Management system for work site and management method for work site

Abstract

A management system for a work site includes a first controller and a second controller. The first controller transmits a survey start command in order to set a travel area where an unmanned dump truck can travel in a work site to a shovel that operates at the work site, and receives survey data indicating a position of a linear portion of the work site detected by the shovel based on the survey start command. The second controller sets an edge line of the travel area based on the survey data.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a U.S. National stage application of International Application No. PCT / JP2024 / 000521, filed on Jan. 12, 2024. This U.S. National stage application claims priority under 35 U.S.C. § 119(a) to Japanese Patent Application No. 2023-006624, filed in Japan on Jan. 19, 2023. The entire contents of Japanese Patent Application No. 2023-006624 is hereby incorporated herein by reference.BACKGROUNDTechnical Field

[0002] The present disclosure relates to a management system for a work site and a management method for a work site.Background Art

[0003] In a technical field related to a management system for a work site, a control system including tool tracking as disclosed in U.S. Patent Application Publication No. 2012 / 0136525 A is known.SUMMARY

[0004] There is a case where an unmanned dump truck operates at a work site. There is a case where a travel area where the unmanned dump truck can travel needs to be set in the work site. There is a demand for a technique by which a travel area can be efficiently set.

[0005] An object of the present disclosure is to set a travel area where an unmanned dump truck can travel in a work site.

[0006] According to the present disclosure, provided is a management system for a work site, including: a command transmission unit that transmits a survey start command for setting a travel area where an unmanned dump truck can travel in a work site to a shovel that operates at the work site; a data reception unit that receives survey data indicating a position of a linear portion of the work site detected by the shovel on a basis of the survey start command; and a travel area setting unit that sets an edge line of the travel area on a basis of the survey data.

[0007] According to the present disclosure, a travel area where an unmanned dump truck can travel can be set in a work site.BRIEF DESCRIPTION OF DRAWINGS

[0008] Referring now to the attached drawings which form a part of this original disclosure, an illustrative embodiment is shown.

[0009] FIG. 1 is a diagram schematically illustrating a management system for a work site according to an embodiment.

[0010] FIG. 2 is a diagram schematically illustrating a shovel and an unmanned dump truck according to the embodiment.

[0011] FIG. 3 is a diagram schematically illustrating the shovel according to the embodiment.

[0012] FIG. 4 is a diagram schematically illustrating operation of the shovel according to the embodiment.

[0013] FIG. 5 is a functional block diagram illustrating the management system according to the embodiment.

[0014] FIG. 6 is a block diagram illustrating a computer system according to the embodiment.

[0015] FIG. 7 is a flowchart illustrating a management method for a work site according to the embodiment.

[0016] FIG. 8 is a diagram illustrating display data displayed on a display device according to the embodiment.

[0017] FIG. 9 is a diagram illustrating display data displayed on the display device according to the embodiment.

[0018] FIG. 10 is a diagram illustrating display data displayed on the display device according to the embodiment.

[0019] FIG. 11 is a diagram illustrating display data displayed on the display device according to the embodiment.

[0020] FIG. 12 is a diagram illustrating display data displayed on the display device according to the embodiment.

[0021] FIG. 13 is a diagram for describing a method of determining an excavation state in a height direction according to the embodiment.

[0022] FIG. 14 is a diagram for describing a method of determining an excavation state in a depth direction according to the embodiment.

[0023] FIG. 15 is a diagram illustrating display data displayed on the display device according to the embodiment.DETAILED DESCRIPTION OF EMBODIMENT(S)

[0024] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be appropriately combined. Furthermore, some components may not be used.(Work Site)

[0025] FIG. 1 is a diagram schematically illustrating a management system 1 for a work site according to an embodiment. The management system 1 manages a shovel 2 and an unmanned dump truck 3 that operate at a work site. The shovel 2 is remotely operated by a remote operation device 4. The remote operation device 4 is disposed outside the shovel 2. The remote operation device 4 is disposed in a remote operation room 9 included at a remote operation place outside the shovel 2. In the embodiment, the management system 1 includes the remote operation device 4, a display device 5, an input device 6, a remote controller 7, and a control controller 30.

[0026] The remote operation device 4 is operated by an operator in the remote operation room 9. The operator can operate the remote operation device 4 while seated on an operation seat 8. The display device 5 is disposed in the remote operation room 9. The display device 5 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The display device 5 displays an image of the work site. The image of the work site includes a peripheral image that is an image of a periphery of the shovel 2. The peripheral image of the shovel 2 includes an image of an excavation target of the shovel 2 and an image of the unmanned dump truck 3. The operator operates the remote operation device 4 while viewing the image of the work site displayed on the display device 5. The input device 6 is disposed in the remote operation room 9. Examples of the input device 6 include a touch panel, a computer keyboard, and a computer mouse. The input device 6 is operated by an operator. By the input device 6 being operated, input data is generated in the input device 6. The remote controller 7 is disposed in the remote operation room 9. The remote controller 7 and a control server 10 communicate with each other via a first communication system 11. Examples of the first communication system 11 include the Internet, a mobile phone communication network, and a satellite communication network.

[0027] The unmanned dump truck 3 operates in an unmanned manner without depending on a driving operation of a driver. The unmanned dump truck 3 is operated from the control controller 30 by a manager. The unmanned dump truck 3 travels in the work site in an unmanned manner and transports a load. As a load to be transported by the unmanned dump truck 3, an excavated object excavated at the work site is exemplified.

