Work site management system and work site management method

Abstract

To prepare the road surface at a work site. [Solution] The work site management system includes a processor. The processor identifies maintenance locations on the road surface of the work site where the work vehicles are traveling, determines whether the work machine is capable of performing maintenance based on the maintenance locations and current status data indicating the current position and status of the work machine, and outputs a maintenance command to cause the work machine capable of performing maintenance to perform maintenance.

Description

Technical Field

[0001] The present disclosure relates to a work site management system and a work site management method.

Background Art

[0002] Abnormal portions such as ruts or pits may occur on the road surface of a work site. Patent Document 1 discloses a technique for determining the state of the road surface at a work site.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] If abnormal portions generated on the road surface are left unattended, they may interfere with the work of work vehicles traveling on the road surface and reduce the productivity of the work site. In order to suppress a decline in the productivity of the work site, it is necessary to smoothly carry out road surface maintenance.

[0005] The present disclosure aims to maintain the road surface of a work site.

Means for Solving the Problems

[0006] According to the present disclosure, a work site management system is provided. The management system includes a processor. The processor identifies a maintenance position requiring maintenance on the road surface of a work site where a work vehicle travels, determines whether a work machine is capable of performing maintenance based on the maintenance position and current status data indicating the current position and current state of the work machine, and outputs a maintenance command for causing a work machine capable of performing the maintenance to execute the maintenance.

Effects of the Invention

[0007] According to this disclosure, the road surface at the work site will be prepared. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing a work site according to the embodiment. [Figure 2] Figure 2 is a schematic diagram showing the management system and remote control system according to the embodiment. [Figure 3] Figure 3 is a hardware configuration diagram showing a control server according to an embodiment. [Figure 4] Figure 4 is a block diagram showing a dump truck and a light vehicle according to an embodiment. [Figure 5] Figure 5 is a block diagram showing a bulldozer and control server according to an embodiment of this model. [Figure 6] Figure 6 is a block diagram showing a remote controller according to an embodiment. [Figure 7] Figure 7 is a diagram illustrating the driving data of a dump truck according to this embodiment. [Figure 8] Figure 8 is a diagram illustrating a method for identifying the maintenance location according to an embodiment. [Figure 9] Figure 9 is a diagram illustrating the method for selecting a bulldozer according to this embodiment. [Figure 10] Figure 10 shows a display device according to an embodiment. [Figure 11] Figure 11 shows a display device according to an embodiment. [Figure 12] Figure 12 is a flowchart showing a work site management method according to an embodiment. [Figure 13] Figure 13 is a diagram illustrating a method for identifying a maintenance location according to another embodiment. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings, but this disclosure is not limited to these embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Work site] Figure 1 is a schematic diagram showing a work site 1 according to an embodiment. Examples of work site 1 include mines or quarries. A mine refers to a place or business establishment where minerals are extracted. A quarry refers to a place or business establishment where stone materials are extracted. Examples of mines include metal mines where metals are extracted, non-metallic mines where limestone is extracted, and coal mines where coal is extracted.

[0011] At work site 1, a dump truck 2, a type of work vehicle, performs the work. Dump truck 2 may be a manned dump truck or an unmanned dump truck. A manned dump truck is a dump truck that performs work based on the driver's operation. An unmanned dump truck is a dump truck that performs work without the driver's operation. In this embodiment, dump truck 2 is an unmanned dump truck. Dump truck 2 has a dump body. The work performed by dump truck 2 includes transporting the cargo loaded in the dump body and soil removal work to discharge the cargo from the dump body.

[0012] At work site 1, a shovel 3, a bulldozer 4, and a motor grader 5, which are types of work machines, perform work. Each of the shovel 3, bulldozer 4, and motor grader 5 has a work implement. The work performed by the shovel 3 includes excavation work for excavating a work target using the work implement, and loading work for loading a load onto a dump truck 2 using the work implement. The work performed by the bulldozer 4 includes excavation work for excavating a work target using the work implement, land grading work for adjusting the terrain of work site 1 using the work implement, and bank forming work for forming an earth bank using the work implement. The work performed by the motor grader 5 includes excavation work for excavating a work target using the work implement, and land grading work for adjusting the terrain of work site 1 using the work implement. The land grading work of the bulldozer 4 and the land grading work of the motor grader 5 include maintenance work for maintaining the road surface of work site 1. Maintaining the road surface of work site 1 includes leveling the road surface flat.

[0013] At work site 1, a light vehicle 6, which is a type of traveling vehicle, travels. The light vehicle 6 refers to a lightweight vehicle that travels on work site 1. The light vehicle 6 travels to patrol work site 1 or transport workers. The light vehicle 6 may be a manned vehicle or an unmanned vehicle. A manned vehicle refers to a vehicle that travels based on the driving operation of a driver. An unmanned vehicle refers to a vehicle that travels unmanned without relying on the driving operation of a driver. In the embodiment, the light vehicle 6 is assumed to be a manned vehicle.

[0014] At work site 1, a loading area 7, an earth dumping area 8, and a transport path 9 are provided. The loading area 7, earth dumping area 8, and transport path 9 are work areas where each of the dump truck 2, shovel 3, bulldozer 4, motor grader 5, and light vehicle 6 can perform work.

[0015] The loading area 7 refers to a work area where loading work for loading a load onto the dump truck 2 is performed. As the load, excavated material excavated in the loading area 7 is exemplified. The shovel 3 performs excavation work and loading work in the loading area 7.

[0016] The earth dumping area 8 refers to a work area where the dumping work for the dump truck 2 to discharge the load is performed. The bulldozer 4 performs excavation work, ground leveling work, and bank forming work in the earth dumping area 8. The motor grader 5 may perform excavation work and ground leveling work in the earth dumping area 8.

[0017] The haul road 9 refers to a traveling path on which the dump truck 2 travels. The haul road 9 communicates with each of the loading area 7 and the earth dumping area 8. The haul road 9 is provided to connect at least the loading area 7 and the earth dumping area 8. The dump truck 2 heading for at least one of the loading area 7 and the earth dumping area 8 travels on the haul road 9. The dump truck 2 travels on the haul road 9 so as to reciprocate between, for example, the loading area 7 and the earth dumping area 8. At least one of the bulldozer 4 and the motor grader 5 performs excavation work and ground leveling work on the haul road 9.

[0018] Note that the bulldozer 4 may perform excavation work, ground leveling work, and bank forming work in the loading area 7. The motor grader 5 may perform excavation work and ground leveling work in the loading area 7.

[0019] [Management System and Remote Operation System] FIG. 2 is a diagram schematically illustrating the management system 10 and the remote operation system 11 according to the embodiment. The management system 10 manages the work site 1. The management system 10 manages each of the dump truck 2, the excavator 3, the bulldozer 4, the motor grader 5, and the light vehicle 6. FIG. 2 shows the bulldozer 4 as a work machine. In the following description, for simplification of the description, an example in which the management system 10 manages the dump truck 2 and the bulldozer 4 will be described.

