Method and system for controlling a bulldozer and transport vehicle

Abstract

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

Description

Technical Field

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

Background Art

[0002] Conventionally, a system for autonomously driving a transport vehicle without driver operation is known. For example, in the system disclosed in Patent Document 1, a control server performs wireless communication with an autonomously driving transport vehicle (hereinafter referred to as an "autonomous driving vehicle") to acquire the position of the autonomous driving vehicle. The control server stores a map database storing a driving route of a work site. Further, the control server performs wireless communication with a vehicle driven by a driver (hereinafter referred to as a "manned vehicle") to acquire the driving position and working state of the manned vehicle. The control server controls the autonomous driving vehicle so as to avoid interference with the manned vehicle based on the driving position of the manned vehicle and the map database.

Prior Art Documents

Patent Documents

[0003] ​​​​​​​​​​​​​​​​​​​​​A method according to one aspect of this disclosure is a method for controlling a bulldozer. The method according to this aspect comprises the following processes: The first process is to recognize a first working area within the work site where no bulldozer is present. The second process is to determine a first soil removal location within the first working area. The third process is to determine whether the transport vehicle has completed transporting soil to the first soil removal location. The fourth process is to determine whether the transport vehicle has left the first working area. The fifth process is to permit the bulldozer to enter the first working area after the transport vehicle has left the first working area. The order in which the processes are executed is not limited to the order described above and may be changed.

[0006] A system according to another aspect of this disclosure is a system for controlling a bulldozer. The system according to this aspect includes a controller that transmits command signals to the bulldozer. The controller recognizes a first working area within the work site where no bulldozer is present. The controller determines a first soil removal position within the first working area. The controller determines whether the transport vehicle has completed transporting soil to the first soil removal position. The controller determines whether the transport vehicle has left the first working area. After the transport vehicle has left the first working area, the controller permits the bulldozer to enter the first working area. [Effects of the Invention]

[0007] According to this disclosure, interference between transport vehicles and autonomous bulldozers can be avoided. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing a control system between a bulldozer and a transport vehicle according to an embodiment of this system. [Figure 2] This is a bulldozer's perspective view. [Figure 3] This is a block diagram showing the configuration of a bulldozer. [Figure 4] This is a side view of the transport vehicle. [Figure 5]This is a block diagram showing the configuration of transport vehicles. [Figure 6] This is a top view of the worksite. [Figure 7] This is a flowchart showing the automated control process between a bulldozer and a transport vehicle. [Figure 8] This is a top view of the work area. [Figure 9] This is a top view of the work area. [Figure 10] This is a flowchart showing the automated control process between a bulldozer and a transport vehicle. [Figure 11] This is a top view of the work area. [Figure 12] This is a flowchart showing the automated control process between a bulldozer and a transport vehicle. [Figure 13] This is a top view of the work area. [Modes for carrying out the invention]

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

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

[0011] The working machine 13 is attached to the vehicle body 11. The working machine 13 includes a lift frame 15, a blade 16, and a lift cylinder 17. The lift frame 15 is attached to the traveling device 12 so as to be operable vertically. The lift frame 15 may be attached to the vehicle body 11. The lift frame 15 supports the blade 16. The blade 16 moves up and down as the lift frame 15 operates. The lift cylinder 17 is connected to the vehicle body 11 and the lift frame 15. As the lift cylinder 17 expands and contracts, the lift frame 15 operates vertically.

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

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

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

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

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

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

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

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

[0020] Figure 4 is a side view of the transport vehicle 2. Figure 5 is a block diagram showing the configuration of the transport vehicle 2. As shown in Figure 4, the transport vehicle 2 includes a body 30, a running gear 31, and a cargo bed 32. The body 30 is supported by the running gear 31. The running gear 31 includes tracks 33. The transport vehicle 2 moves when the tracks 33 are driven. Note that the running gear 31 may include tires instead of tracks 33.

[0021] The cargo bed 32 is supported by the vehicle body 30. The cargo bed 32 is designed to be operable between a dumping position and a transporting position. In Figure 3, the solid line shows the position of the cargo bed 32 in the transporting position. The dashed line shows the position of the cargo bed 32' in the dumping position. In the transporting position, the cargo bed 32 is positioned approximately horizontally. In the dumping position, the cargo bed 32 is tilted relative to the transporting position.

