Method and system for controlling bulldozer and transport vehicle

Abstract

To provide a technology to avoid interference between a transport vehicle and a self-traveling bulldozer.SOLUTION: A method for controlling a bulldozer includes the following processing. First processing is to recognize a first operation area having no bulldozer in a work site. Second processing is to determine a first earth removal position in the first operation are. Third processing is to determine whether transport of sediment to the first earth removal position by a transport vehicle has completed. Fourth processing is to determine whether the transport vehicle has exited from the first operation area. Fifth processing is to permit entry of the bulldozer into the first operation area after the transport vehicle has exited from the first operation area.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a method and system for controlling a bulldozer and a haul vehicle. [Background technology]

[0002] Conventionally, a system is known that allows a transport vehicle to travel autonomously without being operated by a driver. For example, in the system disclosed in Patent Document 1, a control server performs wireless communication with an autonomously traveling transport vehicle (hereinafter referred to as an "autonomous vehicle") and acquires the position of the autonomous vehicle. The control server stores a map database that stores the travel route of the work site. The control server also performs wireless communication with a vehicle driven by a driver (hereinafter referred to as a "manned vehicle") and acquires the travel position and work status of the manned vehicle. The control server controls the autonomous vehicle so as to avoid interference with the manned vehicle based on the travel position of the manned vehicle and the map database. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-218576 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, bulldozers that perform work by automatic control without the operation of a driver have become known. When a bulldozer performs work by automatic control, more advanced operation management is required to avoid interference with a transport vehicle. An object of the present disclosure is to provide a technology for avoiding interference between a transport vehicle and an autonomously traveling bulldozer. [Means for solving the problem]

[0005] A method according to one embodiment of the present disclosure is a method for controlling a bulldozer. The method according to this embodiment includes the following processes. A first process is to recognize a first working area in a work site where a bulldozer is not present. A second process is to determine a first earth unloading position in the first working area. A third process is to determine whether the transport vehicle has completed transporting earth and sand to the first earth unloading position. A fourth process is to determine whether the transport vehicle has exited the first working area. A fifth process is to permit the bulldozer to enter the first working area after the transport vehicle has exited the first working area. Note that the order of execution of the processes is not limited to the above order and may be changed.

[0006] A system according to another aspect of the present disclosure is a system for controlling a bulldozer. The system according to this aspect includes a controller. A command signal is transmitted to the bulldozer. The controller recognizes a first operating area within a work site where the bulldozer is not present. The controller determines a first earth unloading position within the first operating area. The controller determines whether the transport vehicle has completed transporting earth and sand to the first earth unloading position. The controller determines whether the transport vehicle has exited the first operating area. The controller allows the bulldozer to enter the first operating area after the transport vehicle has exited the first operating area. Effect of the Invention

[0007] According to the present disclosure, interference between a transport vehicle and an autonomously traveling bulldozer can be avoided. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic diagram showing a control system for a bulldozer and a transport vehicle according to an embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a bulldozer. [Figure 4] FIG. [Diagram 5]FIG. 2 is a block diagram showing a configuration of a transport vehicle. [Figure 6] FIG. 1 is a top view of the worksite. [Figure 7] 4 is a flowchart showing a process for automatic control of a bulldozer and a transport vehicle. [Figure 8] FIG. 1 is a top view of the work area. [Figure 9] FIG. 1 is a top view of the work area. [Figure 10] 4 is a flowchart showing a process for automatic control of a bulldozer and a transport vehicle. [Figure 11] FIG. 1 is a top view of the work area. [Figure 12] 4 is a flowchart showing a process for automatic control of a bulldozer and a transport vehicle. [Figure 13] FIG. 1 is a top view of the work area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a system 100 according to an embodiment will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a system 100 according to an embodiment. The system 100 includes a bulldozer 1, a transport vehicle 2, and a remote control system 3. The system 100 controls the bulldozer 1 and the transport vehicle 2 arranged at a work site such as a mining site. The transport vehicle 2 is, for example, a dump truck. The bulldozer 1 and the transport vehicle 2 run independently without being driven by a driver. However, the bulldozer 1 and the transport vehicle 2 may be manually operated by an operator remotely. The number of bulldozers 1 is not limited to one, and may be more than one. The number of transport vehicles 2 is not limited to one, and may be more than one.