[0020] The management system 10 comprises a control server 12 and a communication system 13. The control server 12 includes a computer. The control server 12 is located outside the dump truck 2 and the bulldozer 4. The control server 12 is installed in the control facility 120 at the work site 1. The control server 12 manages the work site 1. The control server 12 manages the dump truck 2 and the bulldozer 4. The communication system 13 includes at least one of the following: the internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0021] The dump truck 2 comprises a body 14, a running gear 15, a dump body 16, and an on-board controller 17. The body 14 is supported by the running gear 15. The running gear 15 supports the body 14 and travels on the road surface of the work site 1. The running gear 15 includes four wheels on which tires are mounted. The running gear 15 is driven by power generated by an engine (not shown). The running gear 15 is braked by the operation of a brake device (not shown). The running gear 15 turns by a steering device (not shown). The dump truck 2 travels on the work site 1 by rotating with the tires of the running gear 15 in contact with the road surface of the work site 1.

[0022] The dump body 16 is the component into which the cargo is loaded. The dump body 16 is supported by the vehicle body 14. The dump body 16 performs dumping and lowering operations. Dumping operation refers to the operation of moving the dump body 16 away from the vehicle body 14 and tilting it in the dumping direction. Lowering operation refers to the operation of moving the dump body 16 closer to the vehicle body 14. When loading operations are performed, the dump body 16 performs a lowering operation. When soil removal operations are performed, the dump body 16 performs a dumping operation.

[0023] The on-board controller 17 includes a computer. The control server 12 and the on-board controller 17 of the dump truck 2 communicate wirelessly via the communication system 13.

[0024] The bulldozer 4 comprises a body 18, a running gear 19, an excavating work implement 20, a ripper work implement 21, and an on-board controller 22. The body 18 is supported by the running gear 19. The running gear 19 supports the body 18 and travels around the work site 1. The running gear 19 includes a pair of tracks. The running gear 19 is driven by power generated by an engine (not shown). The running gear 19 is braked by the operation of a brake device (not shown). The running gear 19 turns due to the difference between the rotational speed of one track and the rotational speed of the other track.

[0025] The excavator 20 performs at least one of the following tasks: excavation, leveling, and embankment formation. The excavator 20 is connected to the vehicle body 18. At least a portion of the excavator 20 is positioned in front of the vehicle body 18. The excavator 20 includes an excavation blade 20A, a lift frame 20B, a tilt cylinder 20C, and a lift cylinder 20D.

[0026] The drilling blade 20A is positioned at the front of the vehicle body 18. The lift frame 20B supports the drilling blade 20A. One end of the lift frame 20B is connected to the rear of the drilling blade 20A via a pivot mechanism. The other end of the lift frame 20B is connected to the side of the travel device 19 via a pivot mechanism. The tilt cylinder 20C and the lift cylinder 20D are hydraulic cylinders that operate the drilling blade 20A. The tilt cylinder 20C is driven to tilt the drilling blade 20A. The lift cylinder 20D is driven to move the drilling blade 20A up and down. The tilt angle of the drilling blade 20A changes as the tilt cylinder 20C extends and retracts. The drilling blade 20A moves up and down as the lift cylinder 20D extends and retracts.

[0027] The ripper implement 21 performs ripping work on the workpiece. The ripping work includes at least one of cutting work and crushing work on the workpiece. The ripper implement 21 is connected to the vehicle body 18. At least a portion of the ripper implement 21 is located at the rear of the vehicle body 18. The ripper implement 21 has a shank 21A, a ripper arm 21B, a tilt cylinder 21C, a lift cylinder 21D, and a beam 21E.

[0028] The shank 21A is located at the rear of the vehicle body 18. The ripper arm 21B supports the shank 21A. The ripper arm 21B connects the vehicle body 18 and the shank 21A. One end of the ripper arm 21B is connected to the rear of the vehicle body 18 via a pivot mechanism. The other end of the ripper arm 21B is connected to the beam 21E. The beam 21E is rotatably connected to the ripper arm 21B. The shank 21A is connected to the ripper arm 21B via the beam 21E.

[0029] The tilt cylinder 21C and the lift cylinder 21D are hydraulic cylinders that operate the shank 21A. Each of the tilt cylinder 21C and the lift cylinder 21D is connected to the vehicle body 18. The tilt cylinder 21C drives the shank 21A to tilt. The lift cylinder 20D drives the shank 21A to move up and down. The tilt angle of the shank 21A changes as the tilt cylinder 21C extends and retracts. The tilt cylinder 21C moves the ripper point at the lower end of the shank 21A in the front-rear direction. The shank 21A moves up and down as the lift cylinder 21D extends and retracts.

[0030] The on-board controller 22 includes a computer. The control server 12 and the on-board controller 22 of the bulldozer 4 communicate wirelessly via the communication system 13.

[0031] The bulldozer 4 may be a manned or unmanned work machine. A manned work machine is a work machine that performs work based on the operation of an operator. An unmanned work machine is a work machine that performs work without the operation of an operator. A manned work machine may perform work by the operation of an operator who is in the driver's cab of the work machine, or it may perform work by remote operation by an operator located outside the work machine. In this embodiment, the bulldozer 4 is remotely controlled by a remote control system 11. At least a part of the remote control system 11 is located in a remote control room 23. The remote control room 23 is located outside the bulldozer 4. The remote control room 23 is installed in a remote location away from the work site 1. The remote control system 11 comprises a remote control device 24, an output device 25, and a remote controller 27.

[0032] The remote control device 24 is located in the remote control room 23. The remote control device 24 is operated by an operator in the remote control room 23. When the remote control device 24 is operated, an operation signal is generated to operate the bulldozer 4. The operator can operate the remote control device 24 while seated in the driver's seat 28.

[0033] The output device 25 is located in the remote control room 23. The output device 25 outputs output data. The output device 25 includes a display device 25A and an audio output device 25B. Outputting output data by the output device 25 includes the display of display data by the display device 25A and the output of audio data by the audio output device 25B. The display device 25A displays an image of the work site 1. The display device 25A includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The audio output device 25B may include a buzzer device that outputs a warning sound. The operator operates the remote control device 24 while checking the image of the work site 1 displayed on the display device 25A. The bulldozer 4 is remotely controlled by the remote control device 24.

[0034] The remote controller 27 is located in the remote control room 23. The remote controller 27 includes a computer. The remote controller 27 and the on-board controller 22 of the bulldozer 4 communicate via a communication system 29. The communication system 29 includes at least one of the following: the internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0035] The control server 12 and the remote controller 27 communicate via the communication system 29. Note that the communication system 13 and the communication system 29 may be separate communication systems. At least a portion of the communication system 13 and the communication system 29 may be the same communication system.

[0036] [computer] Figure 3 is a hardware configuration diagram showing a control server 12 according to an embodiment. The control server 12 includes a computer 30. The computer 30 has a processor 30A such as a CPU (Central Processing Unit), a main memory 30B including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 30C such as a semiconductor disk, an input / output interface 30D including input / output circuits, and a communication interface 30E including communication circuits. The functions of the control server 12 are stored in the storage 30C as a computer program 30F. The processor 30A reads the computer program 30F from the storage 30C, loads it into the main memory 30B, and executes processing according to the computer program 30F. The computer program 30F may be distributed to the control server 12 via a network.

