an elapsed time from the latest watersprinkling work is short, water sprinkling may be determined to be unnecessary. In addition, water sprinkling may be determined to be unnecessary based on a generation status of mine dust or cloud of dust in the work place 4. For example, when laser measuring equipment capable of detecting mine dust or cloud of dust is installed in the work place 4, and when it is determined that a generation amount of mine dust or cloud of dust is small based on a measurement result of the laser measuring instrument, water sprinkling may be determined to be unnecessary.

[0063] Note that not only the expected time Te (required time Tr) but also other factors may be considered in deciding the water sprinkling condition. For example, the water-sprinkling condition may be decided based on at least one of the water-sprinkling history of the work place 4, the generation status of mine dust or cloud of dust, and a road surface situation of the work place 4.

[0064] [Method for Managing Work site] FIG. 16 is a flowchart illustrating a method for managing the work site 1 according to the embodiment. FIG.17 is a flowchart illustrating the method for generating the simple water-sprinkling 2023345882   10 Sep 2026 condition according to the embodiment. FIG. 18 is a flowchart illustrating the method for generating the wide-area watersprinkling condition according to the embodiment. In the following description, the input data acquisition unit 142 acquires input data from the input device 28. As described above, the input data acquisition unit 142 can also acquire input data from the input device 20.

[0065] The water-sprinkling condition generation unit 149 determines whether a manually generated path is generated (step S1). In step S1, when it is determined that the manually generated path is generated (step S1: Yes), the water-sprinkling condition transmission unit 150 transmits the water-sprinkling condition including the manually generated path to the unmanned water sprinkling vehicle 3 (step S17). The unmanned water-sprinkling vehicle 3 sprinkles water to the work place 4 while traveling along the manually generated path.

[0066] When it is determined in step S1 that the manually generated path is not generated (step S1: No), the input data acquisition unit 142 determines whether condition input data for deciding the water-sprinkling condition is acquired from the input device 28 (step S2).

[0067] FIG. 19 is a schematic view illustrating a method for inputting a water-sprinkling condition according to the embodiment. The manager of the control facility 16 can operate the input device 28 and input condition input data indicating the water-sprinkling condition of the unmanned water-sprinkling vehicle 3 to the management device 14. The condition input data includes condition input data indicating the non-water-sprinkling condition, condition input data indicating the simple water-sprinkling condition, and condition input data indicating the wide- area water-sprinkling condition. The manager can select an optional water-sprinkling condition from candidates of the non-water-sprinkling condition, 2023345882   10 Sep 2026 the simple water-sprinkling condition, and the wide-area water sprinkling condition displayed on the display device 29.

[0068] In step S2, when it is determined that the condition input data is not acquired (step S2: No), the expected time calculation unit 146 calculates the expected time Te at which the unmanned haul vehicle 2 arrives at the work place 4 and the required time Tr (step S9).

[0069] The water-sprinkling condition decision unit 148 determines whether the required time Tr is shorter than the first time T1 required for the simple water-sprinkling condition (step S10).

[0070] In step S10, when it is determined that the required time Tr is shorter than the first time T1 (step S10: Yes), the water sprinkling condition decision unit 148 determines whether water sprinkling is unnecessary (step S11). In step S11, when it is determined that water sprinkling is unnecessary (step S11: Yes), the water- sprinkling condition decision unit 148 decides the nonwater-sprinkling condition as the water-sprinkling condition (step S4). The water-sprinkling condition generation unit 149 generates the non-water-sprinkling condition decided by the water-sprinkling condition decision unit 148 (step S5). The water-sprinkling condition generation unit 149 generates the water- sprinkling path 41 of the non-water-sprinkling condition.

[0071] After the water-sprinkling path 41 is generated, the manager in the control facility 16 can operate the input device 28 and correct the water-sprinkling path 41. Note that the driver of the loading equipment 9 may operate the input device 20 and correct the water-sprinkling path 41. In addition, a driver of a manned vehicle (such as a light vehicle) having no bulldozer or working equipment may operate the input device and correct the water sprinkling path 41. When the water-sprinkling path 41 is corrected by the manager or the driver, the input data acquisition unit 142 2023345882   10 Sep 2026 acquires, from the input device 28, corrected input data indicating input data for correcting the water- sprinkling path 41. The input data acquisition unit 142 determines whether the corrected input data is acquired from the input device 28 (step S15).

[0072] When it is determined in step S15 that the corrected input data is acquired (step S15: Yes), the water-sprinkling condition generation unit 149 corrects the water-sprinkling path 41 based on the corrected input data (step S16).