[0010] Fig. 2 is a perspective view of the bulldozer 1. Fig. 3 is a block diagram showing the configuration of the bulldozer 1. As shown in Fig. 2, the bulldozer 1 includes a vehicle body 11, a traveling device 12, and a work implement 13. The vehicle body 11 is supported by the traveling device 12. The traveling device 12 has tracks 14. The bulldozer 1 travels as the tracks 14 rotate.

[0011] The work machine 13 is attached to the vehicle body 11. The work machine 13 includes a lift frame 15, a blade 16, and a lift cylinder 17. The lift frame 15 is attached to the traveling device 12 so as to be movable up and down. The lift frame 15 may be attached to the vehicle body 11. The lift frame 15 supports the blade 16. The blade 16 moves up and down with the movement of the lift frame 15. The lift cylinder 17 is connected to the vehicle body 11 and the lift frame 15. The lift cylinder 17 extends and retracts, causing the lift frame 15 to move up and down.

[0012] As shown in Fig. 3, the bulldozer 1 includes a driving source 18, a hydraulic pump 19, a power transmission device 20, and a control valve 21. The driving source 18 is, for example, an internal combustion engine. The hydraulic pump 19 is driven by the driving source 18 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 19 is supplied to the lift cylinder 17. Although one hydraulic pump is illustrated in Fig. 3, multiple hydraulic pumps may be provided.

[0013] The power transmission device 20 transmits the driving force of the drive source 18 to the traveling device 12. The power transmission device 20 may be, for example, a hydrostatic transmission (HST). Alternatively, the power transmission device 20 may be a torque converter or a transmission having a plurality of speed change gears. Alternatively, the power transmission device 20 may be another type of transmission.

[0014] The control valve 21 is disposed between a hydraulic actuator such as the lift cylinder 17 and the hydraulic pump 19. The control valve 21 controls the flow rate of hydraulic oil supplied from the hydraulic pump 19 to the lift cylinder 17. The control valve 21 may be a pressure proportional control valve. Alternatively, the control valve 21 may be an electromagnetic proportional control valve.

[0015] The bulldozer 1 includes a machine controller 22 and a machine communication device 23. The machine controller 22 controls the traveling device 12 or the power transmission device 20 to travel the bulldozer 1. The machine controller 22 controls the control valve 21 to move the blade 16 up and down.

[0016] The machine controller 22 is programmed to control the bulldozer 1 based on the acquired data. The machine controller 22 includes a processor 221 and a storage device 222. The processor 221 is, for example, a CPU (central processing unit). Alternatively, the processor 221 may be a processor different from the CPU. The processor 221 executes processing for controlling the bulldozer 1 according to the program.

[0017] The storage device 222 includes a non-volatile memory such as a ROM and a volatile memory such as a RAM. The storage device 222 may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The storage device 222 is an example of a non-transitory computer-readable recording medium. The storage device 222 stores computer instructions and data for controlling the bulldozer 1.

[0018] The machine communication device 23 wirelessly communicates with the remote control system 3. For example, the machine communication device 23 communicates with the remote control system 3 via a wireless LAN such as Wi-Fi (registered trademark), mobile communication such as 3G, 4G, or 5G, or other types of wireless communication networks.

[0019] The bulldozer 1 includes a machine position sensor 24. The machine position sensor 24 may include a Global Navigation Satellite System (GNSS) receiver, for example, a Global Positioning System (GPS). Alternatively, the machine position sensor 24 may include a receiver of another positioning system. The machine position sensor 24 may include a distance measurement sensor, such as Lidar, or an image sensor, such as a stereo camera. The machine position sensor 24 outputs position data to the machine controller 22. The position data indicates the current position of the bulldozer 1.