[0037] Similar to the control server 12, the on-board controller 17 of the dump truck 2, the on-board controller 22 of the bulldozer 4, the on-board controller 36 of the light vehicle 6 (described later), and the remote controller 27 each also include a computer 30. Each of the on-board controllers 17 of the dump truck 2, 22 of the bulldozer 4, 36 of the light vehicle 6, and the remote controller 27 also has a processor 30A, main memory 30B, storage 30C for storing computer programs 30F, input / output interface 30D, and communication interface 30E.

[0038] Figure 4 is a block diagram showing a dump truck 2 and a light vehicle 6 according to an embodiment. The dump truck 2 includes an on-board controller 17, a running gear 15, a dump body 16, a position sensor 31, a compass sensor 32, a speed sensor 33, and an obstacle sensor 34. The light vehicle 6 includes an on-board controller 36, a position sensor 37, and an input device 38.

[0039] The position sensor 31 detects the position of the dump truck 2. The position sensor 31 is located on the body 14 of the dump truck 2. The position sensor 31 detects the position of the dump truck 2 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 31 includes a GNSS receiver located on the body 14. The position sensor 31 detects the position of the dump truck 2 in the global coordinate system.

[0040] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation sensor 32 is located on the body 14 of the dump truck 2. The orientation of the dump truck 2 includes the orientation angle relative to a reference orientation. The reference orientation is, for example, north. An inertial measurement unit (IMU) is exemplified as the orientation sensor 32. The orientation sensor 32 may also include a calculator that calculates the orientation from position data detected by two GNSS antennas installed on the dump truck 2. The calculator can calculate the orientation from a vector connecting the two GNSS antennas. The orientation sensor 32 may also detect the tilt angle of the dump truck 2 with respect to the horizontal plane. If the orientation sensor 32 is an inertial measurement unit (IMU), it can detect the tilt angle of the dump truck 2 with respect to the horizontal plane.

[0041] The speed sensor 33 detects the travel speed of the dump truck 2. The speed sensor 33 detects the travel speed of the dump truck 2 by, for example, detecting the rotational speed of the drive shaft connected to the wheels of the running gear 15.

[0042] The obstacle sensor 34 detects objects around the dump truck 2 non-contact. As shown in Figure 2, the obstacle sensor 34 is positioned at the front of the dump truck 2's body 14. The obstacle sensor 34 may also be positioned at the rear of the body 14. The obstacle sensor 34 detects objects by emitting energy waves. Examples of the obstacle sensor 34 include a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light, a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves, and an ultrasonic sensor that detects objects by emitting ultrasonic waves. The obstacle sensor 34 can detect the presence or absence of an object, its relative position (relative distance and direction), and its relative velocity. The obstacle sensor 34 may also include a 3D sensor that detects the three-dimensional shape of an object.

[0043] The obstacle sensor 34 detects the condition of the road surface at the work site 1 where the dump truck 2 is traveling. The condition of the road surface includes the presence or absence of abnormal parts 72 on the road surface. Abnormal parts 72 on the road surface include ruts and potholes. Abnormal parts 72 on the road surface include protrusions or recesses formed on the road surface.

[0044] The obstacle sensor 34 detects an abnormal section 72 on the road surface in the path of the dump truck 2. Based on the detection data from the obstacle sensor 34, the onboard controller 17 stops the dump truck 2 from moving. If the obstacle sensor 34 detects an abnormal section 72 on the road surface while the dump truck 2 is moving, the onboard controller 17 outputs a control command to stop the dump truck 2. Once the dump truck 2 has stopped, the onboard controller 17 sends a stop signal to the control server 12 indicating that the dump truck 2 has stopped. Based on the detection data from the position sensor 31 when the dump truck 2 has stopped, the onboard controller 17 sends stop position data indicating the stopping position of the dump truck 2 to the control server 12.

[0045] The in-vehicle controller 36 includes a computer 30. The in-vehicle controller 36 communicates with the control server 12 via the communication system 13.

[0046] The position sensor 37 detects the position of the light vehicle 6. The position sensor 37 detects the position of the light vehicle 6 using the Global Navigation Satellite System (GNSS). The position sensor 37 includes a GNSS receiver located on the light vehicle 6. The position sensor 37 detects the position of the light vehicle 6 in a global coordinate system. The onboard controller 36 transmits the detection data from the position sensor 37 to the control server 12.

[0047] The input device 38 generates input data when operated by the driver of the light vehicle 6. The input device 38 is located in the driver's cab of the light vehicle 6. Examples of the input device 38 include a touch panel, buttons, and a computer keyboard. The onboard controller 36 transmits the input data from the input device 38 to the control server 12.

[0048] An imaging device 35 is installed at the work site 1. The imaging device 35 captures images of the target object. An RGB camera is given as an example of the imaging device 35. However, the imaging device 35 may also be an RGB-D camera or a hyperspectral camera. The imaging device 35 is installed, for example, on a structure provided at the work site 1. The target object of the imaging device 35 includes the road surface of the work site 1. The image of the road surface of the work site 1 captured by the imaging device 35 is transmitted to the control server 12 via the communication system 13.

[0049] Figure 5 is a block diagram showing a bulldozer 4 and a control server 12 according to an embodiment. The bulldozer 4 includes a traveling device 19, an excavating work machine 20, a ripper work machine 21, a position sensor 41, and an imaging device 42.

[0050] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is located on the vehicle body 18 of the bulldozer 4. The position sensor 41 detects the position of the bulldozer 4 using the Global Navigation Satellite System (GNSS). The position sensor 41 includes a GNSS receiver located on the vehicle body 18. The position sensor 41 detects the position of the bulldozer 4 in a global coordinate system. The onboard controller 22 transmits the detection data from the position sensor 41 to the control server 12.

[0051] The imaging device 42 captures an image of the object to be imaged. An RGB camera is exemplified as the imaging device 42. However, the imaging device 42 may also be an RGB-D camera or a hyperspectral camera. The imaging device 42 is positioned on the vehicle body 18. As shown in Figure 2, in this embodiment, the imaging device 42 is positioned on the upper part of the vehicle body 18. The object to be imaged by the imaging device 42 includes the work site 1 of the bulldozer 4. The object to be imaged by the imaging device 42 includes the road surface of the work site 1 surrounding the bulldozer 4 and objects surrounding the bulldozer 4. The image of the work site 1 captured by the imaging device 42 is a surrounding image 80 showing the area around the bulldozer 4. The onboard controller 22 transmits the surrounding image 80 of the bulldozer 4 captured by the imaging device 42 to the remote controller 27. The surrounding image 80 of the bulldozer 4 is displayed on the display device 25A in the remote control room 23.