[0073] The water-sprinkling condition transmission unit150 transmits the water-sprinkling condition including the corrected water-sprinkling path 41 to the unmanned water- sprinkling vehicle 3 (step S17). In step S15, when it is determined that the corrected input data is not acquired (step S15: No), the watersprinkling condition generation unit 149 transmits the watersprinkling path 41 generated in step S5 to the unmanned water sprinkling vehicle 3 (step S17).

[0074] FIG. 20 is a schematic view illustrating a method for generating the non-water-sprinkling condition according to the embodiment. FIG. 20 illustrates the method for generating the nonwater-sprinkling condition in the loading station 4A. As illustrated in FIG. 20, an entrance point 61 and an exit point 62 are set in the loading station 4A. Each of the entrance point 61 and the exit point 62 may be set by a manager. The manager can operate the input device 28 and set each of the entrance point 61 and the exit point 62. The unmanned water-sprinkling vehicle 3 travels from the outside of the loading station 4A toward the loading station 4A. For example, the unmanned water-sprinkling vehicle 3 may travel on the traveling path 8 from at least one of the parking lot 5, the fuel filling station 6, and the water supply station 7 toward the loading station 4A. The unmanned watersprinkling vehicle 3 enters the loading station 4A from the entrance point 61. In the case of the non-water-sprinkling 2023345882   10 Sep 2026 condition, the water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that the unmanned watersprinkling vehicle 3 entering the loading station 4A exits from the loading station 4A in a short time as possible. The unmanned water-sprinkling vehicle 3 travels in the loading station 4A along the water- sprinkling path 41. In the non-water-sprinkling condition, the unmanned water-sprinkling vehicle 3 leaves the loading station 4A via the exit point 62 without sprinkling water to the loading station 4A.

[0075] In step S11, when it is determined that water sprinkling is necessary (step S11: No), the water- sprinkling condition decision unit 148 decides the simple water-sprinkling condition as the water-sprinkling condition (step S7). The water-sprinkling condition generation unit 149 generates the simple water-sprinkling condition decided by the water-sprinkling condition decision unit 148 (step S8).

[0076] As illustrated in FIG. 17, in the generation of the simple water-sprinkling condition, the water-sprinkling condition generation unit 149 determines whether the haul path 31 of the target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te and the required time Tr are calculated exists in the work place 4 (step S71).

[0077] In step S71, when it is determined that the haul path 31 of the target vehicle exists (step S71: Yes), the water-sprinkling condition generation unit 149 determines whether the work place 4 where the haul path 31 exists is the loading station 4A (step S72). In step S72, when it is determined that the work place 4 where the haul path 31 exists is the loading station 4A (step S72: Yes), the water-sprinkling condition generation unit 149 generates the watersprinkling path 41 in the loading station 4A based on the haul path 31 (step S73). After the water-sprinkling path 41 of the simple 2023345882   10 Sep 2026 water-sprinkling condition is generated, the processes of steps S15, S16, and S17 are performed.

[0078] Each of FIGS. 21 and 22 is a schematic view illustrating the method for generating the simple water- sprinkling condition according to the embodiment. Each of FIGS. 21 and 22 illustrates the method for generating the simple water-sprinkling condition in the loading station 4A. As illustrated in FIGS. 21 and 22, the entrance point 61, the exit point 62, a switchback point 32, and a loading point 33 are set in the loading station 4A. Switchback refers to an operation in which the unmanned haul vehicle 2 moving forward changes a traveling direction and travels in the target direction while moving backward. The switchback point 32 refers to a position where switchback is performed. The loading point 33 refers to a position where the unmanned haul vehicle 2 on which the loading work is performed is disposed. The loading point 33 is set in the vicinity of the loading equipment 9. At least one of the entrance point 61, the switchback point 32, the loading point 33, and the exit point 62 may be set by a manager. The haul condition generation unit 144 generates the haul path 31 so that the unmanned haul vehicle 2 passes each of the entrance point 61, the switchback point 32, the loading point 33, and the exit point 62.

[0079] The unmanned haul vehicle 2 that traveled on the traveling path 8 and passed the entrance point 61 enters the loading station 4A while moving forward. The unmanned haul vehicle 2 that entered the loading station 4A switches back at the switchback point 32, and then enters the loading point 33 while moving backward.  The loading equipment 9 loads a load onto the dump body 2C of the unmanned haul vehicle 2 disposed at the loading point 33.The unmanned haul vehicle 2 that finished the loading work moves forward to the exit point 62. The unmanned haul vehicle 2 passes the exit point 62 while moving forward and exits from the loading station 4A. 2023345882   10 Sep 2026

[0080] The water-sprinkling condition generation unit 149 generates the simple water-sprinkling condition based on the haul path 31. The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that at least a part of the haul path 31 and the water- sprinkling path 41 coincide with each other. The water- sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that a scanning rate on the haul path 31 becomes as high as possible without disturbing the work of the loading equipment 9 (manned equipment). FIG. 21 illustrates an example in which the water- sprinkling path 41 is generated as close as possible to the loading point 33. FIG. 22 illustrates an example in which the water-sprinkling path 41 is generated to pass at least the switchback point 32. The unmanned water-sprinkling vehicle 3 sprinkles water while traveling along the water- sprinkling path 41 illustrated in FIG. 21 or 22. The first water-sprinkling area 51 in the simple water-sprinkling condition overlaps at least a part of the haul path 31.