[0020] Fig. 4 is a side view of the transport vehicle 2. Fig. 5 is a block diagram showing the configuration of the transport vehicle 2. As shown in Fig. 4, the transport vehicle 2 includes a vehicle body 30, a traveling device 31, and a bed 32. The vehicle body 30 is supported by the traveling device 31. The traveling device 31 includes tracks 33. The transport vehicle 2 travels as the tracks 33 are driven. Note that the traveling device 31 may include tires instead of the tracks 33.

[0021] The loading platform 32 is supported by the vehicle body 30. The loading platform 32 is movable between a dump position and a transport position. In FIG. 3, the loading platform 32 shown by a solid line indicates the position of the loading platform 32 in the transport position. The loading platform 32' shown by a two-dot chain line indicates the position of the loading platform 32 in the dump position. In the transport position, the loading platform 32 is positioned approximately horizontally. In the dump position, the loading platform 32 is inclined relative to the transport position.

[0022] As shown in FIG. 5, the transport vehicle 2 includes a driving source 34, a hydraulic pump 35, a power transmission device 36, a lift cylinder 37, and a control valve 38. The driving source 34 is, for example, an internal combustion engine. The hydraulic pump 35 is driven by the driving source 34 and discharges hydraulic oil. Although one hydraulic pump is illustrated in FIG. 5, a plurality of hydraulic pumps may be provided. The control valve 38 is disposed between the lift cylinder 37 and the hydraulic pump 35. The control valve 38 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 35 to the lift cylinder 37. The control valve 38 may be a pressure proportional control valve. Alternatively, the control valve 38 may be an electromagnetic proportional control valve.

[0023] The power transmission device 36 transmits the driving force of the drive source 34 to the traveling device 31. The power transmission device 36 is, for example, an HST (Hydro Static Transmission). The lift cylinder 37 is a hydraulic cylinder. Hydraulic oil discharged from the hydraulic pump 35 is supplied to the lift cylinder 37. The lift cylinder 37 is driven by the hydraulic oil from the hydraulic pump 35. The lift cylinder 37 raises and lowers the loading platform 32. As a result, the position of the loading platform 32 is switched between a transport position and a dump position.

[0024] The transport vehicle 2 includes a vehicle controller 40 and a vehicle communication device 41. The vehicle controller 40 controls the traveling device 31 or the power transmission device 36 to drive the transport vehicle 2. The vehicle controller 40 controls the control valve 38 to switch the loading platform 32 between a transport posture and a dump posture.

[0025] The vehicle controller 40 is programmed to control the haulage vehicle 2 based on the acquired data. The vehicle controller 40 includes a processor 401 and a storage device 402. The processor 401 is, for example, a CPU (central processing unit). Alternatively, the processor 401 may be a processor different from the CPU. The processor 401 executes processing for controlling the haulage vehicle 2 according to the program.

[0026] The storage device 402 includes a non-volatile memory such as a ROM and a volatile memory such as a RAM. The storage device 402 may include an auxiliary storage device such as a hard disk or a solid state drive (SSD). The storage device 402 is an example of a non-transitory computer-readable recording medium. The storage device 402 stores computer instructions and data for controlling the transport vehicle 2.

[0027] The vehicle communication device 41 wirelessly communicates with the remote control system 3. For example, the vehicle communication device 41 communicates with the remote control system 3 via a wireless LAN such as Wi-Fi (registered trademark), mobile communication such as 3G, 4G, or 5G, or another type of wireless communication network.

[0028] The transport vehicle 2 includes a vehicle position sensor 42. The vehicle position sensor 42 may include a Global Navigation Satellite System (GNSS) receiver, such as a Global Positioning System (GPS). Alternatively, the vehicle position sensor 42 may include a receiver of another positioning system. The vehicle position sensor 42 may include a distance measurement sensor, such as Lidar, or an image sensor, such as a stereo camera. The vehicle position sensor 42 outputs position data to the vehicle controller 40. The position data indicates the current position of the transport vehicle 2.

