Construction management system, construction management method, and program

Abstract

To enable the appropriate configuration of a work object area where the leveling work is carried out in a construction site.SOLUTION: A construction management system comprises: a level-map-generating part which generates a level map that shows a distribution of levels measured on a map of a construction object field where leveling of placed soil is carried out by a bulldozer; and a work-object-area-setting part which configures a work object area on which the bulldozer carries out the leveling work based on an arrangement status and a leveling progress of the placed soil in the construction object field which are determined on the generated level map.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a construction management system, a construction management method, and a program. [Background technology]

[0002] BACKGROUND ART There is known a technique for acquiring image data of a construction site using a stereo camera mounted on a construction machine, and generating three-dimensional data of the topography of the construction site using the acquired image data (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-44480 A Summary of the Invention [Problem to be solved by the invention]

[0004] When carrying out earthworks at construction sites, in which soil transport vehicles transport and place the soil, which is then spread and leveled by a bulldozer, it is necessary to appropriately set the work area where the leveling work will be carried out according to the environment of the construction site so that the earthworks can be carried out efficiently.

[0005] The present invention has been made in consideration of the above circumstances, and aims to enable the appropriate setting of a work area where leveling work is to be carried out at a construction site. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is a construction management system that includes a height map generation unit that generates a height map showing the distribution of heights measured on a map of a construction area where a bulldozer will be used to level the placed soil, and a work area setting unit that sets the work area that the bulldozer will be used to level based on the placement state of the placed soil in the construction area identified based on the generated height map and the progress of the leveling.

[0007] One aspect of the present invention is a construction management method in a construction management system, which includes a height map generation step of generating a height map showing the distribution of heights measured on a map of a construction target area where the placed soil will be leveled by a bulldozer, and a work target area setting step of setting a work target area to be leveled by the bulldozer based on the placement state of the placed soil in the construction target area identified based on the generated height map and the progress of the leveling.

[0008] One aspect of the present invention is a program that causes a computer provided in a construction management system to function as a height map generation unit that generates a height map showing the distribution of heights measured on a map of a construction target area where a bulldozer will be used to level the placed soil, and a work target area setting unit that sets the work target area that the bulldozer will be used to level based on the placement of the placed soil in the construction target area identified based on the generated height map and the progress of the leveling. [Effects of the Invention]

[0009] As described above, according to the present invention, it is possible to obtain the effect of being able to appropriately set a work area in which leveling work is to be carried out at a construction site. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating a configuration example of a construction management system according to an embodiment of the present invention. [Figure 2] 10A to 10C are diagrams illustrating an example of a method for setting a work area based on an environment map in this embodiment. [Figure 3] 10A to 10C are diagrams illustrating an example of a method for setting a work area based on an environment map in this embodiment. [Figure 4] 10A to 10C are diagrams illustrating an example of a method for setting a work area based on an environment map in this embodiment. [Figure 5] 10A to 10C are diagrams illustrating an example of a method for setting a work area based on an environment map in this embodiment. [Figure 6] 10A to 10C are diagrams illustrating an example of a method for setting a work area based on an environment map in this embodiment. [Figure 7] 10A and 10B are diagrams illustrating an example of a method for setting a work target area in this embodiment. [Figure 8] FIG. 2 is a diagram illustrating an example of a functional configuration of a bulldozer according to the present embodiment. [Figure 9] 10 is a flowchart showing an example of a processing procedure executed by a bulldozer in the present embodiment in relation to setting a work area. [Figure 10] 10 is a flowchart showing an example of a processing procedure executed by a bulldozer in this embodiment under autonomous driving in relation to leveling a work area. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 shows an example of the configuration of a construction management system according to this embodiment. As shown in the figure, the construction management system according to this embodiment includes a bulldozer 100 and an earth and sand transport vehicle 200.