[0081] In step S72, when it is determined that the work place 4 where the haul path 31 exists is the soil discharging station 4B (step S72: No), the water-sprinkling condition generation unit 149 generates the water- sprinkling path 41 in the soil discharging station 4B based on the haul path 31 (step S74). After the watersprinkling path 41 of the simple water-sprinkling condition is generated, the processes of steps S15, S16, and S17 are performed.

[0082] FIG. 23 is a schematic view illustrating the method for generating the simple water-sprinkling condition according to the embodiment. FIG. 23 illustrates the method for generating the simple water-sprinkling condition in the soil discharging station 4B.  As illustrated in FIG. 23, the entrance point 61, the exit point 62, the switchback point 32, a soil discharging point 34, and a soil discharging area 35 are set in the soil discharging station 4B.  The soil discharging area 35 is an area where the unmanned 2023345882   10 Sep 2026 haul vehicle 2 can discharge the load. The soil discharging point 34 refers to a position where the unmanned haul vehicle 2 that performs the soil discharging work is disposed. In the example illustrated in FIG. 23, a plurality of soil discharging points 34 are set. The soil discharging point 34 is set inside the soil discharging area 35.  At least one of the entrance point 61, the switchback point 32, the soil discharging point 34, the soil discharging area 35, and the exit point 62 may be set by a manager. The haul condition generation unit 144 generates the haul path 31 so that the unmanned haul vehicle 2 passes each of the entrance point 61, the switchback point 32, the soil discharging point 34, and the exit point 62.

[0083] The unmanned haul vehicle 2 that traveled on the traveling path 8 and passed the entrance point 61 enters the soil discharging station 4B while moving forward. The unmanned haul vehicle 2 that entered the soil discharging station 4B switches back at the switchback point 32, and then enters the soil discharging point 34 while moving backward. The unmanned haul vehicle 2 that entered the soil discharging point 34 performs the soil discharging work of discharging a load from the dump body 2C by causing the dump body 2C to perform a dumping operation. The unmanned haul vehicle 2 that finished the soil discharging work moves forward to the exit point 62. The unmanned haul vehicle 2 passes the exit point 62 while moving forward and exits from the soil discharging station 4B.

[0084] The water-sprinkling condition generation unit 149 generates the simple water-sprinkling condition based on the haul path 31. The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that at least a part of the haul path 31 and the water-sprinkling path 41 coincide with each other. The water- sprinkling condition generation unit 149 generates the water-sprinkling path 41 to overlap, for example, the 2023345882   10 Sep 2026 haul path 31 on which water sprinkling is not performed in the past among the plurality of haul paths 31. The unmanned watersprinkling vehicle 3 sprinkles water while traveling along the water-sprinkling path 41 illustrated in FIG. 23. The first water sprinkling area 51 in the simple water- sprinkling condition overlaps at least a part of the haul path 31.

[0085] In step S71, when it is determined that the haul path 31 of the target vehicle does not exist (step S71: No), the watersprinkling condition generation unit 149 determines whether the haul path 31 of the past vehicle exists (step S75). In step S75, when it is determined that the haul path 31 of the past vehicle exists (step S75: Yes), the water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 based on the haul path 31 of the past vehicle (step S76). The water- sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that at least a part of the haul path 31 of the past vehicle and the water-sprinkling path 41 coincide with each other. After the water- sprinkling path 41 of the simple water-sprinkling condition is generated, the processes of steps S15, S16, and S17 are performed.

[0086] In step S75, when it is determined that the haul path 31 of the past vehicle does not exist (step S75: No), the watersprinkling condition generation unit 149 generates the watersprinkling path 41 not based on the haul path 31 (step S77). After the water-sprinkling path 41 of the simple water-sprinkling condition is generated, the processes of steps S15, S16, and S17 are performed.

[0087] FIG. 24 is a schematic view illustrating the method for generating the simple water-sprinkling condition according to the embodiment. As illustrated in FIG. 24, the water-sprinkling path 41 is generated to extend deep into the work place 4 from the entrance point 61 and then head toward the exit point 62. 2023345882   10 Sep 2026

[0088] When it is determined in step S10 that the required time Tr is longer than or equal to the first time T1 (step S10: No), the water-sprinkling condition decision unit 148 determines whether the required time Tr is shorter than the second time T2 (step S12).