[0029] The remote control system 3 is disposed, for example, in a management center away from the work site. Alternatively, the remote control system 3 may be disposed within the work site. The remote control system 3 remotely controls the bulldozer 1 and the transport vehicle 2. As shown in FIG. 1, the remote control system 3 includes a remote controller 43, an input device 44, and an external communication device 45.

[0030] The external communication device 45 wirelessly communicates with the machine communication device 23 and the vehicle communication device 41. The external communication device 45 transmits a command signal from the remote controller 43 to the machine communication device 23 and the vehicle communication device 41. The machine controller 22 receives the command signal via the machine communication device 23. The vehicle controller 40 receives the command signal via the vehicle communication device 41. The external communication device 45 receives position data of the bulldozer 1 via the machine communication device 23. The external communication device 45 receives position data of the transport vehicle 2 via the vehicle communication device 41.

[0031] The input device 44 is a device that can be operated by an operator. The input device 44 receives an input command from the operator, and outputs an operation signal corresponding to the input command to the remote controller 43. The input device 44 outputs an operation signal according to an operation by the operator. The input device 44 outputs an operation signal to the remote controller 43. The input device 44 may include a pointing device such as a mouse or a trackball. The input device 44 may include a keyboard. The input device 44 may include a touch screen.

[0032] The remote controller 43 receives an operation signal from the input device 44. The remote controller 43 acquires position data of the bulldozer 1 from the bulldozer 1. The remote controller 43 acquires position data of the transport vehicle 2 from the transport vehicle 2. The remote controller 43 includes a processor 431 and a storage device 432. The processor 431 is, for example, a CPU (Central Processing Unit). Alternatively, the processor 431 may be a processor different from the CPU. The processor 431 executes processing for controlling the bulldozer 1 and the transport vehicle 2 according to a program.

[0033] The storage device 432 includes a non-volatile memory such as a ROM and a volatile memory such as a RAM. The storage device 432 may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The storage device 432 is an example of a non-transitory computer-readable recording medium. The storage device 432 stores computer instructions and data for controlling the bulldozer 1 and the transport vehicle 2.

[0034] Next, the automatic operation of the bulldozer 1 and the transport vehicle 2 executed by the system 100 will be described. FIG. 6 is a top view of a worksite. The remote controller 43 stores current topography data showing the current topography 50 of the worksite. An excavator 4 is disposed on the worksite. The excavator 4 excavates the current topography 50. The excavator 4 may be automatically controlled by the remote controller 43. Alternatively, the excavator 4 may be manually operated.

[0035] The current topography 50 includes a working area 51 and an earth unloading area 52. The remote controller 43 stores the position of the working area 51 assigned to the bulldozer 1. For example, an operator operates the input device 44 to assign a predetermined area within the worksite to the bulldozer 1 as the working area 51. The remote controller 43 stores the position of the earth unloading area 52 and a boundary position 53 between the working area 51 and the earth unloading area 52. The remote controller 43 acquires the position of the earth unloading area 52 and the boundary position 53 from, for example, the current topography data.

[0036] The remote controller 43 determines a loading position 60 and an earth unloading position 61. The loading position 60 is a position near the excavation machine 4. The loading position 60 may be set by an operator operating the input device 44. Alternatively, the loading position 60 may be determined by the remote controller 43 from the position of the excavation machine 4.

[0037] The soil unloading position 61 is a position within the work area 51. The soil unloading position 61 is located near a boundary position 53 between the work area 51 and the soil unloading area 52. The soil unloading position 61 will be described later. The remote controller 43 determines a travel route 56 connecting the loading position 60 and the soil unloading position 61. The remote controller 43 determines the travel route 56, for example, so that the travel distance of the haulage vehicle 2 is the shortest. The remote controller 43 transmits data indicating the travel route 56 to the haulage vehicle 2.

