Work site management system and work site management method

Abstract

To determine whether or not the work site needs to be prepared. [Solution] The work site management system includes a processor. The processor acquires detection data from a shape sensor installed on the transport vehicle that detects the shape of the area around the transport vehicle, and based on the detection data of the shape of the soil removal point acquired during the soil removal work of the transport vehicle, it determines whether or not maintenance of the soil removal point is necessary, and outputs data indicating whether or not maintenance is necessary.

Description

TECHNICAL FIELD

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

BACKGROUND ART

[0002] Patent Document 1 discloses a technique in which a work machine excavates a work target. In Patent Document 1, a controller of the work machine acquires the position of the main body of the work machine and the position of the work implement, and advances the work machine while controlling the work implement in accordance with a target design surface.

PRIOR ART DOCUMENTS

PATENT DOCUMENTS

[0003]

PATENT DOCUMENT 1

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] Maintenance by work machines may be performed at worksites. If maintenance is performed even though no maintenance is required, or if maintenance is not performed even though maintenance is required, the productivity of the worksite may decrease.

[0005] The present disclosure aims to determine the necessity of maintenance at a worksite.

MEANS FOR SOLVING THE PROBLEMS

[0006] According to the present disclosure, a worksite management system is provided. The management system includes a processor. The processor acquires detection data from a shape sensor that is provided on a transport vehicle and detects the shape of the surroundings of the transport vehicle, and determines the necessity of maintenance of the dumping point based on the shape detection data of the dumping point acquired during the dumping operation of the transport vehicle, and outputs determination data on the necessity of maintenance.

EFFECTS OF THE INVENTION

[0007] According to this disclosure, it is determined whether or not site preparation is necessary. [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 schematic diagram showing an example of a soil removal area according to this embodiment. [Figure 4] Figure 4 is a hardware configuration diagram showing a control server according to an embodiment. [Figure 5] Figure 5 is a block diagram showing the management system and remote control system according to the embodiment. [Figure 6] Figure 6 is a diagram illustrating the driving data of a dump truck according to the embodiment. [Figure 7] Figure 7 is a schematic diagram showing multiple soil removal points set in the soil removal area according to the embodiment. [Figure 8] Figure 8 is a diagram illustrating the soil removal operation of a dump truck according to this embodiment. [Figure 9] Figure 9 is a diagram illustrating the soil removal operation of a dump truck according to the embodiment. [Figure 10] Figure 10 is a diagram illustrating the method for determining whether or not soil removal point preparation is necessary according to the embodiment. [Figure 11] Figure 11 shows an example of a second display device according to the embodiment. [Figure 12] Figure 12 shows an example of the first display device according to the embodiment. [Figure 13] Figure 13 is a flowchart showing a work site management method according to an embodiment. [Figure 14] Figure 14 is a diagram illustrating a method for preparing an earth removal point using a bulldozer according to an embodiment of this model. [Figure 15]Figure 15 is a schematic diagram showing a bulldozer performing leveling work at a point requiring maintenance according to the embodiment. [Modes for carrying out the invention]

[0009] The embodiments relating to 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 transport vehicle, performs work. Dump truck 2 may be a manned or 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 transport work, which involves transporting the cargo loaded in the dump body, and soil removal work, which involves unloading 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, ground leveling work for adjusting the terrain of work site 1 using the work implement, and bank forming work for forming an embankment 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 ground leveling work for adjusting the terrain of work site 1 using the work implement.

[0013] At work site 1, a loading area 6, an earth dumping area 7, and a transport path 8 are provided. The loading area 6, earth dumping area 7, and transport path 8 are work areas where each of the dump truck 2, shovel 3, bulldozer 4, and motor grader 5 can perform work.

[0014] The loading area 6 refers to a work area where loading work for loading a load onto the dump truck 2 is performed. An example of the load is excavated material excavated in the loading area 6. The shovel 3 performs excavation work and loading work in the loading area 6.

[0015] The earth dumping area 7 refers to a work area where earth 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 7.

[0016] The transport path 8 refers to a traveling path on which the dump truck 2 travels. The transport path 8 leads to each of the loading area 6 and the earth dumping area 7. The transport path 8 is provided so as to connect at least the loading area 6 and the earth dumping area 7. The dump truck 2 heading toward at least one of the loading area 6 and the earth dumping area 7 travels on the transport path 8. The dump truck 2 travels on the transport path 8 so as to reciprocate between, for example, the loading area 6 and the earth dumping area 7. The motor grader 5 performs excavation work and ground leveling work on the transport path 8.

[0017] [Management systems and remote control systems] Figure 2 is a schematic diagram showing the management system 9 and remote control system 10 according to the embodiment. The management system 9 manages the work site 1. The management system 9 manages the dump truck 2, excavator 3, bulldozer 4, and motor grader 5, respectively. In Figure 2, the bulldozer 4 is shown as a work machine. In the following description, for the sake of simplicity, an example will be given in which the management system 9 manages the dump truck 2 and the bulldozer 4.

[0018] The management system 9 comprises a control server 11 and a communication system 12. The control server 11 includes a computer. The control server 11 is located outside the dump truck 2 and the bulldozer 4. The control server 11 is installed in the control facility 13 at the work site 1. The control server 11 manages the work site 1. The control server 11 manages the dump truck 2 and the bulldozer 4. The communication system 12 includes at least one of the following: the internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0019] 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 around 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 around the work site 1 by rotating with the tires of the running gear 15 in contact with the ground of the work site 1.

[0020] 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 tilting the dump body 16 in the dumping direction, away from the vehicle body 14. In this embodiment, the dumping direction of the dump body 16 is towards the rear of the vehicle body 14. Lowering operation refers to the operation of bringing 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.

[0021] The on-board controller 17 includes a computer. The control server 11 and the on-board controller 17 of the dump truck 2 communicate wirelessly via the communication system 12.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The on-board controller 22 includes a computer. The control server 11 and the on-board controller 22 of the bulldozer 4 communicate wirelessly via the communication system 12.

[0029] 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 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 10. At least a part of the remote control system 10 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 10 comprises a remote control device 24, a display device 25, and a remote controller 27.

[0030] 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.

[0031] The display device 25 is located in the remote control room 23. The display device 25 displays captured images of the work site 1. The display device 25 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). In this embodiment, the display device 25 includes a first display device 25A and a second display device 25B located at least a portion of the periphery of the first display device 25A. The operator operates the remote control device 24 while viewing the captured images of the work site 1 displayed on the display device 25. The bulldozer 4 is remotely controlled by the remote control device 24.

[0032] 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).

[0033] The control server 11 and the remote controller 27 communicate via the communication system 29. Note that the communication system 12 and the communication system 29 may be separate communication systems. At least a portion of the communication system 12 and the communication system 29 may be the same communication system.