[0012] The bulldozer 100 is a heavy machine that operates to perform spreading and leveling (hereinafter, "leveling" will be described as a process that includes spreading) in construction work as an embankment at a construction site FL (an example of a construction target area). The bulldozer 100 is capable of moving around the construction site FL and leveling by autonomous driving. Embankment work is a process of building up soil to raise the construction site FL to a predetermined height. In embankment work, the earth transport vehicle 200 transports soil to the construction site FL and places the loaded load of soil in the appropriate position at the construction site FL. The bulldozer 100 levels and spreads the placed load of soil so that the ground level at the construction site FL is flat and at the target height. This process of the bulldozer 100 leveling the soil is called leveling. By repeating this process, the entire area corresponding to the construction site FL is raised to the target height. Note that embankment work may also include a process of compacting the area that has been leveled by the bulldozer 100 with a roller (roller).

[0013] There is no particular limitation on the technology for realizing autonomous operation of the bulldozer 100, but for example, LiDAR (Light Detection and Ranging) may be adopted as a technology for grasping the surrounding shape for autonomous operation. LiDAR is a technology that generates surrounding environment data indicating the shape of the surrounding environment by measuring the distance based on the time from when a pulsed laser beam is irradiated onto the surroundings until the reflected light is received, and estimates the self-position.

[0014] The earth and sand transport vehicle 200 enters the construction site FL loaded with earth and sand to be used for the embankment work, and unloads the earth and sand at a designated position (designated soil deposit position) at the construction site FL, and places it as soil and sand EB. The earth transport vehicle 200 may be operated by a person or may be operated autonomously. In the following description, an example will be given in which the earth transport vehicle 200 is operated autonomously.

[0015] The bulldozer 100 and the earth transport vehicle 200 are connected to each other so that they can communicate with each other via a network, for example. In this case, a construction management server or the like may be provided to relay information between the bulldozer 100 and the earth transport vehicle 200.

[0016] The bulldozer 100 of this embodiment can use sensors to perform environmental sensing of the construction site FL and generate an environmental map (an example of a height map) that shows the environment of the construction site FL. The environmental map shows the distribution of ground heights at the construction site FL detected by the bulldozer 100 through environmental sensing. Note that, for example, design drawing data showing the design details of the construction site FL may also be used to generate the environmental map.

[0017] Furthermore, based on the height distribution shown on the environmental map, for example, the bulldozer 100 can identify the completed areas where the embankment work has been completed at the construction site FL, the incomplete areas where the embankment work has not been completed, and the soil-placing areas where soil has been placed. The distribution of such completed areas, incomplete areas, and soil-placing areas indicates the progress of the leveling work. The completed area is an area whose height is within the tolerance range determined in accordance with the target height to be achieved by leveling. The incomplete area is an area whose height is lower than the tolerance range. The soil-retaining area is an area whose height is higher than the tolerance range. In addition, while performing leveling work, the bulldozer 100 measures the height of the ground in the area being worked on and determines whether the measured height is within the allowable error range, thereby making it possible to determine whether leveling of the area being worked on has been completed.

[0018] For the bulldozer 100 to efficiently perform leveling work, it is necessary to set the areas to be leveled (work areas) in the unfinished areas appropriately in sequence according to the progress of the leveling work.

[0019] An example of a method for setting an operation target area in this embodiment will be described with reference to FIGS. Figure 2 shows the height distribution of a part of the construction site FL shown in the environmental map from a planar direction. The environmental map in this figure was generated based on the construction site FL in a state where soil EB was placed at a certain construction stage. The environmental map is divided into grids GD of a predetermined size to define the work area. Each area defined at the construction site FL is formed as a set of continuous grids GD. In addition, the diagram shows an example in which the top, bottom, left, and right sides of the diagram correspond to north, south, west, and east, respectively.

[0020] The environmental map in the figure is divided into a completed area AR11, an incomplete area AR12, and a soil placement area AR13. Since the leveling work involves raising the incomplete area AR12 so as to enlarge the area of ​​the completed area AR11 without scattering the completed area AR11, the incomplete area AR12 to be worked on is adjacent to the completed area AR11. Therefore, the soil placement area EB is placed near the boundary between the completed area AR11 and the incomplete area AR12. Accordingly, the soil placement area AR13 is distributed near the boundary between the completed area AR11 and the incomplete area AR12. The figure shows an example of two soil placement areas AR13 spaced a certain distance apart in the east-west direction.