[0052] A display device 68 and an input device 69 are connected to the control server 12. The display device 68 and the input device 69 are located in the control facility 120. The display device 68 provides display data to an administrator located in the control facility 120. The display device 68 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The input device 69 generates input data when operated by an administrator located in the control facility 120. Examples of input devices 69 include a touch panel, buttons, and a computer keyboard.

[0053] The processor 30A of the control server 12 has multiple functional units. The functional units of the processor 30A of the control server 12 include a driving data generation unit 60, a communication unit 61, a display control unit 62, a maintenance location identification unit 63, a current status data acquisition unit 64, a selection unit 65, and a maintenance command output unit 66. The storage 30C of the control server 12 includes a storage unit 67.

[0054] The driving data generation unit 60 generates driving data indicating the driving conditions of the dump truck 2. The driving conditions of the dump truck 2 include the target position of the dump truck 2, the target direction of the dump truck 2, and the target driving speed of the dump truck 2. The driving data generation unit 60 transmits the generated driving data to the on-board controller 17 of the dump truck 2. The dump truck 2 drives around the work site 1 based on the driving data generated by the driving data generation unit 60.

[0055] The communication unit 61 communicates with the on-board controller 17 of the dump truck 2 and the on-board controller 36 of the light vehicle 6. The communication unit 61 receives a stop signal and stop position data from the on-board controller 17 of the dump truck 2. The communication unit 61 also receives detection data from the position sensor 37 of the light vehicle 6 and input data from the input device 38.

[0056] The display control unit 62 generates display data to be displayed on the display device 68. The display control unit 62 displays the generated display data on the display device 68.

[0057] The maintenance location identification unit 63 identifies maintenance locations 73 on the road surface of the work site 1 where the dump truck 2 is traveling, which require maintenance. The maintenance locations 73 include locations where abnormal parts 72 of the road surface exist. Maintaining the road surface of the work site 1 includes leveling the road surface. The maintenance location identification unit 63 can identify maintenance locations 73 based on input data from the input device 38 of the light vehicle 6. The maintenance location identification unit 63 can identify maintenance locations 73 based on images of the road surface captured by at least one of the imaging device 35 and the imaging device 42.

[0058] The current status data acquisition unit 64 acquires current status data indicating the current position and current state of the bulldozer 4. The current position of the bulldozer 4 is detected by the position sensor 41. The current status data acquisition unit 64 can acquire the current position of the bulldozer 4 by acquiring the detection data from the position sensor 41. The current state of the bulldozer 4 includes a working state in which the bulldozer 4 is working and a standby state in which it is waiting. The working state of the bulldozer 4 means that it is performing at least one of the following operations using the excavation work machine 20: excavation, leveling, and embankment formation. The standby state of the bulldozer 4 means that the bulldozer 4 is not performing any work. In this embodiment, when the bulldozer 4 is in the working state, the on-board controller 22 establishes communication with the control server 12. When the bulldozer 4 is in the standby state, the on-board controller 22 stops communication with the control server 12. The current status data acquisition unit 64 can acquire the current status of the bulldozer 4 based on the communication status with the on-board controller 22. The current status data acquisition unit 64 can determine whether the bulldozer 4 is in working mode or standby mode by determining whether or not communication with the on-board controller 22 has been stopped.

[0059] Furthermore, input data indicating the current state of the bulldozer 4, generated by operating an input device (not shown) located in the remote control room 23, may be transmitted to the control server 12. When the operator in the remote control room 23 operates the remote control device 24 to have the bulldozer 4 perform work, the operator operates the input device so that input data indicating that the current state of the bulldozer 4 is in a working state is generated. When the operator in the remote control room 23 does not have the bulldozer 4 perform work, the operator operates the input device so that input data indicating that the current state of the bulldozer 4 is in a standby state is generated. The remote controller 27 transmits the input data from the input device located in the remote control room 23 to the control server 12. The current status data acquisition unit 64 may acquire the current state of the bulldozer 4 by acquiring input data from the input device in the remote control room 23.

[0060] There may be only one bulldozer 4 at the work site 1, or there may be multiple bulldozers 4. In this embodiment, the bulldozer 4 includes multiple bulldozers 4. Multiple bulldozers 4 are present at the work site 1. The current status data acquisition unit 64 acquires current status data indicating the current position and current state of each of the multiple bulldozers 4.

[0061] The selection unit 65 determines whether the bulldozer 4 can perform maintenance at maintenance location 73 based on the maintenance location identification unit 63 and the current status data of the bulldozer 4 acquired by the current status data acquisition unit 64. If there are multiple bulldozers 4 at the work site 1, the selection unit 65 selects from the multiple bulldozers 4 to perform maintenance at maintenance location 73 based on the maintenance location identification unit 63 and the current status data of each of the multiple bulldozers 4 acquired by the current status data acquisition unit 64.

[0062] The maintenance command output unit 66 outputs a maintenance command to a bulldozer 4 capable of performing maintenance at the maintenance location 73. If there are multiple bulldozers 4 at the work site 1, the maintenance command output unit 66 outputs a maintenance command to the bulldozer 4 selected by the selection unit 65. A remote control device 24 and an output device 25 are assigned to each of the multiple bulldozers 4. For example, a remote control room 23 is assigned to each of the multiple bulldozers 4. One bulldozer 4 may be assigned to one remote control room 23, or multiple bulldozers 4 may be assigned to one remote control room 23. The maintenance command output unit 66 outputs a maintenance command to the output device 25 assigned to the bulldozer 4 selected by the selection unit 65.

[0063] The memory unit 67 stores data related to maintenance. The maintenance location 73 identified by the maintenance location identification unit 63 is registered in the memory unit 67.

[0064] Figure 6 is a block diagram showing a remote controller 27 according to an embodiment. The processor 30A of the remote controller 27 has a plurality of functional units. The functional units of the processor 30A of the remote controller 27 include an operation command transmission unit 51, an image acquisition unit 52, a maintenance command acquisition unit 53, and an output control unit 54.

[0065] The operation command transmission unit 51 generates operation commands for remotely controlling the bulldozer 4 based on operation signals from the remote control device 24. The operation command transmission unit 51 transmits the operation commands to the on-board controller 22 of the bulldozer 4. The on-board controller 22 controls at least one of the traveling device 19, the excavating work implement 20, and the ripper work implement 21 based on the operation commands transmitted from the operation command transmission unit 51.

[0066] The image acquisition unit 52 acquires surrounding images 80 of the bulldozer 4 captured by the imaging device 42. The maintenance command acquisition unit 53 acquires maintenance commands output from the maintenance command output unit 66.

[0067] The output control unit 54 controls the output device 25. The output control unit 54 causes the surrounding image 80 of the bulldozer 4 acquired by the image acquisition unit 52 to be displayed on the display device 25A. The output control unit 54 causes the display data 90 indicating a maintenance command from the maintenance command output unit 66 to be displayed on the display device 25A. The output control unit 54 may also cause the audio data indicating a maintenance command from the maintenance command output unit 66 to be output to the audio output device 25B.