[0034] [Soil removal area] Figure 3 is a schematic diagram showing an example of a soil removal area 7 according to the embodiment. Both the dump truck 2 and the bulldozer 4 can travel on the ground 706 of the soil removal area 7. The ground 706 of the soil removal area 7 is substantially flat. Both the dump truck 2 and the bulldozer 4 work in the soil removal area 7. The dump truck 2 works around the bulldozer 4.

[0035] The work performed by the dump truck 2 in the soil removal area 7 includes at least one of the following: driving operations, which involve driving on the ground 706 of the soil removal area 7, and soil removal operations, which involve unloading the cargo from the dump body 16 in the soil removal area 7. The work performed by the bulldozer 4 in the soil removal area 7 includes leveling operations, which involve leveling the terrain of the soil removal area 7, and embankment formation operations, which involve forming an embankment 703 in the soil removal area 7. The leveling operations include shaping the embankment 703 and leveling the ground 706 of the soil removal area 7. For example, unevenness may be formed on the ground 706 of the soil removal area 7 due to the driving of the dump truck 2 or the dropping of cargo from the dump body 16. The bulldozer 4 performs leveling operations so that the ground 706 of the soil removal area 7 becomes flat.

[0036] A sloping cliff 701 exists around the soil removal area 7. The sloping cliff 701 is located outside the edge 702 of the soil removal area 7. The sloping cliff 701 is a prohibited area where dump trucks 2 and bulldozers 4 are prohibited from operating at the work site 1. Dump trucks 2 and bulldozers 4 cannot travel on the sloping cliff 701. The soil removal area 7 and the sloping cliff 701 are separated by the edge 702 of the soil removal area 7. A bank 703 is formed at the edge 702. The bank 703 protrudes upward from the ground 706 of the soil removal area 7 near the edge 702.

[0037] During the soil removal operation, the dump truck 2 approaches the edge 702 of the soil removal area 7 while reversing. The onboard controller 17 of the dump truck 2 causes the dump body 16 to dump backward after the dump truck 2 has approached the edge 702 of the soil removal area 7. As the dump truck 2 approaches the edge 702 while reversing, the dump body 16 dumps backward, causing the load loaded on the dump body 16 to be removed onto the downward cliff 701.

[0038] The height of the embankment 703 is set so as not to obstruct the soil removal work of the dump truck 2, and so as not to make it difficult for the dump truck 2 to drive over the embankment 703. The height of the embankment 703 is, for example, about the same as the radius of the tires of the dump truck 2. Since the embankment 703 is formed on the edge 702, the dump truck 2 performing soil removal work is prevented from going outside the soil removal area 7.

[0039] [computer] Figure 4 is a hardware configuration diagram showing a control server 11 according to an embodiment. The control server 11 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 11 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 11 via a network.

[0040] Similar to the control server 11, the on-board controller 17 of the dump truck 2, the on-board controller 22 of the bulldozer 4, 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, 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.

[0041] Figure 5 is a block diagram showing the management system 9 and remote control system 10 according to the embodiment. The dump truck 2 has a traveling device 15, a dump body 16, a position sensor 31, a compass sensor 32, a speed sensor 33, a shape sensor 34, and an on-board controller 17. The bulldozer 4 has a traveling device 19, an excavating work machine 20, a ripper work machine 21, a position sensor 41, and an imaging device 42.

[0042] 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.

[0043] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation of the dump truck 2 includes the azimuth angle relative to a reference azimuth. The reference azimuth 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.

[0044] 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.

[0045] The shape sensor 34 detects the shape of objects around the dump truck 2 non-contact. The shape sensor 34 includes a 3D sensor that detects the three-dimensional shape of an object. As shown in Figure 2, the shape sensor 34 is positioned at the front and rear of the dump truck 2's body 14. The shape sensor 34 located at the front of the body 14 detects the shape of objects in front of the dump truck 2. The shape sensor 34 located at the rear of the body 14 detects the shape of objects behind the dump truck 2. The shape sensor 34 detects the shape of an object by emitting energy waves. Examples of shape sensors 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 (Ultrasonic Sensor) that detects objects by emitting ultrasonic waves. The shape sensor 34 can detect the presence or absence of an object, its relative position (relative distance and direction), and its relative velocity.

[0046] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is located on the 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 body 18. The position sensor 41 detects the position of the bulldozer 4 in a global coordinate system.

[0047] The imaging device 42 captures an image of the object to be imaged. 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 ground 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 surrounding image 80 of the bulldozer 4 is displayed on the display device 25 in the remote control room 23. 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.

[0048] The processor 30A of the remote controller 27 has multiple functional units. The functional units of the processor 30A of the remote controller 27 include an operation signal transmission unit 61, an image acquisition unit 62, and a display control unit 63.

[0049] The operation signal transmission unit 61 transmits the operation signal generated by the operation of the remote control device 24 to the on-board controller 22 of the bulldozer 4. Based on the operation signal transmitted from the operation signal transmission unit 61, the on-board controller 22 controls at least one of the traveling device 19, the excavating work machine 20, and the ripper work machine 21.

[0050] The image acquisition unit 62 acquires the surrounding image 80 of the bulldozer 4 captured by the imaging device 42. The display control unit 63 displays the surrounding image 80 of the bulldozer 4 captured by the imaging device 42 on the display device 25.

[0051] The processor 30A of the control server 11 has multiple functional units. The functional units of the processor 30A of the control server 11 include a soil discharge point setting unit 51, a driving data generation unit 52, a detection data acquisition unit 53, a determination unit 54, and an output unit 55.

[0052] The soil discharge point setting unit 51 sets the soil discharge point 72 in the soil discharge area 7. The soil discharge point 72 is the position where the dump truck 2 will carry out soil discharge work.

[0053] In this embodiment, the work site 1 is surveyed in advance. Based on the survey data, two-dimensional data representing the two-dimensional shape of the terrain of the work site 1 is calculated. The two-dimensional data represents the two-dimensional shape of the terrain on a predetermined plane substantially parallel to the ground of the work site 1. The two-dimensional data may be defined by latitude and longitude coordinate data. The survey includes detecting the two-dimensional shape of the work site 1 using position sensors, including a GNSS receiver. For example, a survey vehicle equipped with position sensors travels along the edge of the work area, and the two-dimensional data of the work site 1 is calculated based on the detection data from the position sensors. The two-dimensional data of the work site 1 may be calculated by the control server 11 or by a computer other than the control server 11.

[0054] Furthermore, 3D data representing the 3D shape of the terrain at work site 1 may be calculated based on the survey data. The survey may include detecting the 3D shape of work site 1 using a 3D sensor. A 3D sensor is a sensor capable of detecting the 3D shape of an object to be detected. Examples of 3D sensors include laser sensors (LiDAR: Light Detection and Ranging) that detect the 3D shape of an object by emitting laser light, and stereo cameras. For example, if an aircraft such as a drone equipped with a 3D sensor flies over work site 1, and the 3D sensor mounted on the drone detects work site 1, 3D data of work site 1 may be calculated based on the detection data from the 3D sensor. The 3D data of work site 1 may be calculated by the control server 11, or by a computer other than the control server 11.