[0021] In the area distribution shown in Figure 2, there is an incomplete area AR12 of a certain size or more between two soil placement areas AR13. In such a case, as a result of leveling the two soil placement areas AR13, it is necessary to ensure that the height of the incomplete area AR12 between the soil placement areas AR13 is within the allowable error range and is converted into a completed area AR11. For example, suppose two soil-laying areas AR13 are spread mainly in the north direction. In this case, as shown in Figure 3, the newly obtained completed area AR11 obtained by spreading each of the two soil-laying areas AR13 (Figure 2) extends in the north direction, and an incomplete area AR12 remains in a groove shape between the converted completed areas AR11, as shown as a remaining area AR12a. The two converted completed areas AR11 are separated and not combined into one area, which makes the work inefficient.

[0022] Therefore, in the case of the area distribution of FIG. 3, the bulldozer 100 sets two work areas AR20, AR20 corresponding to the two soil placing areas AR13, respectively, as shown in FIG. 5, for example. One work area AR20 includes at least one soil placing area AR13. Also, one work area AR20 may include a completed area AR11 adjacent to the corresponding soil placing area AR13. The completed area AR11 adjacent to the soil placing area AR13 is an area where the bulldozer 100 enters the work area AR20 to perform leveling work. Also, one work area AR20 may include an incomplete area AR12 that the bulldozer 100 estimates will be converted into a completed area by leveling the soil in the corresponding soil placing area AR13.

[0023] The two work areas AR20, AR20 set in Figure 4 are adjacent to each other but are set so as not to overlap. This positional relationship of the work areas AR20, AR20 is designed to minimize overlap of the soil being leveled in the work areas AR20. That is, in this embodiment, the degree of overlap between adjacent work areas AR20, AR20 is set to be less than a certain level. Note that the condition for the degree of overlap being less than a certain level may be that the allowable area, while allowing overlap between the adjacent work areas AR20, AR20, is less than a certain level, or that the adjacent work areas AR20, AR20 are separated by a certain distance or more.

[0024] When estimating the incomplete area AR12 to be converted into the completed area AR11 as described above, the bulldozer 100 calculates the amount of soil to be placed based on the area and height of the soil placement area AR13 on the environmental map. Furthermore, the bulldozer 100 may determine the grid GD of the incomplete area AR12 to be raised by leveling so that, when spreading and leveling the calculated amount of soil, no incomplete area AR12 remains between adjacent soil placement areas AR13 and so that the degree of overlap between the area leveled with the soil placement EB of the soil placement area AR13 to be worked on and the area leveled with the soil placement EB of the adjacent soil placement area AR13 is less than a certain level. The bulldozer 100 may determine the set of grid GDs of the incomplete area AR12 thus determined as the incomplete area AR12 estimated to be converted into the completed area AR11. The identification of the incomplete area AR12 that is estimated to be converted into such a completed area AR11 can be considered to be based on the placement state of the soil, such as the location where the soil is placed and the amount of soil placed.

[0025] Two work areas AR20 are set in this way, and the bulldozer 100 performs leveling work in each work area AR20 in sequence under autonomous driving. In this case, the bulldozer 100 performs leveling work in each work area AR20 by spreading the soil EB placed in the corresponding soil spreading area AR13 over the unfinished area AR12. Specifically, the bulldozer 100 spreads the soil EB in the western soil spreading area AR13 in a fan shape mainly in the northeast direction to perform leveling. Meanwhile, the bulldozer 100 spreads the soil EB in the eastern soil spreading area AR13 in a fan shape mainly in the northwest direction to perform leveling. Such leveling may be performed by the bulldozer 100 through reinforcement learning. In this case, the bulldozer 100 is made to learn efficient control in the process of performing leveling many times. In this case, the bulldozer 100 may learn that a good experience (reward) is achieved when, for example, the bulldozer 100 is able to complete leveling efficiently by reducing the time or travel distance, or when the bulldozer 100 is able to perform leveling within the set work area AR20. As a result, although not shown in the figure, by leveling the two spaced apart soil deposit areas AR13, AR13, the uncompleted area AR12 between the two soil deposit areas AR13, AR13 is filled in, and the completed area AR11 (an example of the first planned completion area and the second planned completion area) formed between the two work areas AR20, AR20 is obtained as a single continuous completed area AR11.