[0068] [Driving data] Figure 7 is a diagram illustrating the driving data of a dump truck 2 according to an embodiment. In this embodiment, the dump truck 2 is an unmanned dump truck that travels on the road surface of the work site 1 based on the driving data. The driving data of the dump truck 2 defines the driving conditions of the dump truck 2. The driving data of the dump truck 2 includes a driving point 70, a driving path 71, a target position of the dump truck 2, a target direction of the dump truck 2, a target driving speed of the dump truck 2, and a target turning radius of the dump truck 2.

[0069] Multiple travel points 70 are set on the road surface of the work site 1. Each travel point 70 defines the target position of the dump truck 2. For each of the multiple travel points 70, the target direction and target travel speed of the dump truck 2 are set. The multiple travel points 70 are set at intervals. The intervals between the travel points 70 may be uniform or uneven.

[0070] The target position of dump truck 2 refers to the target position of dump truck 2 when it passes through point 70. The target position of dump truck 2 may be defined in the local coordinate system of dump truck 2 or in the global coordinate system. The target bearing of dump truck 2 refers to the target bearing of dump truck 2 when it passes through point 70. The target driving speed of dump truck 2 refers to the target driving speed of dump truck 2 when it passes through point 70.

[0071] The driving path 71 is a virtual line indicating the target driving route of the dump truck 2. The driving path 71 is defined by a trajectory that passes through multiple driving points 70. The dump truck 2 travels around the work site 1 according to the driving path 71. The dump truck 2 travels such that its center coincides with the driving path 71 in the direction of the width of the dump truck 2.

[0072] The onboard controller 17 controls the running gear 15 so that the dump truck 2 travels according to the travel path 71, based on the detection data from the position sensor 31 and the orientation sensor 32. Specifically, the onboard controller 17 controls the running gear 15 so that the deviation between the detected position of the dump truck 2 detected by the position sensor 31 and the target position of the dump truck 2 set at the travel point 70 is small when passing through the travel point 70. The onboard controller 17 controls the running gear 15 so that the deviation between the detected orientation of the dump truck 2 detected by the orientation sensor 32 and the target orientation of the dump truck 2 set at the travel point 70 is small when passing through the travel point 70. The onboard controller 17 controls the running gear 15 so that the dump truck 2 travels at the target travel speed, based on the detection data from the speed sensor 33. Specifically, the onboard controller 17 controls the running gear 15 so that the deviation between the detected travel speed of the dump truck 2 detected by the speed sensor 33 and the target travel speed of the dump truck 2 set at the travel point 70 is small when passing through the travel point 70.

[0073] [Identifying the maintenance location] Figure 8 is a diagram illustrating a method for identifying a maintenance position 73 according to an embodiment. As shown in Figure 8, abnormal parts 72, such as protrusions or depressions, may be formed on the road surface. If these abnormal parts 72 are left unattended, they may hinder the movement of the dump truck 2 traveling on the road. The obstacle sensor 34 of the dump truck 2 detects the abnormal parts 72. When the obstacle sensor 34 detects an abnormal part 72 while the dump truck 2 is traveling, the on-board controller 17 stops the dump truck 2. When the dump truck 2 is stopped, the on-board controller 17 sends a stop signal to the control server 12 indicating that the dump truck 2 has stopped. Based on the detection data from the position sensor 31 when the dump truck 2 is stopped, the on-board controller 17 sends stop position data indicating the stopping position of the dump truck 2 to the control server 12.

[0074] The communication unit 61 of the control server 12 receives the stop signal and stop position data. The display control unit 62 displays the stop signal and display data indicating the stop position of the dump truck 2 on the display device 68. The administrator at the control facility 120 can recognize that the dump truck 2 has stopped by checking the display data displayed on the display device 68.

[0075] Upon recognizing that the dump truck 2 has stopped, the administrator operates the input device 69 to have the driver of the light vehicle 6 confirm the abnormal part 72. Based on the input data from the input device 69, the communication unit 61 outputs a confirmation command to have the driver of the light vehicle 6 confirm the abnormal part 72. The communication unit 61 outputs the confirmation command along with stopping position data indicating the stopping position of the dump truck 2. The confirmation command and stopping position data output from the communication unit 61 are transmitted to the on-board controller 36 of the light vehicle 6 via the communication system 13. An output device (not shown) is installed in the light vehicle 6. The on-board controller 36 causes the output device of the light vehicle 6 to output the confirmation command and the stopping position of the dump truck 2. If the output device is a display device, the on-board controller 36 displays the confirmation command and display data indicating the stopping position of the dump truck 2 on the display device. If the output device is an audio output device, the on-board controller 36 outputs the confirmation command and audio data indicating the stopping position of the dump truck 2 to the audio output device.

[0076] The driver of the light vehicle 6 confirms the confirmation command output from the output device of the light vehicle 6 and the stopping position of the dump truck 2, and then operates the light vehicle 6 to move toward the stopping position of the dump truck 2. After the light vehicle 6 arrives at the stopping position of the dump truck 2, the driver performs a confirmation procedure to confirm the presence of an abnormal section 72 on the road surface. The location where the abnormal section 72 is located is the maintenance position 73 that requires maintenance.

[0077] When the driver arrives at the location where the abnormal part 72 is located (maintenance location 73), the driver operates the input device 38 to identify the maintenance location 73. The driver may also input detection data from the position sensor 41 of the light vehicle 6 parked near the location where the abnormal part 72 is located into the input device 38. The input data from the input device 38, which was operated to identify the maintenance location 73, is transmitted to the control server 12 via the communication system 13. The maintenance location identification unit 63 identifies the maintenance location 73 based on the input data from the input device 38. The maintenance location identification unit 63 registers the identified maintenance location 73 in the storage unit 67.

[0078] The input device 38 does not necessarily have to be placed on the light vehicle 6 that patrols the work site 1. If the driver of the light vehicle 6 is carrying an information terminal, the driver may operate the information terminal to send input data to the control server 12 to identify the maintenance location 73. Examples of information terminals include smartphones, tablet devices, and personal computers.

[0079] [Bulldozer Selection] Figure 9 is a diagram illustrating the method for selecting a bulldozer 4 according to an embodiment. When multiple bulldozers 4 are present at the work site 1, the selection unit 65 selects a bulldozer 4 from the multiple bulldozers 4 to perform maintenance at maintenance location 73, based on the maintenance location identification unit 63 and the current status data of each of the multiple bulldozers 4 present at the work site 1. In the example shown in Figure 9, the bulldozers 4 present at the work site 1 include bulldozer 4A, bulldozer 4B, and bulldozer 4C. The current status data acquisition unit 64 acquires current status data indicating the current location and current state of each of the multiple bulldozers 4 (4A, 4B, 4C).