[0055] The soil removal point setting unit 51 sets soil removal points 72 in the soil removal area 7 of the work site 1 based on survey data of the soil removal area 7. The position of the soil removal points 72 is defined in the global coordinate system. The soil removal point setting unit 51 sets multiple soil removal points 72 in the soil removal area 7.

[0056] The driving data generation unit 52 generates driving data indicating the driving conditions of the dump truck 2 in the work area. The driving data generation unit 52 generates driving data for the dump truck 2 in at least the soil discharge area 7. The dump truck 2 travels around the work site 1 based on the driving data. The driving data generation unit 52 generates driving data for the dump truck 2 based on the soil discharge point 72 set by the soil discharge point setting unit 51. The driving conditions for the dump truck 2 include the target position of the dump truck 2, the target direction of the dump truck 2, the target driving speed of the dump truck 2, and the target turning radius of the dump truck 2.

[0057] Figure 6 is a diagram illustrating the driving data of the dump truck 2 according to the embodiment. Figure 6 shows the driving data set in the soil discharge area 7. The driving data defines the driving conditions of the dump truck 2. The driving data of the dump truck 2 includes the driving point 70, the driving path 73, 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 52 generates at least the driving path 73 of the dump truck 2.

[0058] Multiple travel points 70 are set in the soil removal area 7. Travel points 70 define the target position of the dump truck 2. The target position of the dump truck 2 is defined in the global coordinate system. For each of the multiple travel points 70, the target bearing and target travel speed of the dump truck 2 are set. The multiple travel points 70 are set at intervals. The intervals between travel points 70 may be uniform or uneven.

[0059] The target position of dump truck 2 refers to the target position of dump truck 2 when it passes through the travel point 70. The target direction of dump truck 2 refers to the target direction of dump truck 2 when it passes through the travel point 70. The target travel speed of dump truck 2 refers to the target travel speed of dump truck 2 when it passes through the travel point 70. The travel path 73 refers to a virtual line indicating the target travel route of dump truck 2. The travel path 73 is defined by a trajectory that passes through multiple travel points 70. The travel data generation unit 52 generates the travel path 73 so as to include the soil discharge point 72.

[0060] In the example shown in Figure 6, of the multiple travel points 70, one travel point 70 is set as an entry point 70S, and one travel point 70 is set as an exit point 70E. In addition, of the multiple travel points 70, at least one travel point 70 is set as a switchback point 71, and at least one travel point 70 is set as an earth removal point 72. The switchback point 71 is the position where the dump truck 2 performs a switchback. A switchback is the action in which the forward-moving dump truck 2 makes a sharp change in direction and moves in reverse.

[0061] The soil removal point 72 is set near the edge 702 of the soil removal area 7. As described with reference to Figure 3, a bank 703 is formed on the edge 702. The soil removal point 72 is set on or near the bank 703. The soil removal point 72 may be set at the lower end of the bank 703 on the soil removal area 7 side. The soil removal point 72 may be set on the slope of the bank 703 on the soil removal area 7 side. The soil removal point 72 may be set on the ground 706 adjacent to the slope of the bank 703 on the soil removal area 7 side.

[0062] The location of the travel point 70, which includes the switchback point 71 and the soil removal point 72, and the location of the travel path 73, which indicates the travel route of the dump truck 2, are defined in the global coordinate system.

[0063] The driving data generated in the driving data generation unit 52 is transmitted to the on-board controller 17 of the dump truck 2. The on-board controller 17 of the dump truck 2 controls the driving device 15 based on the driving data. The on-board controller 17 controls the driving device 15 so that the dump truck 2 travels according to the driving path 73, based on the detection data from the position sensor 31 and the detection data from the orientation sensor 32. Specifically, the on-board controller 17 controls the driving device 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 driving point 70 is reduced when passing through the driving point 70. The on-board controller 17 controls the driving device 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 driving point 70 is reduced when passing through the driving point 70. The on-board controller 17 controls the driving device 15 so that the dump truck 2 travels at the target driving speed, based on the detection data from the speed sensor 33. In other words, the onboard controller 17 controls the driving device 15 so that the deviation between the detected driving speed of the dump truck 2 detected by the speed sensor 33 when passing through the driving point 70 and the target driving speed of the dump truck 2 set at the driving point 70 becomes small.

[0064] In the example shown in Figure 6, dump truck 2 enters the soil removal area 7 from the transport path 8 while moving forward. After entering the soil removal area 7 from the transport path 8, dump truck 2 passes the entry point 70S and then enters the switchback point 71 while moving forward. After entering the switchback point 71, dump truck 2 performs a switchback and then enters the soil removal point 72 while moving backward. After entering the soil removal point 72, dump truck 2 performs soil removal work at the soil removal point 72. With dump truck 2 positioned at the soil removal point 72, the dump body 16 performs a dumping operation, and the load is discharged from dump truck 2 at the soil removal point 72. Having completed the soil removal work, dump truck 2 moves forward towards the exit point 70E to leave the soil removal point 72. After passing the exit point 70E, dump truck 2 leaves the soil removal area 7 and returns to the transport path 8.

[0065] The detection data acquisition unit 53 acquires detection data from the position sensor 31 installed on the dump truck 2. The detection data acquisition unit 53 also acquires detection data from the shape sensor 34 installed on the dump truck 2. The onboard controller 17 of the dump truck 2 transmits the detection data from the position sensor 31 and the detection data from the shape sensor 34 to the control server 11. The detection data acquisition unit 53 acquires the detection data from the position sensor 31 and the detection data from the shape sensor 34 transmitted from the onboard controller 17. The detection data acquisition unit 53 may also acquire detection data from the compass sensor 32 installed on the dump truck 2.

[0066] The determination unit 54 determines whether or not maintenance of the soil discharge point 72 is necessary based on the detection data of the shape of the soil discharge point 72 acquired during the soil discharge work of the dump truck 2. The determination unit 54 determines whether or not maintenance of the soil discharge point 72 is necessary based on the detection data of the shape sensor 34 acquired during the soil discharge work of the dump truck 2 at the soil discharge point 72. During the soil discharge work of the dump truck 2, the shape sensor 34 detects the shape of the soil discharge point 72. The shape of the soil discharge point 72 refers to the shape of a part of the soil discharge area 7 where the soil discharge point 72 is set and the terrain in its vicinity. Maintenance of the soil discharge point 72 refers to leveling the terrain of a part of the soil discharge area 7 where the soil discharge point 72 is set and the terrain in its vicinity.