[0026] 5 shows another example of the height distribution shown by the environmental map. In this figure, there are two soil depositing areas AR13 corresponding to two soil depositing areas EB arranged close to each other (adjacent to each other in this example). In this way, when the distance between the two soil placing areas AR13 is within a certain range, the bulldozer 100 sets one work area AR20 that includes the two soil placing areas AR13, as shown in Fig. 6. In this case, the work area AR20 may include the soil placing area AR13, a completed area AR11 adjacent to the corresponding soil placing area AR13, and an incomplete area AR12 that is estimated to be converted into a completed area by leveling.

[0027] In this case, the bulldozer 100, under autonomous operation, spreads and levels the soil EB in each soil placing area AR13 so that the soil EB in each of the two soil placing areas AR13 is not laid in the other soil placing area AR13 as much as possible. Specifically, the bulldozer 100 may be configured to spread and level the soil EB in the eastern soil placing area AR13 from north to east. Also, the bulldozer 100 may be configured to spread and level the soil in the western soil placing area AR13 from north to west. As a result, although not shown in the drawings, the two soil placement areas AR13 and the incomplete area AR12 included in the work target area AR20 in Fig. 6 are converted into one completed area AR11. In this case, the completed area AR11 is the two areas (an example of the first planned completion area and the second planned completion area) that have been leveled for each of the two soil placement areas AR13.

[0028] As an example, the bulldozer 100 may set the work area AR20 using graph theory based on the arrangement of the soil at the construction site FL. This will be described with reference to FIG. The bulldozer 100 sets each of the piles of soil placed at the construction site FL as a node ND. The bulldozer 100 forms an edge ED between one node ND and another node ND located within a predetermined distance from the node ND. In this case, the predetermined distance corresponding to one node ND may be changed depending on, for example, the amount of the corresponding piled soil. After setting the nodes ND and edges ED as described above, the bulldozer 100 performs clustering (grouping of nodes ND) to set each set including a group of nodes ND connected by edges ED as a cluster CL. Note that for one node ND that is not connected to any other nodes ND, one cluster CL may be set by that one node ND. The bulldozer 100 may form an area corresponding to each cluster CL obtained as a result of such clustering, including, for example, the corresponding soil placement area AR13, completed area AR11, and incomplete area AR12, and may set, among the formed areas, an area that exists at a position corresponding to, for example, the boundary between the completed area AR11 and the incomplete area AR12 as the work area AR20.

[0029] In this embodiment, of the set work target areas AR20, the work target area AR20 where the bulldozer 100 is working may be fixed without being changed until the work is completed, for example. On the other hand, of the set work target areas AR20, the work target areas AR20 that are not being worked on may be reset as needed in accordance with the progress of work in the work target area AR20 that is being worked on, or changes in the environment of the work target area AR20, such as the placement of new soil EB by the earth and sand transport vehicle 200.

[0030] An example of the functional configuration of the bulldozer 100 will be described with reference to Fig. 8. The bulldozer 100 includes a communication unit 101, a sensor unit 102, a positioning unit 103, a vehicle mechanism unit 104, a blade mechanism unit 105, a control unit 106, and a memory unit 107.

[0031] The communication unit 101 communicates with the earth transport vehicle 200 via wireless communication. The sensor unit 102 is a part that collectively refers to various sensors equipped in the bulldozer 100. For example, when performing autonomous driving using LiDAR, the sensor unit 102 of this embodiment includes a sensor that emits laser light and receives reflected laser light to generate surrounding environment data and estimate the bulldozer's position. The sensor unit 102 of this embodiment also includes a sensor that measures the height of the construction site FL. Note that surrounding environment data generated by LiDAR may be used to measure the height of the construction site FL. The positioning unit 103 is provided with a device compatible with, for example, a GPS (Global Positioning System) or the like, and measures its own position. The result of measuring the own position by the positioning unit 103 is used by, for example, the autonomous driving control unit 161 to control the autonomous driving.