[0089] In step S12, when it is determined that the required time Tr is shorter than the second time T2 (step S12: Yes), the watersprinkling condition decision unit 148 performs the process of step S7. In step S12, when it is determined that the required time Tr is longer than or equal to the second time T2 (step S12: No), the water- sprinkling condition decision unit 148 decides the wide-area water-sprinkling condition as the water-sprinkling condition (step S13). The water-sprinkling condition generation unit 149 generates the wide-area water- sprinkling condition decided by the water-sprinkling condition decision unit 148 (step S14).

[0090] As illustrated in FIG. 18, in the generation of the wide-area water-sprinkling condition, the input data acquisition unit 142 determines whether the designated input data is acquired from the input device 28 (step S141). When it is determined in step S141 that the designated input data is acquired (step S141: Yes), the target area designation unit 147 designates the second watersprinkling area 52 based on the designated input data (step S142). When it is determined in step S142 that the designated input data is not acquired (step S141: No), the target area designation unit 147 determines whether to designate the second water-sprinkling area 52 based on the haul path 31 (step S143). When it is determined in step S143 to designate the second water-sprinkling area 52 based on the haul path 31 (step S143: Yes), the target area designation unit 147 designates the second water-sprinkling area 52 based on the haul path 31 (step S144). When it is determined in step S143 not to designate the second water- sprinkling area 52 based on the haul path 31 (step S143: No), the target area 2023345882   10 Sep 2026 designation unit 147 designates the second water-sprinkling area 52 based on the outer shape of the work place 4 (step S145).

[0091] The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 based on the second watersprinkling area 52 designated in any one of steps S142, S144, and S145 (step S146). After the water- sprinkling path 41 of the wide-area water-sprinkling condition is generated, the processes of steps S15, S16, and S17 are performed.

[0092] Each of FIGS. 25 and 26 is a schematic view illustrating the method for generating the wide-area water- sprinkling condition according to the embodiment. Each of FIGS. 25 and 26 illustrates the method for generating the wide-area water-sprinkling condition in the soil discharging station 4B. As illustrated in FIG. 25, the second water-sprinkling area 52 may be designated to include the plurality of haul paths 31 generated in the soil discharging station 4B. As illustrated in FIG. 26, the second water-sprinkling area 52 in which the outer shape of the soil discharging station 4B is reduced may be designated. The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that the unmanned water-sprinkling vehicle 3 sprinkles water to the entire second water-sprinkling area 52.

[0093] When it is determined in step S2 that the condition input data is acquired (step S2: Yes), the water- sprinkling condition decision unit 148 determines the water-sprinkling condition indicated by the condition input data acquired by the input data acquisition unit 142. The water-sprinkling condition decision unit 148 determines whether the condition input data acquired by the input data acquisition unit 142 is condition input data indicating the non-water-sprinkling condition (step S3).

[0094] In step S3, when it is determined that the condition input data acquired by the input data acquisition unit 142 is the 2023345882   10 Sep 2026 condition input data indicating the non- water-sprinkling condition (step S3: Yes), the water- sprinkling condition decision unit 148 decides the non- water-sprinkling condition as the water-sprinkling condition (step S4). After the process of step S4 is performed, the processes of steps S5, S15, S16, and S17 are performed.

[0095] When it is determined in step S3 that the condition input data acquired by the input data acquisition unit 142 is not the condition input data indicating the non-water-sprinkling condition (step S3: No), the water- sprinkling condition decision unit 148 determines whether the condition input data acquired by the input data acquisition unit 142 is the condition input data indicating the simple water-sprinkling condition (step S6).

[0096] In step S6, when it is determined that the condition input data acquired by the input data acquisition unit 142 is the condition input data indicating the simple water-sprinkling condition (step S6: Yes), the water- sprinkling condition decision unit 148 decides the simple water-sprinkling condition as the water-sprinkling condition (step S7). After the process of step S7 is performed, the processes of steps S8, S15, S16, and S17 described above are performed.

[0097] In step S6, when it is determined that the condition input data acquired by the input data acquisition unit 142 is not the condition input data indicating the simple water-sprinkling condition (step S6: No), the water- sprinkling condition decision unit 148 decides the wide- area water-sprinkling condition as the water-sprinkling condition (step S13). After the process of step S13 is performed, the processes of steps S14, S15, S16, and S17 described above are performed.

[0098] [Computer System] 2023345882   10 Sep 2026 FIG. 27 is a block diagram illustrating a computer system 1000 according to the embodiment. Each of the management device 14, the control device 17, the control device 18, and the control device 19 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the management device 14, the control device 17, the control device 18, and the control device 19 described above are stored in the storage 1003 as computer programs. The processor 1001 reads the computer programs from the storage 1003, develops the computer programs in the main memory 1002, and executes the above-described processes according to the programs. Note that the computer program may be distributed to the computer system 1000 via a network.