[0067] As described above, the soil removal point 72 is set on or near the embankment 703. In this embodiment, the shape of the soil removal point 72 includes the shape of the embankment 703. Detecting the shape of the soil removal point 72 includes detecting the shape of the embankment 703. The detection data acquisition unit 53 acquires detection data of the shape of the embankment 703 detected by the shape sensor 34. Determining whether or not to maintain the soil removal point 72 includes determining whether or not to maintain the embankment 703. Maintaining the embankment 703 means adjusting the shape of the embankment 703 so that it becomes the target shape. The detection data acquisition unit 53 acquires detection data showing the shape of the embankment 703 detected by the shape sensor 34 during the soil removal operation of the dump truck 2. The determination unit 54 determines whether or not to maintain the embankment 703 based on the detection data showing the shape of the embankment 703 detected by the shape sensor 34 during the soil removal operation of the dump truck 2.

[0068] The output unit 55 outputs determination data on whether or not maintenance is required at the soil removal point 72, as determined by the determination unit 54. The output unit 55 transmits the determination data on whether or not maintenance is required at the soil removal point 72 to the remote controller 27. The output unit 55 displays the determination data on the display device 25 assigned to the bulldozer 4. The output unit 55 may also display the determination data on the display device 25 assigned to the bulldozer 4 that is within a predetermined range from the soil removal point 72. If there are multiple bulldozers 4 within a predetermined range from the soil removal point 72, the output unit 55 may display the determination data on the display device 25 assigned to the bulldozer 4 closest to the soil removal point 72, or it may display the determination data on the display device 25 assigned to each of the multiple bulldozers 4.

[0069] [Earth removal point] Figure 7 is a schematic diagram showing a plurality of soil removal points 72 set in the soil removal area 7 according to the embodiment. The soil removal point setting unit 51 sets a plurality of soil removal points 72 in the soil removal area 7. The plurality of soil removal points 72 are set at regular intervals along the longitudinal direction of the edge 702 of the soil removal area 7. The embankment 703 is formed along the longitudinal direction of the edge 702. The plurality of soil removal points 72 are set at regular intervals along the longitudinal direction of the embankment 703 provided on the edge 702 of the soil removal area 7. The soil removal point setting unit 51 sets the soil removal points 72 so that the plurality of soil removal points 72 are arranged at equal intervals along the longitudinal direction of the embankment 703.

[0070] In the example shown in Figure 7, the soil removal point 72 is set on the soil removal area 7 side (ground 706 side) of the embankment 703 in the short direction. In the short direction of the embankment 703, the distance between the embankment 703 and each of the multiple soil removal points 72 is the same.

[0071] Multiple dump trucks 2 sequentially enter the soil removal area 7 via entry point 70S. The dump trucks 2 that have entered the soil removal area 7 perform soil removal work at soil removal point 72. The dump trucks 2 that have completed soil removal work leave the soil removal area 7 via exit point 70E.

[0072] The onboard controller 17 of the dump truck 2, which has finished its soil removal work, transmits a soil removal completion signal to the control server 11, indicating that the soil removal work is complete. Based on the soil removal completion signal from the onboard controller 17, the determination unit 54 can recognize that the soil removal work at soil removal point 72 has been completed. Based on the soil removal completion signal from the onboard controller 17, the determination unit 54 can recognize that the soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7.

[0073] In the following description, a soil removal point 72 where soil removal work by dump truck 2 has not yet been carried out will be appropriately referred to as an unremoved soil removal point 721, and a soil removal point 72 where soil removal work by dump truck 2 has already been carried out will be appropriately referred to as a completed soil removal point 722.

[0074] When soil removal work is carried out at soil removal point 72, the unremoved soil point 721 changes to a soil removed soil point 722. The output unit 55 sends notification data to the remote controller 27 indicating that soil removal work at soil removal point 72 has been completed. Based on the notification data, the remote controller 27 can recognize whether soil removal point 72 set in the soil removal area 7 is an unremoved soil point 721 or a soil removed soil point 722.

[0075] [Detection of the shape of the soil removal point] Figures 8 and 9 are diagrams illustrating the soil removal operation of the dump truck 2 according to the embodiment. As shown in Figure 8, when performing soil removal work, the dump truck 2 enters the soil removal point 72 while reversing on the ground 706 of the soil removal area 7. The dump truck 2 reverses toward the embankment 703. When the dump truck 2 reverses to enter the soil removal point 72, the shape sensor 34 provided at the rear of the vehicle body 14 detects the shape of the soil removal point 72. The shape sensor 34 detects the shape of the soil removal point 72 in parallel with the reversing of the dump truck 2. The shape sensor 34 detects the shape of the soil removal point 72 before the dump truck 2 performs the soil removal work. The detection data acquisition unit 53 acquires detection data indicating the shape of the soil removal point 72 detected by the shape sensor 34 before the soil removal work.

[0076] Upon entering the soil removal point 72, the dump truck 2 performs soil removal work at the soil removal point 72. The onboard controller 17 of the dump truck 2 causes the dump body 16 to dump backward after the dump truck 2 has entered the soil removal point 72. With the dump truck 2 positioned at the soil removal point 72, the dump body 16 dumps backward, causing the load to be discharged from the dump body 16 of the dump truck 2 positioned at the soil removal point 72. After the dump truck 2 approaches the embankment 703 while reversing, the dump body 16 dumps, causing the load loaded on the dump body 16 to be discharged onto the sloping cliff 701.

[0077] As shown in Figure 9, the dump truck 2, having completed the soil removal work, moves forward to move away from the soil removal point 72. The dump truck 2 moves forward to move away from the embankment 703. When the dump truck 2 moves forward to move away from the soil removal point 72, the shape sensor 34, located at the rear of the vehicle body 14, detects the shape of the soil removal point 72. The shape sensor 34 detects the shape of the soil removal point 72 in parallel with the forward movement of the dump truck 2. The shape sensor 34 may also detect the shape of the soil removal point 72 after the soil removal work has been completed and before the dump truck 2 moves forward. The shape sensor 34 detects the shape of the soil removal point 72 after the soil removal work has been completed. The detection data acquisition unit 53 acquires detection data indicating the shape of the soil removal point 72 detected by the shape sensor 34 after the soil removal work has been completed.

[0078] [Determination of whether maintenance is necessary] Figure 10 is a diagram illustrating a method for determining whether or not maintenance of the soil removal point 72 is necessary according to the embodiment. As described above, the shape sensor 34 detects the shape of the soil removal point 72 before the dump truck 2 performs soil removal work, and the shape of the soil removal point 72 after the dump truck 2 performs soil removal work. The determination unit 54 compares the detection data of the shape of the soil removal point 72 acquired before the soil removal work with the detection data of the shape of the soil removal point 72 acquired after the soil removal work to determine whether or not maintenance of the soil removal point 72 is necessary. As described above, in the embodiment, the shape of the soil removal point 72 includes the shape of the embankment 703.