[0032] The vehicle mechanism unit 104 is a mechanism unit that corresponds to the vehicle in the bulldozer 100. The vehicle mechanism unit 104 is driven under the control of the autonomous driving control unit 161, so that the bulldozer 100 can move under autonomous driving. The blade mechanism 105 is a mechanism that can move the blade. The blade mechanism 105 is driven under the control of the autonomous operation control unit 161, so that the bulldozer 100 can appropriately move the blade under autonomous operation.

[0033] The control unit 106 controls the bulldozer 100. The function of the control unit 106 is realized by a CPU (Central Processing Unit) provided in the bulldozer 100 executing a program. The control unit 106 includes an autonomous driving control unit 161, an environment map generation unit 162 (an example of a height map generation unit), a work area setting unit 163, and a transmission unit 164.

[0034] The autonomous driving control unit 161 executes control related to the autonomous driving of the bulldozer 100. The autonomous driving control unit 161 estimates its own position at the construction site FL based on, for example, the output of sensors such as a camera and a laser scanner in the sensor unit 102, the positioning results of the positioning unit 103, etc. The autonomous driving control unit 161 also controls the vehicle mechanism unit 104 so that the bulldozer 100 moves based on the estimation results of its own position. The autonomous driving control unit 161 also controls the vehicle mechanism unit 104 and the blade mechanism unit 105 so that the bulldozer 100 properly performs leveling within the target area range.

[0035] The environment map generating unit 162 generates an environment map. The environment map generating unit 162 uses information on the height of the ground at the construction site FL detected by environmental sensing using the sensor unit 102 to indicate the height distribution on the environment map. The environment map generating unit 162 may also use the design drawing data stored in the design drawing data storage unit 171 to generate the environment map.

[0036] The work area setting unit 163 sets the work area AR20 as described with reference to FIGS.

[0037] The transmitter 164 transmits information indicating the work area AR20 set by the work area setting unit 163 (work area information) to the earth transport vehicle 200.

[0038] The storage unit 107 stores various types of information corresponding to the bulldozer 100. The storage unit 107 includes a design drawing data storage unit 171, an environment map storage unit 172, and a work target area information storage unit 173. The design drawing data storage unit 171 stores design drawing data of the construction site FL. The environment map storage unit 172 stores the environment map generated by the environment map generation unit 162 . Work area information storage unit 173 stores information (work area information) indicating the work area set by work area setting unit 163. Note that the work area set by work area setting unit 163 may be reflected in the environment map, in which case work area setting unit 163 may be omitted.

[0039] An example of a processing procedure executed by the bulldozer 100 of this embodiment in relation to setting the work area AR20 will be described with reference to the flowchart of FIG. Step S100: The work area setting unit 163 of the bulldozer 100 waits for a setting trigger to be generated, which corresponds to an instruction to set the work area AR20. The setting trigger may be generated, for example, at predetermined time intervals. The setting trigger may also be generated when the leveling work by the bulldozer 100 reaches a predetermined target stage, such as when leveling of a certain area is completed. The setting trigger may also be generated when new soil EB is placed. Whether or not a new soil EB has been placed may be determined based on whether or not a change in the topography (height) corresponding to the placement of a new soil EB has occurred, for example, based on environmental sensing constantly performed by the bulldozer 100. Alternatively, whether or not a new soil EB has been placed may be determined based on whether or not a notification of the completion of placement of the soil EB transmitted from the earth and sand transport vehicle 200 has been received.

[0040] Step S102: When it is determined that the setting trigger has occurred in step S100, the environment map generation unit 162 generates an environment map that reflects the current environment of the construction site FL. At this time, the environment map generation unit 162 identifies the distribution of the completed area AR11, the incomplete area AR12, and the soil-retaining area AR13 based on the ground height of the construction site FL measured by environmental sensing, and reflects this in the environment map. The environment map generation unit 162 updates the environment map stored in the environment map storage unit 172 with the generated environment map.