[0099] According to the above-described embodiment, the computer system 1000 or the computer program can execute: acquiring condition input data from the input device 28; deciding the water-sprinkling condition of the unmanned watersprinkling vehicle 3 in the work place 4 where the unmanned haul vehicle 2 travels based on the condition input data; and generating the decided water-sprinkling condition and transmitting the generated water-sprinkling condition to the unmanned watersprinkling vehicle 3.

[0100] [Effects] As described above, the management system 13 of the work site 1 according to the embodiment includes the input data acquisition unit 142 that acquires condition input data from the input device 28, and the water-sprinkling condition decision unit 148 that decides the water- sprinkling condition of the unmanned water- 2023345882   10 Sep 2026 sprinkling vehicle 3 in the work place 4 where the unmanned haul vehicle 2 travels based on the condition input data.

[0101] According to the embodiment, an appropriate watersprinkling condition is selected by the manager so that the haul work of the unmanned haul vehicle 2 is not hindered by the water sprinkling work of the unmanned water-sprinkling vehicle 3. The management system 13 can decide the water-sprinkling condition based on the condition input data so that the haul work of the unmanned haul vehicle 2 is not hindered by the water-sprinkling work of the unmanned water-sprinkling vehicle 3. The watersprinkling condition generation unit 149 can generate the watersprinkling condition decided by the water-sprinkling condition decision unit 148. Therefore, a decrease in productivity of the work site 1 is suppressed.

[0102] The water-sprinkling condition includes a simple watersprinkling condition for sprinkling water to the first watersprinkling area 51 of the work place 4, a wide- area watersprinkling condition for sprinkling water to the second watersprinkling area 52 of the work place 4 larger than the first water-sprinkling area 51, and a non-water- sprinkling condition of not sprinkling water. The manager can select an appropriate watersprinkling condition capable of suppressing a decrease in productivity of the work site 1 from the simple water-sprinkling condition, the wide-area water-sprinkling condition, and the nonwater- sprinkling condition. The water-sprinkling condition decision unit 148 can decide at least one of the simple water sprinkling condition, the wide-area water-sprinkling condition, and the non-water-sprinkling condition as the water-sprinkling condition based on the condition input data.

[0103] The water-sprinkling condition generation unit 149 generates the simple water-sprinkling condition based on the haul path 31 indicating the target traveling route of the unmanned haul 2023345882   10 Sep 2026 vehicle 2. The unmanned haul vehicle 2 travels along the haul path 31. There is a high possibility that mine dust or cloud of dust is diffused in an area where the unmanned haul vehicle 2 travels. The traveling area of the unmanned haul vehicle 2 is intensively sprinkled with water based on the haul path 31 of the unmanned haul vehicle 2, whereby diffusion of mine dust or cloud of dust is suppressed.

[0104] The water-sprinkling condition generation unit 149 may generate the simple water-sprinkling condition based on the haul path 31 of the target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te is calculated. By watersprinkling the scheduled traveling area of the target vehicle immediately before the target vehicle travels in the work place 4, diffusion of mine dust or cloud of dust is effectively suppressed.

[0105] The water-sprinkling condition generation unit 149 may generate the simple water-sprinkling condition based on the haul path 31 of the past vehicle indicating the unmanned haul vehicle 2 that traveled in the work place 4 in the past earlier than the unmanned haul vehicle 2 for which the expected time Te is calculated. By water- sprinkling the already-traveled area of the past vehicle, diffusion of mine dust or cloud of dust is effectively suppressed.

[0106] The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that at least a part of the haul path 31 and the water-sprinkling path 41 coincide with each other. As a result, the traveling area of the unmanned haul vehicle 2 including one or both of the scheduled traveling area and the already-traveled area is appropriately sprinkled with water.

[0107] The water-sprinkling condition generation unit 149 generates the wide-area water-sprinkling condition based on the 2023345882   10 Sep 2026 second water-sprinkling area 52 that is the water-sprinkling target area designated by the target area designation unit 147. As a result, the unmanned water- sprinkling vehicle 3 can sprinkle water not only to the traveling area of the unmanned haul vehicle 2 but also to the wide range of the work place 4 where mine dust or cloud of dust may diffuse. Therefore, the diffusion of mine dust or cloud of dust is effectively suppressed.

[0108] The target area designation unit 147 may designate the second water-sprinkling area 52 to include each of the haul path 31 of the target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te is calculated and the haul path 31 of the past vehicle indicating the unmanned haul vehicle 2 that traveled in the work place 4 in the past before the target vehicle. Since each of the scheduled traveling area and the already-traveled area of the unmanned haul vehicle 2 is sprinkled with water, the diffusion of mine dust or cloud of dust is effectively suppressed.