[0080] The selection unit 65 selects the bulldozer 4 with the shortest distance to the maintenance position 73 from among the multiple bulldozers 4, based on the current position of each of the multiple bulldozers 4. The selection unit 65 selects the bulldozer 4 that is in standby mode. If there are multiple bulldozers 4 in standby mode, the selection unit 65 selects the bulldozer 4 with the shortest distance to the maintenance position 73 from among the multiple bulldozers 4 in standby mode. If there are both a working bulldozer 4 and a standby bulldozer 4, the selection unit 65 selects the bulldozer 4 that is in standby mode. In the example shown in Figure 9, bulldozers 4A and 4B are in standby mode, and bulldozer 4C is in working mode. Also, the distance from the current position of bulldozer 4B to the maintenance position 73 is shorter than the distance from the current position of bulldozer 4A to the maintenance position 73. In the example shown in Figure 9, among the multiple bulldozers 4 (4A, 4B, 4C), bulldozer 4B is selected as the bulldozer 4 to perform maintenance at the maintenance position 73. The selection unit 65 selects bulldozer 4B from among multiple bulldozers 4 (4A, 4B, 4C) to perform maintenance at maintenance position 73.

[0081] The maintenance command output unit 66 outputs a maintenance command to the bulldozer 4B selected by the selection unit 65 to perform maintenance at the maintenance position 73. The maintenance command output unit 66 causes the output device 25 assigned to the selected bulldozer 4B to output the maintenance command. In this embodiment, the maintenance command output unit 66 causes the output device 25 corresponding to the remote control device 24 that remotely controls the bulldozer 4B to output the maintenance command.

[0082] Furthermore, if there are both a working bulldozer 4 and a standby bulldozer 4, and the distance from the current position of the working bulldozer 4 to the maintenance position 73 is less than or equal to a predetermined distance threshold, and the distance from the current position of the standby bulldozer 4 to the maintenance position 73 exceeds the distance threshold, the selection unit 65 may select the working bulldozer 4. In other words, a bulldozer 4 located at a position excessively far from the maintenance position 73 may be excluded from the selection of the bulldozer 4 to be maintained, even if it is in a standby state.

[0083] [Display device] Figure 10 shows a display device 25A according to the embodiment. As described above, the maintenance command output unit 66 causes the output device 25, which corresponds to the remote control device 24 that remotely controls the bulldozer 4 selected by the selection unit 65, to output a maintenance command. The maintenance command output unit 66 transmits a maintenance command to the remote controller 27 for remotely controlling the bulldozer 4 selected by the selection unit 65. The maintenance command acquisition unit 53 of the remote controller 27 for remotely controlling the bulldozer 4 selected by the selection unit 65 acquires the maintenance command from the maintenance command output unit 66.

[0084] As shown in Figure 10, the output control unit 54 causes the surrounding image 80 of the bulldozer 4, captured by the imaging device 42 and acquired by the image acquisition unit 52, to be displayed on the display device 25A. In the example shown in Figure 10, the surrounding image 80 displayed on the display device 25A includes the terrain of the work site 1 and a part of the body 18 of the bulldozer 4.

[0085] In one embodiment, the output control unit 54 generates a reference image 81 showing at least one of the dimensions of the bulldozer 4 and the distance from the bulldozer 4. In another embodiment, the output control unit 54 generates a reference image 81 showing the width of the excavation blade 20A and the distance from the bulldozer 4. The output control unit 54 can generate the reference image 81 based, for example, on the specifications data of the bulldozer 4. The specifications data of the bulldozer 4 is known data.

[0086] The reference image 81 is superimposed on the surrounding image 80. The reference image 81 shows the width of the excavation blade 20A and the distance from the bulldozer 4. The reference image 81 includes a blade reference line 81A showing the width of the excavation blade 20A and a distance reference line 81B showing the distance from the bulldozer 4. The blade reference line 81A is displayed so as to extend forward from the left end and the right end of the excavation blade 20A, respectively, towards the front of the bulldozer 4. The left blade reference line 81A and the right blade reference line 81A are parallel. The distance reference line 81B is displayed so as to connect the front end of the left blade reference line 81A and the front end of the right blade reference line 81A. The distance reference line 81B is displayed at a position a specified distance (e.g., 20m) forward from the front end of the vehicle body 18.

[0087] The output control unit 54 causes the display data 90 indicating a maintenance command from the maintenance command output unit 66 to be displayed on the display device 25A. In this embodiment, the output control unit 54 superimposes the display data 90 indicating the maintenance command onto the surrounding image 80. The display data 90 is displayed on the periphery of the surrounding image 80. In the example shown in Figure 10, the display data 90 is displayed on the upper left of the surrounding image 80.

[0088] The display data 90 includes character data 91 indicating a maintenance order. In the example shown in Figure 10, the display data 90 displays the characters "A maintenance issue has been identified" on the display device 25A.

[0089] Figure 11 shows a display device 25A according to an embodiment. When the area where character data 91 is displayed on the display screen of the display device 25A shown in Figure 10 is tapped by the operator, the display data 90 changes from character data 91 to map data 92, as shown in Figure 11. The map data 92 is image data showing the relative position between the current position of the bulldozer 4 and the maintenance position 73. The map data 92 may also include a line image showing a recommended route from the current position of the bulldozer 4 to the maintenance position 73. The operator operates the remote control device 24 to move the bulldozer 4 from its current position to the maintenance position 73 while checking the map data 92. After the bulldozer 4 arrives at the maintenance position 73, the operator operates the remote control device 24 to have the maintenance position 73 maintained by the excavating work machine 20 of the bulldozer 4. The bulldozer 4 performs maintenance work so that the abnormal part 72 is removed, that is, so that the maintenance position 73 is leveled.

[0090] [Management method] Figure 12 is a flowchart showing the management method for the work site 1 according to the embodiment. As described with reference to Figure 8, when the obstacle sensor 34 of the dump truck 2 detects an abnormal part 72, the on-board controller 22 stops the dump truck 2. The on-board controller 22 transmits a stop signal and stopping position data indicating that the dump truck 2 has stopped to the control server 12. The communication unit 61 of the control server 12 transmits a confirmation command and stopping position data to the on-board controller 17 of the light vehicle 6. The driver of the light vehicle 6 drives the light vehicle 6 to the vicinity of the dump truck 2's stopping position based on the confirmation command and stopping position data. The driver, having confirmed the presence of the abnormal part 72, operates the input device 38 so that the maintenance position 73 is identified. The input data indicating the maintenance position 73 generated by operating the input device 38 is transmitted to the control server 12. The maintenance position identification unit 63 of the control server 12 identifies the maintenance position 73 based on the input data from the input device 38 (step S1).

[0091] If multiple bulldozers 4 are present at the work site 1, the current status data acquisition unit 64 acquires the current status data for each of the multiple bulldozers 4 present at the work site 1 (step S2).

[0092] The selection unit 65 selects a bulldozer 4 from among the multiple bulldozers 4 to perform maintenance at maintenance position 73 based on the maintenance position 73 acquired in step S1 and the current status data of each of the multiple bulldozers 4 acquired in step S2 (step S3). In other words, the selection unit 65 determines whether a bulldozer 4 is capable of performing maintenance at maintenance position 73 based on the maintenance position 73 acquired in step S1 and the current status data of each of the multiple bulldozers 4 acquired in step S2, and selects a bulldozer 4 that is determined to be capable of performing maintenance.