[0038] The transport vehicle 2 travels autonomously along a travel path 56. The transport vehicle 2 moves to a loading position 60, and the excavated soil is loaded onto the transport vehicle 2 at the loading position 60. The transport vehicle 2 moves along the travel path 56, and discharges the soil from the loading platform 32 at a soil discharge position 61. As a result, the soil excavated by the excavator 4 is transported to a work area 51 assigned to the bulldozer 1. In the work area 51, the bulldozer 1 pushes the soil placed in the work area 51 out from a boundary position 53. As a result, the soil is discharged from the work area 51 to the soil discharge area 52.

[0039] The automatic control process for allowing the bulldozer 1 and the transport vehicle 2 to work in cooperation with each other will be described below.

[0040] In step S101, the remote controller 43 acquires the position of the first operating area 51A and the position of the second operating area 51B. FIG. 8 is a top view of the working area 51. As shown in FIG. 8, the first operating area 51A and the second operating area 51B are located within the working area 51 and are adjacent to each other. The remote controller 43 divides the working area 51 into two operating areas and determines the two operating areas as the first operating area 51A and the second operating area 51B. For example, the remote controller 43 determines the first operating area 51A and the second operating area 51B in response to the operation of the input device 44 by the operator.

[0041] In step S102, the remote controller 43 acquires the current position of the bulldozer 1. The remote controller 43 acquires the current position of the bulldozer 1 from the position data of the bulldozer 1. In step S103, the remote controller 43 acquires the current position of the transport vehicle 2. The remote controller 43 acquires the current position of the transport vehicle 2 from the position data of the transport vehicle 2.

[0042] In step S104, the remote controller 43 determines the first earth unloading positions 61A-63A. The remote controller 43 determines the first earth unloading positions 61A-63A in an operating area where the bulldozer 1 is not present. For example, when the bulldozer 1 is located in the second operating area 51B and is not in the first operating area 51A, the remote controller 43 determines a plurality of first earth unloading positions 61A-63A in the first operating area 51A. The remote controller 43 may determine a position a predetermined distance away from the boundary position 53 in the first operating area 51A as the first earth unloading position 61A-63A. The remote controller 43 may determine the first earth unloading positions 61A-63A such that the plurality of first earth unloading positions 61A-63A are arranged at predetermined intervals.

[0043] In step S105, the remote controller 43 determines the first travel path 56A. The first travel path 56A is a path connecting the loading position and the first earth unloading position 61A-63A. The remote controller 43 determines the first travel path 56A of the transport vehicle 2 to the first earth unloading position 61A-63A based on the current position of the bulldozer 1 and the first earth unloading position 61A-63A so as to avoid interference between the transport vehicle 2 and the bulldozer 1. The remote controller 43 determines the first travel path 56A so as to minimize the travel distance of the transport vehicle 2 while avoiding interference with the bulldozer 1, for example.

[0044] In step S106, the remote controller 43 controls the transport vehicle 2 to transport the soil to the first soil discharge position 61A-63A. The remote controller 43 moves the transport vehicle 2 along the first travel path 56A and discharges the soil from the loading platform 32 to the first soil discharge position 61A-63A. The remote controller 43 may discharge the soil from the transport vehicle 2 to a plurality of first soil discharge positions 61A-63A by one travel along the first travel path 56A. Alternatively, the remote controller 43 may discharge the soil from the transport vehicle 2 to a plurality of first soil discharge positions 61A-63A by multiple travels along the first travel path 56A. The remote controller 43 prohibits the bulldozer 1 from entering the first operating area 51A while the transport vehicle 2 is transporting the soil to the first soil discharge position 61A-63A.

[0045] In step S107, the remote controller 43 determines whether the transport of earth and sand by the transport vehicle 2 to the first unloading positions 61A-63A has been completed. For example, the transport vehicle 2 may transmit a report signal indicating the completion of transport to the remote controller 43 when the transport vehicle 2 has unloaded earth and sand to all of the first unloading positions 61A-63A. The remote controller 43 may determine the completion of transport of earth and sand to the first unloading positions 61A-63A based on the report signal from the transport vehicle 2.