[0079] The shape of the embankment 703 includes the height H of the embankment 703 and the depth L of the embankment 703. The height H of the embankment 703 refers to the height from the ground 706 of the soil removal area 7 to the top of the embankment 703. The depth L of the embankment 703 refers to the distance between the top of the embankment 703 and the lower end of the embankment 703 on the soil removal area 7 side in the short-side direction of the embankment 703 (the direction in which the dump truck 2 approaches the soil removal point 72).

[0080] The shape of the embankment 703 before the soil removal operation is substantially equal to the target shape of the embankment 703. The target shape of the embankment 703 is defined by the target value of the height H of the embankment 703 and the target value of the depth L of the embankment 703. The target value of the height H of the embankment 703 is set to a value that does not hinder the soil removal operation of the dump truck 2 and makes it difficult for the dump truck 2 to drive over the embankment 703. The target value of the height H of the embankment 703 is set to a value that does not hinder the soil removal operation of the dump truck 2 and allows the load to be removed onto the downhill cliff 701 when the dump body 16 performs a dumping operation backward.

[0081] After soil removal work, the shape of the embankment 703 may change from the target shape. If the difference between the target shape and the actual shape of the embankment 703 becomes large, it may become difficult for the dump truck 2 to smoothly carry out soil removal work. The determination unit 54 compares the detection data of the shape of the embankment 703 acquired before the soil removal work with the detection data of the shape of the embankment 703 acquired after the soil removal work. If it determines that there is a difference between the shape of the embankment 703 detected before the soil removal work and the shape of the embankment 703 detected after the soil removal work, it determines that maintenance of the embankment 703 is necessary to bring the shape of the embankment 703 to the target shape. If the shape of the embankment 703 has changed from the target shape due to the soil removal work of the previous dump truck 2, maintenance to bring the shape of the embankment 703 to the target shape will be carried out before the soil removal work of the next dump truck 2 is carried out, so that the next dump truck 2 can smoothly carry out soil removal work.

[0082] As shown in Figures 9 and 10 (First Embodiment), material 705, which is part of the load discharged from the dump body 16 during the soil removal operation, may accumulate on the surface of the embankment 703. As in the First Embodiment, if material 705 accumulates on the slope of the embankment 703 on the soil removal area 7 side, the depth distance L of the embankment 703 becomes longer than the target value. If the depth distance L becomes longer, it may become difficult for the next dump truck 2 to properly enter the soil removal point 72 when it reverses toward the soil removal point 72 for soil removal work. In other words, if material 705 accumulates on the slope of the embankment 703 on the soil removal area 7 side, the rear tires of the dump truck 2 may come into contact with the material 705, making it difficult for the dump truck 2 to get close enough to the embankment 703. If the dump body 16 dumps backward while the dump truck 2 is away from the embankment 703, at least part of the load may be discharged onto the ground 706 instead of being discharged onto the downhill cliff 701. Therefore, in the case of [first form], the determination unit 54 determines that it is necessary to remove the material 705 present on the slope of the embankment 703 on the side of the soil removal area 7.

[0083] As shown in Figure 10 [Second Form], a portion of the embankment 703 may collapse due to the soil removal work, causing the height H of the embankment 703 to fall below the target value. For example, the rear tires of a reversing dump truck 2 may hit the embankment 703 hard, causing a portion of the embankment 703 to collapse. If the height H of the embankment 703 falls below the target value, when the next dump truck 2 reverses towards the soil removal point 72 for soil removal work, the rear tires of the next dump truck 2 may run over the embankment 703. Therefore, in the case of [Second Form], the determination unit 54 determines that it is necessary to add soil to the embankment 703 to raise its height H.

[0084] As shown in Figure 10 [Third Form], if no material 705 is deposited on the slope of the embankment 703 on the side of the excavation area 7 after the excavation work and the embankment 703 has not collapsed, then the height H of the embankment 703 and the depth L of the embankment 703 are maintained at the target values. Therefore, in the case of [Third Form], the determination unit 54 determines that maintenance of the embankment 703 is unnecessary.

[0085] In the following explanation, excavated soil points 722 that have been determined to require maintenance will be referred to as maintenance-required points 72A, and excavated soil points 722 that have been determined not to require maintenance will be referred to as maintenance-free points 72B.

[0086] [Display device] Figure 11 shows an example of the second display device 25B according to the embodiment. As described above, the output unit 55 transmits notification data to the remote controller 27 indicating that the soil removal work at the soil removal point 72 has been completed. The output unit 55 transmits determination data to the remote controller 27 indicating whether maintenance is required at the soil removal point 72. Based on the notification data, the display control unit 63 can recognize that the soil removal point 72 set in the soil removal area 7 is either an unremoved soil point 721 or a soil removal completed soil point 722. Based on the determination data, the display control unit 63 can recognize that the soil removal completed soil point 722 is either a maintenance required soil point 72A or a maintenance not required soil point 72B.

[0087] The data used to determine whether maintenance is necessary includes the location data of the soil removal point 72 (maintenance required point 72A) that has been determined to require maintenance. The position sensor 31 detects the position of the dump truck 2 while it is performing soil removal work. The detection data acquisition unit 53 acquires the detection data from the position sensor 31 while the dump truck 2 is performing soil removal work. The determination unit 54 can calculate the location data of the soil removal point 72 (maintenance required point 72A) that requires maintenance based on the detection data from the position sensor 31 acquired during the soil removal work. The display control unit 63 acquires the location data of the soil removal point 72 (maintenance required point 72A) that has been determined to require maintenance from the determination unit 54.

[0088] As shown in Figure 11, the second display device 25B displays a work image 90 related to the soil removal area 7. The work image 90 includes an overhead view of the soil removal area 7, a model image 2V of a dump truck 2 traveling in the soil removal area 7, and a model image 4V of a bulldozer 4. Model image 2V is an image modeled after the dump truck 2 as seen from above. Model image 4V is an image modeled after the bulldozer 4 as seen from above.

[0089] When dump truck 2 travels in the soil removal area 7, the model image 2V moves in the work image 90 in accordance with the movement of dump truck 2. The display control unit 63 receives detection data from the position sensor 31 of dump truck 2 via the control server 11. Based on the detection data from the position sensor 31 of dump truck 2, the display control unit 63 can move the model image 2V in the work image 90. When bulldozer 4 travels in the soil removal area 7, the model image 4V moves in the work image 90 in accordance with the movement of bulldozer 4. The display control unit 63 receives detection data from the position sensor 41 of bulldozer 4 from the onboard controller 22. Based on the detection data from the position sensor 41 of bulldozer 4, the display control unit 63 can move the model image 4V in the work image 90.