[0093] The maintenance command output unit 66 outputs a maintenance command to the bulldozer 4 selected in step S3 to perform maintenance at the maintenance position 73 (step S4).

[0094] In step S3, if it is determined that multiple bulldozers 4 can perform maintenance on the maintenance position 73, the maintenance command output unit 66 may output a maintenance command to each of the multiple bulldozers 4 that are capable of performing maintenance, instructing them to perform maintenance on the maintenance position 73.

[0095] If only one bulldozer 4 is present at the work site 1, in step S2, the current status data acquisition unit 64 acquires the current status data of the one bulldozer 4. If only one bulldozer 4 is present at the work site 1, in step S3, the selection unit 65 determines, based on the current status data of the bulldozer 4, whether or not the bulldozer 4 is capable of performing maintenance at the maintenance position 73. If only one bulldozer 4 is present at the work site 1, in step S4, the maintenance command output unit 66 outputs a maintenance command to the bulldozer 4 capable of performing maintenance at the maintenance position 73 to perform maintenance at the maintenance position 73.

[0096] [effect] As described above, in this embodiment, the processor 30A of the control server 12 includes a maintenance location identification unit 63 that identifies maintenance locations 73 that require maintenance on the road surface of the work site 1 where the dump truck 2 is traveling, a selection unit 65 that determines whether or not the bulldozer 4 can perform maintenance based on the maintenance locations 73 and current status data indicating the current position and current state of the bulldozer 4, and a maintenance command output unit 66 that outputs a maintenance command to cause the bulldozer 4 that is capable of performing maintenance to perform maintenance.

[0097] According to the embodiment, once the maintenance location 73 is identified, a bulldozer 4 capable of performing maintenance at the maintenance location 73 is automatically determined, and a maintenance command is automatically output to the bulldozer 4 capable of performing the maintenance. This ensures that the road surface at the work site 1 is maintained smoothly. Because the road surface at the work site 1 is maintained smoothly, the dump truck 2 can travel on the road surface, thus suppressing a decrease in productivity at the work site 1.

[0098] If multiple bulldozers 4 are present at the work site 1, the selection unit 65 selects which bulldozer 4 will perform maintenance from among the multiple bulldozers 4 based on the maintenance position 73 and current status data indicating the current position and current status of each of the multiple bulldozers 4. The maintenance command output unit 66 outputs a maintenance command to the selected bulldozer 4 to perform maintenance.

[0099] According to the embodiment, once the maintenance location 73 is identified, the bulldozer 4 best suited for performing the maintenance is automatically selected from among the multiple bulldozers 4 present at the work site 1, and a maintenance command is automatically output to the selected bulldozer 4 to perform the maintenance. This ensures that the road surface at the work site 1 is maintained smoothly. Because the road surface at the work site 1 is maintained smoothly, the dump truck 2 can travel on the road surface, thus suppressing a decrease in productivity at the work site 1.

[0100] The selection unit 65 selects the bulldozer 4 with the shortest distance to the maintenance position 73 based on the current position of each of the multiple bulldozers 4. As a result, the travel distance to the maintenance position 73 of the bulldozer 4 selected by the selection unit 65 is reduced, allowing for smooth maintenance of the road surface at the work site 1.

[0101] The selection unit 65 selects the bulldozer 4 in standby mode if both a working bulldozer 4 and a standby bulldozer 4 exist. This prevents the work of the working bulldozer 4 from being interrupted. The standby bulldozer 4 is then used for maintenance work at the maintenance position 73.

[0102] The maintenance command output unit 66 causes the output device 25, which is assigned to the bulldozer 4 selected by the selection unit 65, to output a maintenance command. As a result, the operator who receives the maintenance command from the output device 25 can operate the remote control device 24 so that the bulldozer 4 performs maintenance at the maintenance position 73.

[0103] [Other embodiments] As explained with reference to Figure 8, in the above embodiment, when the dump truck 2 stops due to the detection of an abnormal part 72 by the obstacle sensor 34, a light vehicle 6 drives to the abnormal part 72 to perform an inspection of the abnormal part 72, and input data for identifying the maintenance location 73 is transmitted from the on-board controller 36 to the control server 12. The inspection of the abnormal part 72 may be performed by the light vehicle 6, by the bulldozer 4, by a different work machine than the bulldozer 4, or by a dump truck 2 other than the one that stopped.

[0104] Furthermore, the driver of the light vehicle 6 may omit the inspection of the abnormal part 72. For example, if the obstacle sensor 34 detects the abnormal part 72, the control server 12 may identify the maintenance location 73 based on the stop signal and stop position data transmitted from the on-board controller 17.

[0105] Figure 13 is a diagram illustrating a method for identifying the maintenance location 73 according to another embodiment. As shown in Figure 13, if an imaging device 35 for imaging the road surface of the work site 1 is installed at the work site 1, the maintenance location 73 may be identified based on the road surface image data captured by the imaging device 35. The imaging device 35 may be installed, for example, on a structure provided at the work site 1. The imaging device 35 may also be installed on the dump truck 2.

[0106] The road surface image captured by the imaging device 35 is transmitted to the control server 12. The display control unit 62 displays the road surface image captured by the imaging device 35 on the display device 68. The administrator at the control facility 120 can check whether or not there is an abnormal section 72 on the road surface by checking the image displayed on the display device 68. In other words, the administrator at the control facility 120 can determine whether or not there is a maintenance location 73 that requires maintenance by checking the image displayed on the display device 68. If it is determined that a maintenance location 73 exists, the administrator operates the input device 69 so that the maintenance location 73 is identified. The maintenance location identification unit 63 can identify the maintenance location 73 based on the input data from the input device 69.

[0107] The maintenance location identification unit 63 may also identify the maintenance location 73 by image processing of the road surface image captured by the imaging device 35.

[0108] The maintenance location identification unit 63 may also identify the maintenance location 73 based on the road surface image captured by the imaging device 42 of the bulldozer 4. If the dump truck 2 is equipped with an imaging device, the maintenance location identification unit 63 may also identify the maintenance location 73 based on the road surface image captured by the imaging device of the dump truck 2.

[0109] In the above embodiment, multiple bulldozers 4 are present at the work site 1, and a bulldozer 4 is selected from among the multiple bulldozers 4 to perform maintenance at the maintenance position 73. There may be only one bulldozer 4. For example, if there is only one bulldozer 4 at a location where the distance to the maintenance position 73 is less than or equal to a distance threshold, the selection unit 65 may determine whether or not that bulldozer 4 is capable of performing maintenance based on the current status data of that bulldozer 4, and the maintenance command output unit 66 may output a maintenance command to cause the bulldozer 4 capable of performing maintenance to perform maintenance.