[0041] Step S104: The work area setting unit 163 sets the work area AR20 based on the environment map updated in step S102, as described with reference to Figures 2 to 7. At this time, the work area setting unit 163 may set work areas AR20 in other areas of the construction site FL, while leaving the work area AR20 currently being worked on unchanged, as described above. The processing of step S104 may be performed using a trained model that has been trained to set one or more work target areas according to the distribution of the completed area AR11, the incomplete area AR12, and the soil placement area AR13 shown on the environmental map, the amount of soil placed in each soil placement area AR13, etc.

[0042] Step S106: The work target area setting unit 163 updates the work target area information stored in the work target area information storage unit 173 so that the work target area set in step S104 is indicated.

[0043] Step S108: The transmitter 164 transmits to the earth transport vehicle 200 work target area information indicating the work target area set in step S104 (the work target area information after being updated in step S106).

[0044] The soil transport vehicle 200 may determine the next appropriate location for placing soil EB at the construction site FL based on the location of the work area indicated by the work area information received, and may operate autonomously to place soil at the determined location.

[0045] The timing at which the transmitter 164 transmits the work area information is not limited to the timing at which the work area is set, as shown in the figure. For example, the transmitter 164 may transmit the work area information stored in the work area information storage unit 173 in response to a request from the earthmoving vehicle 200.

[0046] An example of a processing procedure executed by the bulldozer 100 of this embodiment in relation to leveling of the work area AR20 under autonomous driving will be described with reference to the flowchart of FIG. Step S200: In the bulldozer 100, the autonomous driving control unit 161 refers to the work target area information stored in the work target area information storage unit 173 when starting to perform work on one work target area.

[0047] Step S202: The autonomous driving control unit 161 selects a work target area to be used for leveling from among one or more work target areas (candidate work target areas) indicated by the work target area information referenced in step S200. At this time, the autonomous driving control unit 161 may select the work target area based on the positional relationship between the current position of the bulldozer 100 and each candidate work target area, and on objects and terrain that exist between the current position of the bulldozer 100 and each work target area. The processing of step S202 may also be performed using a trained model that has been trained to output a selection result of one work target area that is deemed appropriate as a target for leveling depending on the setting status of the candidate work target areas.

[0048] Step S204: The autonomous driving control unit 161 performs leveling work on the work target area selected in step S202.

[0049] Step S206: When the leveling work in step S204 is completed, the autonomous driving control unit 161 determines whether or not a predetermined target progress stage has been reached with the completion of the leveling work for the current work target area. If it is determined in step S206 that the target progress stage has not been reached, the process returns to step S200, where the next work area is selected and leveled. If it is determined in step S206 that the target progress stage has been reached, the process in the figure ends.

[0050] As explained above, the bulldozer 100 of this embodiment can set the work area AR20 so that there is no incomplete area AR12 between the completed area AR11 formed by leveling two adjacent soil placing areas AR13, and so that the soil to be leveled in two adjacent soil placing areas AR13 does not overlap as much as possible. In other words, in this embodiment, the work area AR20 can be set appropriately so as not to impair the efficiency of the leveling work at the construction site FL. Furthermore, in the case of this embodiment, the bulldozer 100 only needs to perform leveling work within a limited area set as the work target area AR20 at the construction site FL, and therefore the algorithm for the bulldozer 100 to perform leveling work through autonomous driving can be simplified. Furthermore, the setting of the work target area AR20 in this embodiment is performed independently of the leveling algorithm of the autonomously driven bulldozer 100. Therefore, even if there is a change in the leveling algorithm of the bulldozer 100, for example, there is no need to change the algorithm for setting the work target area in this embodiment. Furthermore, the setting of the work target area in this embodiment makes it easy to operate multiple autonomously driven bulldozers 100 at the same construction site FL.