[0046] As shown in Fig. 9, when the transportation of the soil 71A-73A to the first unloading positions 61A-63A is completed, the process proceeds to step S108. In step S108, the remote controller 43 controls the transport vehicle 2 to exit the first operation area 51A. The remote controller 43 controls the transport vehicle 2 to move to the loading position 60. In step S109, the remote controller 43 determines whether the transport vehicle 2 has exited the first operation area 51A. When the transport vehicle 2 has exited the first operation area 51A, the process proceeds to step S110 shown in Fig. 10.

[0047] In step S110, the remote controller 43 prohibits the transport vehicle 2 from entering the first operation area 51A. In step S111, the remote controller 43 prohibits the transport vehicle 2 from entering the first operation area 51A, and then permits the bulldozer 1 to enter the first operation area 51A. This allows the bulldozer 1 to move from the second operation area 51B to the first operation area 51A.

[0048] 11, in the first working area 51A, the bulldozer 1 acquires a travel route 81A for discharging the soil 71A placed at the first discharging position 61A-63A to the soil discharging area. The bulldozer 1 moves from the second working area 51B to the first working area 51A, and moves along the travel route 81A in the first working area 51A. As a result, the soil 71A is dropped from the boundary position 53 to the soil discharging area 52.

[0049] The travel path 81A of the bulldozer 1 may be determined based on the first earth discharge position 61A, the boundary position 53, and the capacity of the blade 16. For example, the travel path 81A of the bulldozer 1 may be determined so as to minimize the moving distance of the bulldozer 1. The travel path 81A of the bulldozer 1 may be determined by the machine controller 22. The travel path 81A of the bulldozer 1 may be determined by the remote controller 43. Note that the travel path of the bulldozer 1 is also determined for the soil 72A, 73A placed at the other first earth discharge positions 63A, 63A in the same manner as described above.

[0050] In step S112, the remote controller 43 determines whether the movement of the bulldozer 1 from the second operation area 51B to the first operation area 51A is complete. For example, the remote controller 43 determines whether the movement of the bulldozer 1 from the second operation area 51B to the first operation area 51A is complete based on the current position of the bulldozer 1. When the movement of the bulldozer 1 from the second operation area 51B to the first operation area 51A is complete, the process proceeds to step S113.

[0051] In step S113, the remote controller 43 determines second unloading positions 61B-63B in the second operation area 51B and permits the movement of the transport vehicle 2 to the second operation area 51B. As shown in Fig. 11, the remote controller 43 determines a plurality of second unloading positions 61B-63B in the second operation area 51B, similar to the process of determining the first unloading positions 61A-63A in step S104.

[0052] In step S114, the remote controller 43 determines the second travel path 56B. The second travel path 56B is a path connecting the loading position 60 and the second unloading positions 61B-63B. The remote controller 43 determines the second travel path 56B in the same manner as the process of determining the first travel path 56A in step S105.

[0053] In step S115, the remote controller 43 controls the transport vehicle 2 to transport earth and sand to the second unloading position 61B-63B. As in the process of transporting earth and sand to the first unloading position 61A-63A in step S106, the remote controller 43 moves the transport vehicle 2 along the second travel path 56B and discharges earth and sand from the loading platform 32 to the second unloading position 61B-63B. Note that the remote controller 43 prohibits the bulldozer 1 from entering the second operating area 51B while the transport vehicle 2 is transporting earth and sand to the second unloading position 61B-63B.

[0054] In step S116, the remote controller 43 determines whether the transport vehicle 2 has completed transporting the earth and sand to the second unloading position 61B-63B. The remote controller 43 determines whether the transport of the earth and sand to the second unloading position 61B-63B has been completed, similar to the process of determining whether the transport of the earth and sand to the first unloading position 61A-63A has been completed in step S107.