[0109] The target area designation unit 147 may designate the second water-sprinkling area 52 to include each of the haul path 31 of the target vehicle indicating the unmanned haul vehicle 2 for which the expected time Te is calculated and the haul path 31 of the future vehicle indicating the unmanned haul vehicle 2 that is to travel in the work place 4 in the future than the target vehicle. Since each of the scheduled traveling areas of the plurality of unmanned haul vehicles 2 are sprinkled with water, the diffusion of mine dust or cloud of dust is effectively suppressed.

[0110] The target area designation unit 147 may designate the second water-sprinkling area 52 based on the outer shape of the work place 4. As a result, a wide range of the work place 4 is uniformly sprinkled with water. 2023345882   10 Sep 2026

[0111] The target area designation unit 147 may designate the second water-sprinkling area 52 based on designated input data from the input device 28. As a result, the second watersprinkling area 52 is designated based on the intention of the manager.

[0112] The water-sprinkling condition generation unit 149 generates the water-sprinkling path 41 so that the unmanned water-sprinkling vehicle 3 sprinkles water to the entire second water-sprinkling area 52. Since the entire designated second water-sprinkling area 52 is sprinkled with water, diffusion of mine dust or cloud of dust is effectively suppressed.

[0113] As described with reference to FIG. 13, the watersprinkling condition generation unit 149 can generate the water sprinkling path 41 (manually generated path)based on the path input data from the input device 28. In addition, the water sprinkling condition generation unit 149 can automatically generate the water-sprinkling path 41 (automatically generated path) based on the haul path 31 or the second water-sprinkling area 52 (water-sprinkling target area). The manually generated path is prioritized over the automatically generated path. As a result, the water-sprinkling path 41 is generated based on the intention of the manager.

[0114] [Other Embodiments] In the above-described embodiment, at least a part of the function of the control device 17, the function of the control device 18, and the function of the control device 19 may be provided in the management device 14. At least a part of the function of the management device 14 may be provided in at least one of the control device 17, the control device 18, and the control device 19. For example, in the above-described embodiment, 2023345882   10 Sep 2026 the control device 19 may have at least one of the function of the sensor data acquisition unit 141, the function of the input data acquisition unit 142, the function of the work place data acquisition unit 143, the function of the haul condition generation unit 144, the function of the haul condition transmission unit 145, the function of the expected time calculation unit 146, the function of the target area designation unit 147, the function of the water-sprinkling condition decision unit 148, and the function of the water- sprinkling condition generation unit 149.

[0115] In the above-described embodiment, for example, each of the sensor data acquisition unit 141, the input data acquisition unit 142, the work place data acquisition unit 143, the haul condition generation unit 144, the haul condition transmission unit 145, the expected time calculation unit 146, the target area designation unit 147, the water-sprinkling condition decision unit 148, the water-sprinkling condition generation unit 149, the watersprinkling condition transmission unit 150, and the display control unit 151 may be configured by separate hardware. 2023345882   10 Sep 2026 Reference Signs List