[0051] The construction management system of this embodiment may include a construction management server, and the construction management server may execute predetermined processing in the processing procedures shown in, for example, FIGS. For example, the construction management server may generate an environmental map using detection data of the environmental sensing transmitted from the bulldozer 100 and store the generated environmental map. The construction server may also set a work area using the environmental map and store work area information. Furthermore, the construction management server may transmit the work area information to the earth-transporting vehicle 200. Also, the construction management server may select work area information for which the bulldozer 100 is to perform leveling work, specify the selected work area, and instruct the bulldozer 100 to perform the work. When the bulldozer 100 completes leveling work for the work area, it sends a completion notification to the construction management server, and the construction management server may select the next work area information for which leveling work is to be performed in response to receiving the completion notification and have the bulldozer 100 perform the leveling work until the target progress stage is reached.

[0052] In the above embodiment, the construction site FL where earth and sand are spread and leveled is taken as an example. However, the construction management system of this embodiment can also be applied to a construction site where concrete is spread and leveled by a bulldozer, such as a dam.

[0053] In the above embodiment, an example has been given in which the bulldozer 100 and the earth transport vehicle 200 are each configured to operate autonomously. However, at least one of the bulldozer 100 and the earth transport vehicle 200 may be operated (piloted) by a person.

[0054] Note that a program for realizing the functions of the bulldozer 100, earthmoving vehicle 200, and construction management server described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be loaded into a computer system and executed to perform the processing of the bulldozer 100, earthmoving vehicle 200, and construction management server described above. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" may also include multiple computer devices connected via a network, including communication lines. The term "recording medium" also includes internal or external recording media accessible from a distribution server for distributing the program. [Explanation of symbols]

[0055] 100 Bulldozer, 101 Communication unit, 102 Sensor unit, 103 Positioning unit, 104 Vehicle mechanism unit, 105 Blade mechanism unit, 106 Control unit, 107 Memory unit, 161 Autonomous driving control unit, 162 Environmental map generation unit, 163 Work target area setting unit, 164 Transmission unit, 171 Design drawing data memory unit, 172 Environmental map memory unit, 173 Work target area information memory unit, 200 Earth and sand transport vehicle

Claims

1. a height map generating unit that generates a height map showing the distribution of heights measured on a map of a construction area where the placed soil is to be leveled by a bulldozer; a work target area setting unit that sets a work target area to be leveled by the bulldozer based on the arrangement state of the soil in the construction target area identified based on the generated height map and the progress of leveling; A construction management system equipped with the following:

2. The work target area setting unit specifies the distance between the placed soil as the arrangement state of the placed soil, groups the placed soil placed in the work target area based on the specified distance between the placed soil, and selects a work target area from among areas formed so as to include the placed soil included in the same group. The construction management system according to claim 1 .

3. The work target area setting unit forms one work target area so as to include a completed area of ​​a certain range adjacent to the placed soil where leveling has been completed, and a planned completion area that is estimated to be converted into a completed area by leveling the one work target area. The construction management system according to claim 1 or 2.

4. The work target area setting unit sets the work target area so that, when the bulldozer is caused to perform leveling, there is no incomplete area where leveling is not completed between a first planned completion area that is estimated to be formed when the target soil is leveled and a second planned completion area that is estimated to be formed when the target soil is leveled and placed in a position adjacent to the target soil, and the degree of overlap between the first planned completion area and the second planned completion area is less than a predetermined value. The construction management system according to claim 1 or 2.

5. The work target area setting unit updates the work target area by targeting an area other than the work target area being leveled in the construction target area. The construction management system according to claim 1 or 2.

6. The system further includes a transmitter that transmits information about the work area set by the work area setting unit so that the information can be acquired by an earth and sand transport vehicle that places soil in the work area. The construction management system according to claim 1 or 2.

7. A construction management method in a construction management system, a height map generation step of generating a height map showing the distribution of heights measured on a map of a construction area where the placed soil is to be leveled by a bulldozer; a work target area setting step of setting a work target area to be leveled by the bulldozer based on the arrangement state of the soil in the construction target area identified based on the generated height map and the progress of leveling; Construction management methods including.

8. A computer provided in the construction management system, a height map generating unit that generates a height map showing the distribution of heights measured on a map of a construction area where the placed soil is to be leveled by a bulldozer; a work target area setting unit that sets a work target area to be leveled by the bulldozer based on the arrangement state of the soil in the construction target area identified based on the generated height map and the progress of leveling; A program to function as a

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