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

[0023] The power transmission device 36 transmits the driving force from the drive source 34 to the running gear 31. The power transmission device 36 is, for example, an HST (Hydro Static Transmission). The lift cylinder 37 is a hydraulic cylinder. The hydraulic fluid discharged from the hydraulic pump 35 is supplied to the lift cylinder 37. The lift cylinder 37 is driven by the hydraulic fluid from the hydraulic pump 35. The lift cylinder 37 raises and lowers the cargo bed 32. This switches the posture of the cargo bed 32 between a transport posture and a dumping posture.

[0024] The transport vehicle 2 is equipped with a vehicle controller 40 and a vehicle communication device 41. The vehicle controller 40 drives the transport vehicle 2 by controlling the running gear 31 or the power transmission device 36. The vehicle controller 40 switches the cargo bed 32 between a transport position and a dump position by controlling the control valve 38.

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

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

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

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

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

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

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

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

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

[0034] Next, the automatic operation of the bulldozer 1 and transport vehicle 2 performed by the system 100 will be described. Figure 6 is a top view of the work site. The remote controller 43 stores current terrain data showing the current terrain 50 of the work site. An excavator 4 is positioned at the work site. The excavator 4 excavates the current terrain 50. The excavator 4 may be automatically controlled by the remote controller 43. Alternatively, the excavator 4 may be operated manually.

[0035] The current terrain 50 includes a work area 51 and a soil removal area 52. The remote controller 43 stores the location of the work area 51 assigned to the bulldozer 1. For example, by operating the input device 44 by the operator, a predetermined area within the worksite is assigned to the bulldozer 1 as the work area 51. The remote controller 43 stores the location of the soil removal area 52 and the boundary position 53 between the work area 51 and the soil removal area 52. The remote controller 43 obtains the location of the soil removal area 52 and the boundary position 53 from the current terrain data, for example.

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

[0037] The soil removal location 61 is located within the work area 51. The soil removal location 61 is located near the boundary location 53 between the work area 51 and the soil removal area 52. The soil removal location 61 will be described later. The remote controller 43 determines the travel route 56 connecting the loading location 60 and the soil removal location 61. The remote controller 43 determines the travel route 56 such that the travel distance of the transport vehicle 2 is minimized. The remote controller 43 transmits data indicating the travel route 56 to the transport vehicle 2.

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

[0039] The following describes the automatic control process for coordinating the operation of the bulldozer 1 and the transport vehicle 2. Figure 7 is a flowchart of the automatic control process performed by the remote controller 43.

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

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

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

[0043] In step S105, the remote controller 43 determines the first travel path 56A. The first travel path 56A is the path connecting the loading position and the first soil removal positions 61A-63A. The remote controller 43 determines the first travel path 56A for the transport vehicle 2 to the first soil removal positions 61A-63A based on the current position of the bulldozer 1 and the first soil removal positions 61A-63A, in order to avoid interference between the transport vehicle 2 and the bulldozer 1. For example, the remote controller 43 determines the first travel path 56A in such a way that the travel distance of the transport vehicle 2 is minimized while avoiding interference with the bulldozer 1.

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

[0045] In step S107, the remote controller 43 determines whether the transport vehicle 2 has completed transporting the soil to the first soil removal positions 61A-63A. For example, the transport vehicle 2 may send a report signal to the remote controller 43 indicating completion of transport when it has delivered soil to all of the first soil removal positions 61A-63A. The remote controller 43 may determine the completion of transporting the soil to the first soil removal positions 61A-63A based on the report signal from the transport vehicle 2.

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

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

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

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

[0050] In step S112, the remote controller 43 determines whether the bulldozer 1 has completed moving from the second operating area 51B to the first operating area 51A. For example, the remote controller 43 determines whether the bulldozer 1 has completed moving from the second operating area 51B to the first operating area 51A based on the bulldozer 1's current position. When the bulldozer 1 has completed moving from the second operating area 51B to the first operating area 51A, the process proceeds to step S113.