[0110] In the embodiment described above, the remotely controlled work machine is assumed to be a bulldozer 4. However, the remotely controlled work machine is not limited to a bulldozer 4. The remotely controlled work machine may be an excavator 3, a motor grader 5, or a wheel loader. The work machine that maintains the maintenance position 73 may be an excavator 3, a motor grader 5, or a wheel loader. Furthermore, as described above, the work machine may be operated by an operator sitting in the cab of the work machine without being remotely controlled.

[0111] In the above-described embodiment, at least a portion of the functional parts of the remote controller 27 may be provided on the control server 12. At least a portion of the functional parts of the control server 12 may be provided on the remote controller 27. At least a portion of the functional parts of the control server 12 may be provided on the onboard controller 22 of the bulldozer 4. At least a portion of the functional parts of the control server 12 may be provided on the onboard controller 17 of the dump truck 2. For example, at least the maintenance position identification unit 63, the current status data acquisition unit 64, the selection unit 65, and the maintenance command output unit 66 may be provided on the onboard controller 17 of the dump truck 2. In this case, the onboard controller 17 of the dump truck 2 can identify the maintenance position 73 based on the road surface image captured by the imaging device 35. The onboard controller 17 of the dump truck 2 also acquires current status data indicating the current position and current status of the multiple bulldozers 4. Furthermore, the onboard controller 17 of the dump truck 2 determines whether a bulldozer 4 is capable of performing maintenance at the identified maintenance location 73 based on the acquired current status data of each bulldozer 4, and selects the bulldozer 4 that is determined to be capable of performing maintenance. The onboard controller 17 of the dump truck 2 can also output a maintenance command to the output device 25 assigned to the selected bulldozer 4. The operation when there is only one bulldozer 4 at the work site 1 is the same as in the embodiment described above.

[0112] In the above-described embodiment, each of the multiple functional units of the control server 12 may be configured by a separate computer (hardware). Each of the multiple functional units of the remote controller 27 may be configured by a separate computer (hardware). [Explanation of Symbols]

[0113] 1...Work site, 2...Dump truck (work vehicle), 3...Excavator (work machine), 4...Bulldozer (work machine), 4A...Bulldozer, 4B...Bulldozer, 4C...Bulldozer, 5...Motor grader (work machine), 6...Light vehicle (driving vehicle), 7...Loading area, 8...Soil removal area, 9...Transport route, 10...Management system, 11...Remote control system, 12...Control server, 120...Control facility, 13...Communication system, 14...Vehicle body, 15...Running gear, 16...Dump body, 17...Onboard unit 18...Controller, 19...Vehicle body, 20...Traction mechanism, 20A...Drilling blade, 20B...Lift frame, 20C...Tilt cylinder, 20D...Lift cylinder, 21...Ripper mechanism, 21A...Shank, 21B...Ripper arm, 21C...Tilt cylinder, 21D...Lift cylinder, 21E...Beam, 22...On-board controller, 23...Remote control room, 24...Remote control device, 25...Output device, 25A...Display device, 25B...Audio output device, 27...Remote controller, 28... 29...Communication system, 30...Computer, 30A...Processor, 30B...Main memory, 30C...Storage, 30D...Input / output interface, 30E...Communication interface, 30F...Computer program, 31...Position sensor, 32...Directional sensor, 33...Speed ​​sensor, 34...Obstacle sensor, 35...Imaging device, 36...Onboard controller, 37...Position sensor, 38...Input device, 41...Position sensor, 42...Imaging device, 51...Operation command transmission unit, 52...Image capture 53...Maintenance command acquisition unit, 54...Output control unit, 60...Driving data generation unit, 61...Communication unit, 62...Display control unit, 63...Maintenance location identification unit, 64...Current status data acquisition unit, 65...Selection unit, 66...Maintenance command output unit, 67...Storage unit, 68...Display device, 69...Input device, 70...Driving point, 71...Driving path, 72...Abnormal part, 73...Maintenance location, 80...Surrounding image, 81...Reference image, 81A...Blade reference line, 81B...Distance reference line, 90...Display data, 91...Character data, 92...Map data.

Claims

1. Equipped with a processor, The aforementioned processor, Identify the maintenance locations on the road surface of the work site where the work vehicles are traveling, Based on the maintenance location and the current status data indicating the current location and current state of the work machine, it is determined whether or not maintenance can be performed on the work machine. A maintenance command is output to the aforementioned work machine capable of performing maintenance, to cause it to perform maintenance. A management system for work sites.

2. The aforementioned work machine includes a plurality of work machines, A work site management system according to claim 1.

3. The aforementioned processor, Select a machine from among several machines to perform the maintenance described above. Output the maintenance command to the selected work machine. A work site management system according to claim 2.

4. The aforementioned processor, Based on the current position, select the work machine that is closest to the maintenance position. A work site management system according to claim 3.

5. The current state includes the working state in which the work machine is in operation and the standby state in which it is in standby mode. The aforementioned processor, Select the work machine in the aforementioned standby state. A work site management system according to claim 4.

6. Each of the multiple aforementioned work machines is assigned an output device. The aforementioned processor, The output device assigned to the selected work machine outputs the maintenance command. A work site management system according to claim 3.

7. The aforementioned processor, Based on the input data from the input device, the maintenance location is identified. A work site management system according to claim 1.

8. The input device is positioned on a vehicle that patrols the work site. A work site management system according to claim 7.

9. The aforementioned processor, Based on the image data of the road surface captured by the imaging device, the maintenance location is identified. A work site management system according to claim 1.

10. The aforementioned work vehicle is an unmanned dump truck that operates based on driving data, The aforementioned work machine is a remotely operated bulldozer. A work site management system according to claim 1.

11. Identifying maintenance locations on the road surface of the work site where work vehicles travel, Based on the aforementioned maintenance location and current status data indicating the current location and current state of the work machine, it is determined whether or not maintenance can be performed on the work machine. This includes outputting a maintenance command to cause the work machine capable of performing the maintenance to perform the maintenance, Methods for managing the work site.

12. The aforementioned work machine includes a plurality of work machines, The method for managing a work site according to claim 11.

13. This includes selecting a work machine from among multiple work machines to perform the maintenance, Output the maintenance command to the selected work machine. The method for managing a work site according to claim 12.

14. Based on the current position, select the work machine that is closest to the maintenance position. The method for managing a work site according to claim 13.

15. The current state includes the working state in which the work machine is in operation and the standby state in which it is in standby mode. Select the work machine in the aforementioned standby state. The method for managing a work site according to claim 14.

16. Each of the multiple aforementioned work machines is assigned an output device. The output device assigned to the selected work machine outputs the maintenance command. The method for managing a work site according to claim 13.

17. Based on the input data from the input device, the maintenance location is identified. The method for managing a work site according to claim 11.

18. The input device is positioned on a vehicle that patrols the work site. The method for managing a work site according to claim 17.

19. Based on the image data of the road surface captured by the imaging device, the maintenance location is identified. The method for managing a work site according to claim 11.

20. The aforementioned work vehicle is an unmanned dump truck that operates based on driving data, The aforementioned work machine is a remotely operated bulldozer. The method for managing a work site according to claim 11.

Images