[0090] The work image 90 includes a travel path image 73V showing the travel path 73 of the dump truck 2, a switchback point image 71V showing the switchback point 71 of the dump truck 2, and a soil removal point image 72V showing the soil removal point 72 of the dump truck 2. The soil removal point image 72V includes an unremoved point image 721V showing an unremoved point 721 and a removed point image 722V showing a removed point 722. The soil removal point image 72V, which includes the unremoved point image 721V and the removed point image 722V, is a circular symbol image indicating the position of the soil removal point 72. The display control unit 63 displays the unremoved point image 721V on the second display device 25B in a first display mode. The display control unit 63 displays the removed point image 722V on the second display device 25B in a second display mode. As an example, the display control unit 63 displays the image 721V of the unexcavated area on the second display device 25B in a first color (e.g., white), and the image 722V of the excavated area on the second display device 25B in a second color (e.g., yellow).

[0091] The display control unit 63 causes the second display device 25B to display a first symbol image indicating the location of the maintenance required point 72A. The display control unit 63 causes the second display device 25B to display a second symbol image indicating the location of the maintenance not required point 72B. In this embodiment, the first symbol image is the soil removal point image 722V displayed in the third display mode. The second symbol image is the soil removal point image 722V displayed in the second display mode. As an example, the display control unit 63 causes the soil removal point image 722V indicating the maintenance required point 72A to be displayed in a third color (for example, red) on the second display device 25B. The display control unit 63 causes the soil removal point image 722V indicating the maintenance not required point 72B to be displayed in a second color (for example, yellow) on the second display device 25B.

[0092] The display control unit 63 displays on the second display device 25B a model image 2V showing the position of the dump truck 2 and a model image 4V showing the position of the bulldozer 4, along with a third display mode image 722V (first symbol image) of a soil-removed point showing a maintenance-required point 72A and a second display mode image 722V (second symbol image) of a soil-removed point showing a maintenance-not-required point 72B. Model image 2V is an example of a third symbol image showing the position of the dump truck 2.

[0093] The operator in the remote control room 23 can recognize the location of the maintenance required point 72A by checking the third display mode image 722V (first symbol image) showing the location of the maintenance required point 72A displayed on the second display device 25B. The operator can then operate the remote control device 24 to perform maintenance on the maintenance required point 72A.

[0094] Figure 12 shows an example of the first display device 25A according to the embodiment. The display control unit 63 causes the first display device 25A to display an image 80 of the surrounding area of ​​the bulldozer 4, which has been captured by an imaging device 42 provided on the bulldozer 4. The surrounding image 80 includes an image of the soil removal area 7 in front of the bulldozer 4. In the example shown in Figure 12, the surrounding image 80 includes an image of the edge 702 of the soil removal area 7. The surrounding image 80 includes an image of the front of the body 18 of the bulldozer 4. The surrounding image 80 may include an image of a dump truck 2 traveling in the soil removal area 7.

[0095] As shown in Figure 12, the display control unit 63 may display the excavated point image 72V, which includes the unexcavated point image 721V and the excavated point image 722V, on the first display device 25A so as to be superimposed on the surrounding image 80. The display control unit 63 may also display the excavated point image 722V (first symbol image) in a third display mode that shows the point 72A that requires maintenance, and the excavated point image 722V (second symbol image) in a second display mode that shows the point 72B that does not require maintenance, on the first display device 25A so as to be superimposed on the surrounding image 80.

[0096] The second symbol image may be displayed in a different display format than the first symbol image. The second symbol image may also be an image 722V of a soil-removed point that is displayed in a fourth display format different from the first, second, and third display formats. The display control unit 63 may also display the image 722V of a soil-removed point indicating a point that does not require maintenance 72B in a fourth color (for example, blue) on the display device 25 (first display device 25A or second display device 25B).

[0097] [Management method] Figure 13 is a flowchart showing the management method for the work site 1 according to the embodiment. As explained with reference to Figure 8, when performing soil removal work, the dump truck 2 enters the soil removal point 72 while reversing on the ground 706 of the soil removal area 7. A shape sensor 34 provided at the rear of the vehicle body 14 detects the shape of the soil removal point 72 before the dump truck 2 performs soil removal work. The detection data acquisition unit 53 acquires detection data showing the shape of the soil removal point 72 detected by the shape sensor 34 before the soil removal work (step SA1).

[0098] The dump truck 2, having entered the soil removal point 72, performs soil removal work at the soil removal point 72. As explained with reference to Figure 9, after completing the soil removal work, the dump truck 2 moves forward to leave the soil removal point 72. The shape sensor 34, located at the rear of the vehicle body 14, detects the shape of the soil removal point 72 after the dump truck 2 has completed the soil removal work. The detection data acquisition unit 53 acquires detection data indicating the shape of the soil removal point 72 detected by the shape sensor 34 after the soil removal work (step SA2).

[0099] The determination unit 54 compares the detection data of the shape of the soil removal point 72 acquired in step SA1 with the detection data of the shape of the soil removal point 72 acquired in step SA2 to determine whether or not maintenance of the soil removal point 72 is necessary (step SA3).

[0100] The determination unit 54 determines that maintenance of the soil removal point 72 is necessary if the shape of the soil removal point 72 after the soil removal work is, for example, the [first form] or [second form] described with reference to Figure 10. The determination unit 54 determines that maintenance of the soil removal point 72 is unnecessary if the shape of the soil removal point 72 after the soil removal work is, for example, the [third form] described with reference to Figure 10.

[0101] The output unit 55 transmits notification data indicating that the soil removal work at the soil removal point 72 has been completed, and determination data on whether or not maintenance of the soil removal point 72 is necessary, generated by the determination unit 54 in step SA3, to the remote controller 27 (step SA4).

[0102] The display control unit 63 displays the soil removal point image 722V on the display device 25 based on notification data and judgment data from the control server 11 (step SB1). Based on notification data from the control server 11, the display control unit 63 changes the un-soil removal point image 721V displayed on the display device 25 to the soil removal point image 722V. Based on judgment data from the control server 11, the display control unit 63 displays the soil removal point image 722V that has been determined to require maintenance on the display device 25 in a third display mode. Based on judgment data from the control server 11, the display control unit 63 displays the soil removal point image 722V that has been determined not to require maintenance on the display device 25 in a second or fourth display mode.

[0103] The operator in the remote control room 23 can recognize the location of the maintenance required point 72A by checking the third display mode image 722V (first symbol image) showing the location of the maintenance required point 72A displayed on the display device 25. The operator can then operate the remote control device 24 to perform maintenance on the maintenance required point 72A.