[0055] When the transportation of the soil to the second unloading position 61B-63B is completed, the process proceeds to step S117. In step S117, the remote controller 43 controls the transport vehicle 2 to exit the second operation area 51B. In step S118, the remote controller 43 determines whether the transport vehicle 2 has exited the second operation area 51B. When the transport vehicle 2 has exited the second operation area 51B, the process proceeds to step S119 shown in FIG.

[0056] In step S119, the remote controller 43 prohibits the transport vehicle 2 from entering the second operation area 51B. In step S120, the remote controller 43 prohibits the transport vehicle 2 from entering the second operation area 51B, and then permits the bulldozer 1 to enter the first operation area 51A. This allows the bulldozer 1 to move from the first operation area 51A to the second operation area 51B.

[0057] 13, in the second working area 51B, the bulldozer 1 acquires a travel route 81B for discharging the earth and sand 71B-73B placed at the second discharging positions 61B-63B to the discharging area 52. In the second working area 51B, the process for the bulldozer 1 to discharge the earth and sand to the discharging area 52 is similar to the process for the bulldozer 1 to discharge the earth and sand to the discharging area 52 in the first working area 51A described above.

[0058] In step S121, the remote controller 43 determines whether the movement of the bulldozer 1 from the first working area 51A to the second working area 51B is complete. When the movement of the bulldozer 1 from the first working area 51A to the second working area 51B is complete, the process proceeds to step S104 as shown in Fig. 7. In step S104, the remote controller 43 again determines the first earth unloading position 61A-63A in the first working area 51A.

[0059] By repeating the above process, the transport vehicle 2 repeatedly transports earth and sand to the first working area 51A and the second working area 51B. Also, the bulldozer 1 repeatedly discharges earth and sand in the first working area 51A and the second working area 51B to the earth discharge area 52. At that time, depending on the current position of the transport vehicle 2, the bulldozer 1 is permitted or prohibited from entering the first working area 51A and the second working area 51B. Also, depending on the current position of the bulldozer 1, the transport vehicle 2 is permitted or prohibited from entering the first working area 51A and the second working area 51B. As a result, the transport vehicle 2 and the bulldozer 1 can efficiently work by running independently while avoiding interference between them.

[0060] Although one embodiment has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention. The transport vehicle 2 is not limited to a dump truck, and may be another type of vehicle. The driving source 18 of the bulldozer 1 or the driving source 34 of the transport vehicle 2 is not limited to an internal combustion engine, and may be an electric motor.

[0061] The remote controller 43, the machine controller 22, or the vehicle controller 40 may have multiple controllers separate from each other. The processing by the remote controller 43, the machine controller 22, or the vehicle controller 40 may be distributed and executed by multiple controllers. The above-mentioned processing may be distributed and executed by multiple processors.

[0062] The automatic control process of the bulldozer 1 or the transport vehicle 2 is not limited to that of the above-mentioned embodiment, and may be changed, omitted, or added. The execution order of the automatic control process is not limited to that of the above-mentioned embodiment, and may be changed. Part of the process by the remote controller 43 may be executed by the machine controller 22 or the vehicle controller 40.

[0063] The number of partitioned working areas is not limited to two and may be more than two. The number of first dumping positions is not limited to three. The number of first dumping positions may be less than three or may be one. Alternatively, the number of first dumping positions may be more than three. The number of second dumping positions is not limited to three. The number of second dumping positions may be less than three or may be one. Alternatively, the number of second dumping positions may be more than three. [Industrial Applicability]

[0064] According to the present disclosure, interference between a transport vehicle and an autonomously traveling bulldozer can be avoided. [Explanation of symbols]

[0065] 1. Bulldozer 2. Transport vehicles 43 Remote Controller 45 External communication device 51 Work Area 51A First Operating Area 51B Second Operating Area 61A 1st soil unloading position 61B 2nd soil unloading position

Claims

1. 1. A method for controlling a bulldozer, comprising: Recognizing a first operating area within a work site where the bulldozer is not present; Determining a first earth unloading position within the first operating area; determining whether the transport vehicle has completed transporting the soil to the first soil unloading position; Determining whether the transport vehicle has exited the first operating area; permitting the bulldozer to enter the first working area after the transport vehicle has left the first working area; A method for providing the above.