[0051] In step S113, the remote controller 43 determines the second soil removal positions 61B-63B within the second operating area 51B and permits the transport vehicle 2 to move into the second operating area 51B. As shown in Figure 11, the remote controller 43 determines multiple second soil removal positions 61B-63B within the second operating area 51B, similar to the process of determining the first soil removal positions 61A-63A in step S104.

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

[0053] In step S115, the remote controller 43 controls the transport vehicle 2 to transport soil to the second soil discharge positions 61B-63B. Similar to the process of transporting soil to the first soil discharge positions 61A-63A in step S106, the remote controller 43 moves the transport vehicle 2 along the second travel path 56B and discharges soil from the loading platform 32 to the second soil discharge positions 61B-63B. The remote controller 43 also prohibits the bulldozer 1 from entering the second operating area 51B while the transport vehicle 2 is transporting soil to the second soil discharge positions 61B-63B.

[0054] In step S116, the remote controller 43 determines whether the transport vehicle 2 has completed transporting the soil to the second soil removal positions 61B-63B. The remote controller 43 determines whether the transport of soil to the second soil removal positions 61B-63B has been completed, similar to the process in step S107 in which the transport of soil to the first soil removal positions 61A-63A has been completed.

[0055] When the transport of soil to the second soil removal position 61B-63B is completed, the process proceeds to step S117. In step S117, the remote controller 43 controls the transport vehicle 2 to exit the second operating area 51B. In step S118, the remote controller 43 determines whether the transport vehicle 2 has exited the second operating area 51B. If the transport vehicle 2 has exited the second operating area 51B, the process proceeds to step S119 shown in Figure 12.

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

[0057] As shown in Figure 13, in the second operating area 51B, the bulldozer 1 acquires a travel path 81B for discharging the soil 71B-73B placed at the second soil discharge position 61B-63B to the soil discharge area 52. In the second operating area 51B, the process by which the bulldozer 1 discharges the soil to the soil discharge area 52 is the same as the process by which the bulldozer 1 discharges the soil to the soil discharge area 52 in the first operating area 51A described above.

[0058] In step S121, the remote controller 43 determines whether the bulldozer 1 has completed moving from the first operating area 51A to the second operating area 51B. When the bulldozer 1 has completed moving from the first operating area 51A to the second operating area 51B, the process proceeds to step S104, as shown in Figure 7. In step S104, the remote controller 43 again determines the first soil removal positions 61A-63A in the first operating area 51A.

[0059] As the above process is repeated, the transport vehicle 2 repeatedly transports soil to the first working area 51A and the second working area 51B. In addition, the bulldozer 1 repeatedly discharges the soil from the first working area 51A and the second working area 51B into the soil discharge area 52. At this time, depending on the current position of the transport vehicle 2, permission or prohibition of the bulldozer 1 entering the first working area 51A and the second working area 51B is switched. Similarly, depending on the current position of the bulldozer 1, permission or prohibition of the transport vehicle 2 entering the first working area 51A and the second working area 51B is switched. As a result, the transport vehicle 2 and the bulldozer 1 can work efficiently by autonomous driving while avoiding interference between the transport vehicle 2 and the bulldozer 1.

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

[0061] The remote controller 43, the machine controller 22, or the vehicle controller 40 may have multiple controllers that are separate from each other. The processing performed by the remote controller 43, the machine controller 22, or the vehicle controller 40 may be distributed and executed across multiple controllers. The processing described above may also be distributed and executed across multiple processors.

[0062] The automatic control process for the bulldozer 1 or transport vehicle 2 is not limited to that of the embodiment described above, and may be modified, omitted, or added to. The execution order of the automatic control process is not limited to that of the embodiment described above, and may be modified. Some of the processing by the remote controller 43 may be performed by the machine controller 22 or the vehicle controller 40.