[0104] Figure 14 is a diagram illustrating a method for preparing an excavation point 72 by a bulldozer 4 according to an embodiment. Material 705 is deposited on the surface of the embankment 703 to correspond to a plurality of excavation points 722. There is a one-to-one correspondence between the material 705 deposited on the surface of the embankment 703 and the excavation points 722. The plurality of excavation points 722 are classified into points requiring preparation 72A and points not requiring preparation 72B. The operator can recognize the respective locations of the points requiring preparation 72A and points not requiring preparation 72B by checking the display device 25. The operator operates the remote control device 24 while checking the display device 25 in order to perform preparation on the points requiring preparation 72A. For example, the operator operates the remote control device 24 so that the material 705 deposited on the embankment 703 at the points requiring preparation 72A is removed from the embankment 703 by the excavation machine 20.

[0105] Figure 15 is a schematic diagram showing a bulldozer 4 performing leveling work at a maintenance point 72A according to the embodiment. If material 705 is accumulated on the embankment 703, the operator operates the remote control device 24 so that the material 705 is removed by the excavation blade 20A as the bulldozer 4 moves forward toward the embankment 703. The maintenance of the embankment 703 includes the work of dropping the material 705 accumulated on the surface of the embankment 703 down the cliff 701 with the excavation blade 20A. The operator operates the remote control device 24 so that the material 705 removed from the embankment 703 falls down the cliff 701. As shown in Figure 15, the operator operates the remote control device 24 so that the cutting edge 20E of the excavation blade 20A moves above the upper end of the embankment 703 in order to drop the material 705 accumulated on the surface of the embankment 703 down the cliff 701. If there are multiple maintenance points 72A, the operator operates the remote control device 24 so that each of the multiple maintenance points 72A is maintained.

[0106] [effect] As described above, in this embodiment, the processor 30A of the control server 11 includes a detection data acquisition unit 53 that acquires detection data from a shape sensor 34 that detects the shape of the area around the dump truck 2, a determination unit 54 that determines whether maintenance of the soil discharge point 72 is necessary based on the detection data of the shape of the soil discharge point 72 acquired during the soil discharge work of the dump truck 2 at the soil discharge point 72 of the work site 1, and an output unit 55 that outputs determination data on whether maintenance is necessary.

[0107] According to the embodiment, during the soil removal operation of the dump truck 2, the shape of the soil removal point 72 is detected by a shape sensor 34 installed on the dump truck 2. Based on the detection data of the shape sensor 34, it is determined appropriately whether or not maintenance of the soil removal point 72 is necessary. For example, if an operator determines whether or not maintenance of the soil removal point 72 is necessary by visual inspection, it may be difficult to make an appropriate determination. In particular, if an operator determines whether or not maintenance of the soil removal point 72 is necessary while visually viewing the surrounding image 80 displayed on the display device 25, it may be difficult to make an appropriate determination. According to the embodiment, it is determined appropriately whether or not maintenance of the soil removal point 72 is necessary based on the detection data of the shape sensor 34. This suppresses the determination that maintenance is necessary when it is not necessary, and the determination that maintenance is not necessary when it is necessary. Therefore, the decrease in productivity at the work site 1 is suppressed.

[0108] The output unit 55 outputs data indicating whether maintenance is required. The output unit 55 transmits the maintenance requirement data to the remote controller 27. This allows the operator to recognize the maintenance requirement data.

[0109] The determination unit 54 compares the detection data of the shape of the soil removal point 72 acquired before the soil removal work with the detection data of the shape of the soil removal point 72 acquired after the soil removal work to determine whether maintenance is necessary. The shape of the soil removal point 72 before the soil removal work is substantially equal to the target shape. By comparing the shape of the soil removal point 72 before the soil removal work, which is substantially equal to the target shape, with the shape of the soil removal point 72 after the soil removal work, the necessity of maintenance of the soil removal point 72 is appropriately determined.

[0110] The judgment data includes location data for the soil removal point 72 that was determined to require maintenance. This allows the operator to recognize the location of the maintenance required point 72A.

[0111] The detection data acquisition unit 53 acquires detection data from the position sensor 31, which is installed on the dump truck 2 and detects the position of the dump truck 2. The determination unit 54 calculates the position data of the soil removal point 72 that is determined to require maintenance based on the detection data from the position sensor 31 acquired during the soil removal work. As a result, the position of the maintenance point 72A is accurately identified based on the detection data from the position sensor 41.

[0112] The display device 25 displays, as a first symbol image, an image of a soil-removed point 722V in a third display mode that shows the location of the maintenance required point 72A. The display device 25 also displays, as a second symbol image, an image of a soil-removed point 722V in a second display mode that shows the location of the maintenance-free point 72B. This allows the operator to recognize the location of the maintenance required point 72A.

[0113] The second display device 25B displays a model image 2V showing the position of the dump truck 2, along with a third display mode image 722V showing the position of the maintenance required point 72A. This allows the operator to recognize the relative position between the dump truck 2 and the maintenance required point 72A.

[0114] The first display device 25A displays an image of the excavated soil point 722V in a third display mode, which shows the location of the maintenance point 72A, superimposed on the surrounding image 80 of the bulldozer 4. This allows the operator to recognize the location of the maintenance point 72A at the work site 1.

[0115] [Other embodiments] In the above-described embodiment, the determination unit 54 compares the detection data of the shape of the soil removal point 72 acquired before the soil removal work with the detection data of the shape of the soil removal point 72 acquired after the soil removal work to determine whether maintenance is necessary. Alternatively, the determination unit 54 may compare a predetermined target shape of the soil removal point 72 with the shape of the soil removal point 72 detected after the soil removal work to determine whether maintenance is necessary.

[0116] In the above-described embodiment, the output unit 55 of the control server 11 may transmit determination data regarding the necessity of maintenance of the soil removal point 72, as determined by the determination unit 54, to a bulldozer 4 (working machine) capable of maintaining the soil removal point 72. The determination data indicating that maintenance of the soil removal point 72 is necessary includes a maintenance instruction signal instructing maintenance of the soil removal point 72. If the determination unit 54 determines that maintenance of the soil removal point 72 is necessary, the output unit 55 may transmit a maintenance instruction signal instructing maintenance of the soil removal point 72 to the bulldozer 4 (working machine) capable of maintaining the soil removal point 72. The maintenance instruction signal includes location data of the soil removal point 72 that has been determined to require maintenance. For example, if the working machine is an unmanned working machine, maintenance of the soil removal point 72 can be performed based on the maintenance instruction signal.

[0117] In the above embodiment, the remotely controlled work machine is assumed to be a bulldozer 4. 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 prepares the soil removal point 72 may be an excavator 3, a motor grader 5, or a wheel loader.

[0118] As described above, if the bulldozer 4 is a manned work machine, the bulldozer 4 may be operated by an operator sitting in the driver's cab of the bulldozer 4. When the bulldozer 4 is operated by an operator sitting in the driver's cab, the display device 25, including the first display device 25A and the second display device 25B, may be located in the driver's cab.