[0116] 1 WORK SITE 2 UNMANNED HAUL VEHICLE 2A VEHICLE BODY 2B TRAVELING DEVICE 2C DUMP BODY 3 UNMANNED WATER-SPRINKLING VEHICLE 3A VEHICLE BODY 3B TRAVELING DEVICE 3C TANK 3D WATER-SPRINKLING SPRAY 4 WORK PLACE 4A LOADING STATION 4B SOIL DISCHARGING STATION 5 PARKING LOT 6 FUEL FILLING STATION 7 WATER SUPPLY STATION 8 TRAVELING PATH 9 LOADING EQUIPMENT 9A SWING BODY 9B TRAVELING BODY 9C WORKING EQUIPMENT 9D WORKING EQUIPMENT CYLINDER 10 CRUSHING EQUIPMENT 11 FUEL FILLING EQUIPMENT 2023345882   10 Sep 2026 12 WATER SUPPLY EQUIPMENT 13 MANAGEMENT SYSTEM 14 MANAGEMENT DEVICE 15 COMMUNICATION SYSTEM 15A WIRELESS COMMUNICATION EQUIPMENT 15B WIRELESS COMMUNICATION EQUIPMENT 15C WIRELESS COMMUNICATION EQUIPMENT 15D WIRELESS COMMUNICATION EQUIPMENT 16 CONTROL FACILITY 17 CONTROL DEVICE 18 CONTROL DEVICE 19 CONTROL DEVICE 20 INPUT DEVICE 21 DISPLAY DEVICE 22 POSITION SENSOR 23 AZIMUTH SENSOR 24 SPEED SENSOR 25 POSITION SENSOR 26 AZIMUTH SENSOR 27 SPEED SENSOR 28 INPUT DEVICE 29 DISPLAY DEVICE 30 TRAVELING POINT 31 HAUL PATH 31R HAUL PATH 31P HAUL PATH 2023345882   10 Sep 2026 31F    HAUL PATH 32     SWITCHBACK POINT 33     LOADING POINT 34     SOIL DISCHARGING POINT 35     SOIL DISCHARGING AREA 40     TRAVELING POINT 41     WATER-SPRINKLING PATH 51     FIRST WATER-SPRINKLING AREA 52     SECOND WATER-SPRINKLING AREA 61     ENTRANCE POINT 62     EXIT POINT 141   SENSOR DATA ACQUISITION UNIT 142   INPUT DATA ACQUISITION UNIT 143   WORK PLACE DATA ACQUISITION UNIT 144   HAUL CONDITION GENERATION UNIT 145   HAUL CONDITION TRANSMISSION UNIT 146   EXPECTED TIME CALCULATION UNIT 147   TARGET AREA DESIGNATION UNIT 148   WATER-SPRINKLING CONDITION DECISION UNIT 149   WATER-SPRINKLING CONDITION GENERATION UNIT 150   WATER-SPRINKLING CONDITION TRANSMISSION UNIT 151   DISPLAY CONTROL UNIT 171   INPUT DATA TRANSMISSION UNIT 172   DISPLAY CONTROL UNIT 2023345882   10 Sep 2026 181   SENSOR DATA TRANSMISSION UNIT 182   HAUL CONDITION ACQUISITION UNIT 183   TRAVELING CONTROL UNIT 191   SENSOR DATA TRANSMISSION UNIT 192   WATER-SPRINKLING CONDITION ACQUISITION UNIT 193   TRAVELING CONTROL UNIT 194   WATER-SPRINKLING CONTROL UNIT 1000  COMPUTER SYSTEM 1001  PROCESSOR 1002  MAIN MEMORY 1003  STORAGE 1004  INTERFACE Ds    DISTANCE Pn    CURRENT POSITION T1    FIRST TIME T2   SECOND TIME Te   EXPECTED TIME Tn   TIME POINT Tr  REQUIRED TIME Vr  TARGET TRAVELING SPEED