[0063] The number of partitioned working areas is not limited to two, but may be more than two. The number of first soil removal positions is not limited to three. The number of first soil removal positions may be less than three, or even one. Alternatively, the number of first soil removal positions may be more than three. The number of second soil removal positions is not limited to three. The number of second soil removal positions may be less than three, or even one. Alternatively, the number of second soil removal positions may be more than three. [Industrial applicability]

[0064] According to this disclosure, interference between transport vehicles and autonomous bulldozers can be avoided. [Explanation of Symbols]

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

Claims

1. A method for controlling a bulldozer, Within the work site, the location of the work area assigned to the bulldozer is obtained, The work area is divided into multiple operating areas, and these multiple operating areas are recognized. Recognizing the first operating area among the aforementioned multiple operating areas where the bulldozer is not present, To determine whether a transport vehicle that has completed transporting soil and sand within the first operating area has left the first operating area, After the transport vehicle has left the first operating area, permission will be granted for the bulldozer to enter the first operating area. To obtain the current position of the bulldozer, Recognizing the second operating area where the bulldozer is located, To determine whether the movement of the bulldozer from the second operating area to the first operating area has been completed, After the bulldozer has completed moving from the second operating area to the first operating area, permission is granted for the transport vehicle to move to the second operating area. A method for providing this.

2. The system further comprises determining a first soil removal position within the first operating area, Determining whether a transport vehicle that has completed transporting the soil has left the first operating area means determining whether a transport vehicle that has completed transporting the soil to the first soil removal location has left the first operating area. The method according to claim 1.

3. Based on the current position of the bulldozer and the first soil removal position, the travel path of the transport vehicle to the first soil removal position is determined. The method according to claim 2, further comprising:

4. When the transport vehicle exits the first operating area, entry of the transport vehicle into the first operating area is prohibited. After prohibiting the transport vehicle from entering the first operating area, permitting the bulldozer to enter the first operating area. The method according to claim 1, further comprising:

5. Determining the second soil removal position within the second operating area, To determine whether the transport vehicle has completed transporting the soil to the second soil removal location, Determining whether the transport vehicle has left the second operating area, After the transport vehicle has left the second operating area, permission will be granted for the bulldozer to enter the second operating area. Furthermore, The method according to claim 1.

6. When the transport vehicle exits the second operating area, entry of the transport vehicle into the second operating area is prohibited. After prohibiting the transport vehicle from entering the second operating area, permitting the bulldozer to enter the second operating area. Furthermore, The method according to claim 5.

7. The second operating area is adjacent to the first operating area. The method according to claim 1.

8. It is a system for controlling bulldozers. The bulldozer is equipped with a controller that transmits command signals to the bulldozer, The aforementioned controller, Within the work site, the location of the work area assigned to the bulldozer is obtained, The work area is divided into multiple operating areas, and the multiple operating areas are recognized. Of the aforementioned multiple operating areas, the first operating area where the bulldozer is not present is recognized. It is determined whether the transport vehicle that has completed transporting soil and sand within the first operating area has left the first operating area. After the transport vehicle has left the first operating area, permission is granted for the bulldozer to enter the first operating area. The current position of the bulldozer is obtained, Recognizing the second operating area where the bulldozer is located, It is determined whether the movement of the bulldozer from the second operating area to the first operating area has been completed. After the bulldozer has completed moving from the second operating area to the first operating area, the movement of the transport vehicle to the second operating area is permitted. system.

9. The aforementioned controller, Within the aforementioned first operating area, the first soil removal position is determined. It is determined whether the transport vehicle that has completed transporting soil to the first soil removal location has left the first operating area. The system according to claim 8.

10. The controller determines the travel path of the transport vehicle to the first soil removal position based on the current position of the bulldozer and the first soil removal position. The system according to claim 9.

11. The bulldozer and transport vehicle are further equipped with a communication device for communicating with the aforementioned bulldozer and transport vehicle. The controller, via the communication device, When the transport vehicle exits the first operating area, entry of the transport vehicle into the first operating area is prohibited. After prohibiting the transport vehicle from entering the first operating area, the bulldozer is permitted to enter the first operating area. The system according to claim 8.

12. The aforementioned controller, Within the aforementioned second operating area, the second soil removal position is determined, Determine whether the transport vehicle has completed transporting the soil to the second soil removal location. After the transport vehicle has exited the second operating area, permission is granted for the bulldozer to enter the second operating area. The system according to claim 8.

13. The aforementioned controller, When the transport vehicle exits the second operating area, entry of the transport vehicle into the second operating area is prohibited. After prohibiting the transport vehicle from entering the second operating area, permitting the bulldozer to enter the second operating area. The system according to claim 8.

14. The second operating area is adjacent to the first operating area. The system according to claim 8.

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