[0119] In the above-described embodiment, at least a portion of the functional unit of the remote controller 27 may be provided on the control server 11. At least a portion of the functional unit of the control server 11 may be provided on the remote controller 27. At least a portion of the functional unit of the control server 11 may be provided on the on-board controller 22 of the bulldozer 4. At least a portion of the functional unit of the control server 11 may be provided on the on-board controller 17 of the dump truck 2. For example, at least the detection data acquisition unit 53, the determination unit 54, and the output unit 55 may be provided on the on-board controller 17 of the dump truck 2. In this case, the on-board controller 17 of the dump truck 2 acquires detection data indicating the shape of the soil removal point 72 detected by the shape sensor 34 before the soil removal work, and detection data indicating the shape of the soil removal point 72 detected by the shape sensor 34 after the soil removal work. The on-board controller 17 of the dump truck 2 also determines whether maintenance of the soil removal point 72 is necessary based on the detection data of the shape of the soil removal point 72. Furthermore, the onboard controller 17 of the dump truck 2 can transmit data determining whether or not maintenance is required at the soil discharge point 72 to the remote controller 27 or to the bulldozer 4 (work machine) capable of maintaining the soil discharge point 72.

[0120] In the above-described embodiment, each of the multiple functional units of the control server 11 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]

[0121] 1...Work site, 2...Dump truck (transport vehicle), 2V...Model image, 3...Excavator (working machine), 4...Bulldozer (working machine), 4V...Model image, 5...Motor grader (working machine), 6...Loading area, 7...Soil removal area, 8...Transport route, 9...Management system, 10...Remote control system, 11...Control server, 12...Communication system, 13...Control facility, 14...Vehicle body, 15...Running gear, 16...Dump body, 17...On-board controller, 18...Vehicle body, 19...Running gear, 20...Excavating work machine 20A…Drilling blade, 20B…Lift frame, 20C…Tilt cylinder, 20D…Lift cylinder, 20E…Cutting blade, 21…Ripper work machine, 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…Display device, 25A…First display device, 25B…Second display device, 27…Remote controller, 28…Driver's seat, 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…Direction sensor, 33…Speed ​​sensor, 34…Shape sensor, 41…Position sensor, 42…Imaging device, 51…Soil removal point setting unit, 52…Driving data generation unit, 53…Detection data acquisition unit, 54…Determination unit, 55…Output unit, 61…Operation signal transmission unit, 62…Image acquisition unit, 63…Display control unit, 70 ...Travel point, 70E...Exit point, 70S...Entry point, 71...Switchback point, 71V...Image of switchback point, 72...Earth removal point, 72A...Point requiring maintenance, 72B...Point not requiring maintenance, 72V...Image of earth removal point, 73...Travel path, 73V...Image of travel path, 80...Surrounding area image, 90...Work image, 701...Downhill cliff, 702...Edge, 703...Embankment, 705...Material, 706...Ground, 721...Point without earth removal, 721V...Image of point without earth removal, 722...Point with earth removal completed, 722V...Image of point with earth removal completed, H...Height, L...Depth distance.

Claims

1. Equipped with a processor, The aforementioned processor, The detection data is acquired from a shape sensor installed on the transport vehicle that detects the shape of the area around the transport vehicle. Based on the detection data of the shape of the soil removal point obtained during the soil removal operation of the transport vehicle, it is determined whether or not maintenance of the soil removal point is necessary. Output data to determine whether the aforementioned maintenance is necessary. A management system for work sites.

2. The aforementioned processor, The detection data of the shape of the soil removal point acquired before the soil removal work and the detection data of the shape of the soil removal point acquired after the soil removal work are compared to determine whether the maintenance is necessary. A work site management system according to claim 1.

3. The soil removal point is set on or near the embankment. The aforementioned processor, The detection data of the shape of the embankment is obtained, Determining whether or not the aforementioned soil removal point needs to be improved includes determining whether or not the aforementioned embankment needs to be improved. A work site management system according to claim 1.

4. The aforementioned processor, The determination data is displayed on a display device assigned to the work machine. A work site management system according to claim 1.

5. The aforementioned determination data includes location data of the soil removal point where maintenance is deemed necessary. A work site management system according to claim 4.

6. The aforementioned processor, The detection data from the position sensor installed on the transport vehicle for detecting the position of the transport vehicle is acquired. Based on the detection data from the position sensor acquired during the soil removal operation, the position data is calculated. A work site management system according to claim 5.

7. The display device displays a first symbol image indicating the location of the soil removal point where maintenance is deemed necessary. A work site management system according to claim 5.

8. The display device displays a second symbol image indicating the location of the soil removal point where maintenance is deemed unnecessary. A work site management system according to claim 5.

9. The display device displays the first symbol image together with a third symbol image indicating the position of the transport vehicle. A work site management system according to claim 7.

10. The display device displays the first symbol image so as to be superimposed on an image of the surrounding area of ​​the work machine captured by an imaging device provided on the work machine. A work site management system according to claim 7.

11. The aforementioned work machine is remotely controlled by a remote control device located in a remote control room outside the work machine. The display device is located in the remote control room. A work site management system according to claim 4.

12. The aforementioned transport vehicle is an unmanned dump truck that operates based on driving data, The aforementioned work machine is a bulldozer. A work site management system according to claim 4.

13. To acquire detection data from a shape sensor installed on the transport vehicle that detects the shape of the area around the transport vehicle, Based on the detection data of the shape of the soil removal point acquired during the soil removal work of the transport vehicle, it is determined whether or not maintenance of the soil removal point is necessary. This includes outputting data to determine whether the aforementioned maintenance is necessary, Methods for managing the work site.

14. The detection data of the shape of the soil removal point acquired before the soil removal work and the detection data of the shape of the soil removal point acquired after the soil removal work are compared to determine whether the maintenance is necessary. The method for managing a work site according to claim 13.

15. The soil removal point is set on or near the embankment. This includes obtaining detection data for the shape of the embankment, Determining whether or not the aforementioned soil removal point needs to be improved includes determining whether or not the aforementioned embankment needs to be improved. The method for managing a work site according to claim 13.

16. This includes displaying the determination data on a display device assigned to the work machine, The method for managing a work site according to claim 14.

17. The aforementioned determination data includes location data of the soil removal point where maintenance is deemed necessary. The method for managing a work site according to claim 16.

18. This includes acquiring detection data from a position sensor installed on the transport vehicle that detects the position of the transport vehicle, Based on the detection data from the position sensor acquired during the soil removal operation, the position data is calculated. The method for managing a work site according to claim 17.

19. The display device displays a first symbol image indicating the location of the soil removal point where maintenance is deemed necessary. The method for managing a work site according to claim 18.

20. The display device displays a second symbol image indicating the location of the soil removal point where maintenance is deemed unnecessary. The method for managing a work site according to claim 18.

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