Claims

Claim 1. A management system of a work site, the system comprising:an input data acquisition unit that acquires condition input data from an input device;a water-sprinkling condition decision unit that decides, based on the condition input data, a water-sprinkling condition ofan unmanned water-sprinkling vehicle in a work place where anunmanned haul vehicle travels;a water-sprinkling condition generation unit that generatesthe water-sprinkling condition;a water-sprinkling control unit that controls a watersprinkling spray of the unmanned water-sprinkling vehicle based on the water-sprinkling condition,wherein the water-sprinkling condition includes a first water-sprinkling condition for sprinkling water to a first watersprinkling area of the work place, a second water-sprinklingcondition for sprinkling water to a second water-sprinkling areaof the work place larger than the first water-sprinkling area, anda third water-sprinkling condition in which water is notsprinkled,the water-sprinkling condition decision unit decides at least one of the first water-sprinkling condition, the second watersprinkling condition, and the third water-sprinkling condition as the water-sprinkling condition,the water-sprinkling condition includes a water-sprinkling path indicating a target traveling route of the unmanned watersprinkling vehicle, andthe water-sprinkling path that is able to be generated by thewater-sprinkling condition generation unit includes at least awater-sprinkling path generated based on a haul path indicating atarget traveling route of the unmanned haul vehicle or a watersprinkling target area designated in the work place, and2023345882   10 Sep 2026when the first water-sprinkling condition is decided as the water-sprinkling condition, the water-sprinkling conditiongeneration unit generates the water-sprinkling path included in the first water-sprinkling condition based on the haul path, andwhen the second water-sprinkling condition is decided as thewater-sprinkling condition, the water-sprinkling conditiongeneration unit generates the water-sprinkling path included inthe second water-sprinkling condition based on the watersprinkling target area.Claim 2. The management system of a work site according to claim1, further comprisinga haul condition generation unit that generates haul traveling data indicating a traveling condition including a haul path indicating a target traveling route of the unmanned haulvehicle, wherein the water-sprinkling condition generation unitgenerates the first water-sprinkling condition based on the haulpath.Claim 3. The management system of a work site according to claim1, further comprisingan expected time calculation unit that calculates an expected time at which an unmanned haul vehicle arrives at a work place,wherein the water-sprinkling condition generation unit generates the first water-sprinkling condition based on a haulpath of a target vehicle indicating the unmanned haul vehicle for which the expected time is calculated.Claim 4. The management system of a work site according to claim1, further comprisingan expected time calculation unit that calculates an expected time at which an unmanned haul vehicle arrives at a work place,wherein the water-sprinkling condition generation unit generates the first water-sprinkling condition based on a haulpath of a past vehicle indicating an unmanned haul vehicle that2023345882   10 Sep 2026traveled the work place in the past before the unmanned haulvehicle for which the expected time is calculated.Claim 5. The management system of a work site according to claim2, whereinthe water-sprinkling condition generation unit generates the water-sprinkling path such that at least a part of the haul pathand the water-sprinkling path coincide with each other.Claim 6. The management system of a work site according to claim1, further comprisinga target area designation unit that designates the second water-sprinkling area in the work place,wherein the water-sprinkling condition generation unit generates a second water-sprinkling condition based on the second water-sprinkling area designated by the target area designationunit.Claim 7. The management system of a work site according to claim 6, further comprisingan expected time calculation unit that calculates an expected time at which an unmanned haul vehicle arrives at a work place,wherein the target area designation unit designates thesecond water-sprinkling area to include each of a haul path of a target vehicle indicating the unmanned haul vehicle for which theexpected time is calculated and a haul path of a past vehicleindicating an unmanned haul vehicle that traveled the work placein the past before the target vehicle.Claim 8. The management system of a work site according to claim 6, further comprisingan expected time calculation unit that calculates an expected time at which an unmanned haul vehicle arrives at a work place,wherein the target area designation unit designates thesecond water-sprinkling area to include each of a haul path of a target vehicle indicating the unmanned haul vehicle for which theexpected time is calculated and a haul path of a future vehicle2023345882   10 Sep 2026indicating an unmanned haul vehicle that is to travel the work place in the future than the target vehicle.Claim 9. The management system of a work site according to claim6, whereinthe target area designation unit designates the second watersprinkling area based on an outer shape of the work place.Claim 10. The management system of a work site according to claim6, whereinthe target area designation unit designates the second watersprinkling area based on designated input data from an inputdevice.Claim 11. The management system of a work site according to claim6, whereinthe water-sprinkling condition generation unit generates the water-sprinkling path such that the entire second water-sprinklingarea is sprinkled with water by the unmanned water-sprinkling vehicle.Claim 12. The management system of a work site according to claim1, whereinthe water-sprinkling path that is able to be generated by thewater-sprinkling condition generation unit includes a manually generated path generated based on path input data from an inputdevice, and an automatically generated path generated based on ahaul path indicating a target traveling route of the unmanned haulvehicle or a water-sprinkling target area designated in the workplace, andthe water-sprinkling condition generation unit does not generate the automatically generated path when the manuallygenerated path is generated.Claim 13. The management system of a work site according to claim1, wherein2023345882   10 Sep 2026the work place includes at least one of a loading stationwhere loading equipment loads a load onto the unmanned haulvehicle and a soil discharging station where the unmanned haulvehicle discharges the load.Claim 14. A method for managing a work site, the methodcomprising:acquiring condition input data from an input device;deciding, based on the condition input data, a watersprinkling condition of an unmanned water-sprinkling vehicle in a work place where an unmanned haul vehicle travels;generating the water-sprinkling condition and transmitting the generated water-sprinkling condition to the unmanned watersprinkling vehicle; andcontrolling a water-sprinkling spray of the unmanned watersprinkling vehicle based on the water-sprinkling condition, wherein the water-sprinkling condition includes a first water-sprinkling condition for sprinkling water to a first watersprinkling area of the work place, a second water-sprinklingcondition for sprinkling water to a second water-sprinkling areaof the work place larger than the first water-sprinkling area, anda third water-sprinkling condition in which water is notsprinkled,at least one of the first water-sprinkling condition, the second water-sprinkling condition, and the third water-sprinkling condition is decided as the water-sprinkling condition,the water-sprinkling condition includes a water-sprinkling path indicating a target traveling route of the unmanned watersprinkling vehicle, andthe generated water-sprinkling path includes at least a water-sprinkling path generated based on a haul path indicating atarget traveling route of the unmanned haul vehicle or a watersprinkling target area designated in the work place, andwhen the first water-sprinkling condition is decided as thewater-sprinkling condition, the water-sprinkling path included in2023345882   10 Sep 2026the first water-sprinkling condition is generated based on the haul path, andwhen the second water-sprinkling condition is decided as the water-sprinkling condition, the water-sprinkling path included in the second water-sprinkling condition is generated based on thewater-sprinkling target area.Claim 15. The method for managing a work site according to claim14, further comprisinggenerating haul traveling data indicating a travelingcondition including a haul path indicating a target travelingroute of the unmanned haul vehicle,wherein the first water-sprinkling condition is generated based on the haul path.Komatsu Ltd.Patent Attorneys for the Applicant / Nominated PersonSPRUSON & FERGUSON

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