2. Obtaining a current position of the bulldozer; determining a travel route of the transport vehicle to the first soil unloading position based on a current position of the bulldozer and the first soil unloading position; The method of claim 1 further comprising:

3. When the transport vehicle exits the first operation area, the transport vehicle is prohibited from entering the first operation area; prohibiting the transport vehicle from entering the first operation area, and then permitting the bulldozer to enter the first operation area; The method of claim 1 further comprising:

4. Obtaining a current position of the bulldozer; Recognizing a second operating area in which the bulldozer is present; determining whether movement of the bulldozer from the second working area to the first working area is completed; permitting the transport vehicle to move to the second operation area after the bulldozer has completed moving from the second operation area to the first operation area; The method of claim 3 comprising:

5. Determining a second earth unloading position within the second operating area; determining whether the transport vehicle has completed transporting the soil to the second soil unloading position; Determining whether the transport vehicle has exited the second operation area; permitting the bulldozer to enter the second working area after the transport vehicle has left the second working area; Further comprising: The method according to claim 4.

6. When the transport vehicle exits the second operation area, the transport vehicle is prohibited from entering the second operation area; and prohibiting the transport vehicle from entering the second operation area, and then permitting the bulldozer to enter the second operation area; Further comprising: The method according to claim 5.

7. The second operating area is adjacent to the first operating area. The method according to claim 4.

8. obtaining a location of a work area assigned to the bulldozer within the worksite; Dividing the work area into a plurality of working areas including the first working area and the second working area, and recognizing the plurality of working areas; Further comprising: The method according to claim 4.

9. 1. A system for controlling a bulldozer, comprising: A controller for transmitting a command signal to the bulldozer, The controller: A first operating area in which the bulldozer is not present is recognized within the work site; determining a first earth unloading position within the first operating area; determining whether the transport vehicle has completed transporting the soil to the first soil unloading position; determining whether the transport vehicle has exited the first operation area; After the transport vehicle has left the first working area, the bulldozer is permitted to enter the first working area. system.

10. The controller: Obtaining a current position of the bulldozer; determining a travel route of the transport vehicle to the first earth unloading position based on a current position of the bulldozer and the first earth unloading position; The system of claim 9.

11. A communication device for communicating with the bulldozer and the transport vehicle is further provided. The controller, via the communication device, When the transport vehicle exits the first operation area, the transport vehicle is prohibited from entering the first operation area; prohibiting the transport vehicle from entering the first operation area, and then permitting the bulldozer to enter the first operation area. The system of claim 9.

12. The controller: Obtaining a current position of the bulldozer; Recognizing a second operating area in which the bulldozer is present; determining whether movement of the bulldozer from the second working area to the first working area is completed; permitting the transport vehicle to move to the second operation area after the bulldozer has completed moving from the second operation area to the first operation area; The system of claim 11.

13. The controller: determining a second earth unloading position within the second operating area; determining whether the transport vehicle has completed transporting the soil to the second soil unloading position; After the transport vehicle has left the second operation area, the bulldozer is permitted to enter the second operation area. The system of claim 12.

14. The controller: When the transport vehicle exits the second operation area, the transport vehicle is prohibited from entering the second operation area; prohibiting the transport vehicle from entering the second operation area, and then permitting the bulldozer to enter the second operation area. The system of claim 13.

15. The second operating area is adjacent to the first operating area. The system of claim 12.

16. The controller: obtaining a location of a work area assigned to the bulldozer at the worksite; Dividing the work area into a plurality of working areas including the first working area and the second working area, and recognizing the plurality of working areas; The system of claim 12.

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