[0028] The management system 1 includes the control server 10 included at the work site. The control server 10 is disposed outside the shovel 2 and the unmanned dump truck 3. The control server 10 is installed in a control facility at the work site. The control server 10 manages data of a vehicle including a management system for the work site. There is a manager in the control facility. The control server 10 manages each of the shovel 2 and the unmanned dump truck 3. The control server 10, the shovel 2, and the unmanned dump truck 3 communicate with each other via a second communication system 12. Examples of the second communication system 12 include a local area network (LAN).(Shovel and Unmanned Dump Truck)

[0029] FIG. 2 is a diagram schematically illustrating the shovel 2 and the unmanned dump truck 3 according to the embodiment. The shovel 2 is a hydraulic shovel. The shovel 2 includes a travel body 13, a revolving body 14 supported by the travel body 13, working equipment 15 supported by the revolving body 14, and a hydraulic cylinder 16 that drives the working equipment 15. The travel body 13 travels in the work site while supporting the revolving body 14. The travel body 13 includes a pair of crawler belts 13A. The shovel 2 travels by rotation of the crawler belts. The revolving body 14 is capable of revolving while being supported by the travel body 13. The working equipment 15 includes a boom 15A coupled to the revolving body 14, an arm 15B coupled to the boom 15A, and a bucket 15C coupled to the arm 15B. The hydraulic cylinder 16 includes a boom cylinder 16A that drives the boom 15A, an arm cylinder 16B that drives the arm 15B, and a bucket cylinder 16C that drives the bucket 15C. The bucket 15C includes a cutting edge 15D.

[0030] The unmanned dump truck 3 includes a travel device 17, a vehicle body 18, and a dump body 19. The travel device 17 travels in the work site while supporting the vehicle body 18. The travel device 17 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. As the tires rotate, the unmanned dump truck 3 travels. The vehicle body 18 supports the dump body 19. The dump body 19 is a member on which a load is loaded.

[0031] In the embodiment, the work site includes a slope 100, a first travel surface 103 connected to an upper end portion 101 of the slope 100, and a second travel surface 104 connected to a lower end portion 102 of the slope 100. The slope 100 is a slope. The upper end portion 101 is a top of the slope. The lower end portion 102 is a toe of the slope. The shovel 2 excavates the slope 100 in a state where at least a part of the travel body 13 of the shovel 2 is positioned on the first travel surface 103, and loads the excavated object onto the unmanned dump truck 3 that exists on the second travel surface 104.

[0032] FIG. 3 is a diagram schematically illustrating the shovel 2 according to the embodiment. The shovel 2 includes a position sensor 20, a posture sensor 21, an angle sensor 22, and a camera 23. The position sensor 20 detects the position of the shovel 2. The position of the shovel 2 is detected using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects a position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the earth. The position sensor 20 includes a GNSS receiver and detects the position of the shovel 2 in the global coordinate system. In the embodiment, at least two position sensors 20 are included in the revolving body 14. The orientation of the revolving body 14 is calculated on the basis of detection data of each of the two position sensors 20. The posture sensor 21 detects the inclination of the revolving body 14. The posture sensor 21 detects an inclination angle of the revolving body 14 with respect to the horizontal plane. The posture sensor 21 includes an inertial measurement unit (IMU). The posture sensor 21 is disposed on the revolving body 14. The angle sensor 22 detects the angle of the working equipment 15. The angle sensor 22 includes a boom angle sensor 22A that detects the angle of the boom 15A with respect to the revolving body 14, an arm angle sensor 22B that detects the angle of the arm 15B with respect to the boom 15A, and a bucket angle sensor 22C that detects the angle of the bucket 15C with respect to the arm 15B. The angle sensor 22 may be a stroke sensor that detects the stroke of the hydraulic cylinder 16, a potentiometer that detects the angle of the working equipment 15, or a working equipment IMU that detects the posture of the working equipment 15. The attachment position of the angle sensor 22 is appropriately changed at the time of sensor selection. The camera 23 images the surroundings of the shovel 2. Although one camera 23 is schematically illustrated in FIG. 3, a plurality of cameras 23 may be included in the revolving body 14. The camera 23 may be a stereo camera capable of measuring a three-dimensional shape of an imaging target, or may be an overhead camera capable of capturing an image for generating an overhead image of the shovel 2.

[0033] FIG. 4 is a diagram schematically illustrating operation of the shovel 2 according to the embodiment. In the embodiment, the management system 1 sets a travel area where the unmanned dump truck 3 can travel in a work site using the shovel 2. The management system 1 sets an edge line 24 of the travel area using the shovel 2. In the embodiment, the edge line 24 of the travel area is set to coincide with the lower end portion 102 of the slope 100. Since the edge line 24 is set to coincide with the lower end portion 102, the unmanned dump truck 3 is prevented from coming into contact with the slope 100. The shovel 2 detects survey data for setting the edge line 24 using the cutting edge 15D of the bucket 15C. Furthermore, the management system 1 sets a travel stop line 25 of the shovel 2 on the basis of the edge line 24. The travel stop line 25 is set closer to the first travel surface 103 than the upper end portion 101 of the slope 100. The shovel 2 travels on the first travel surface 103 so as not to cross the travel stop line 25. Since the travel stop line 25 is set closer to the first travel surface 103 than the upper end portion 101, the shovel 2 is prevented from traveling on the slope 100 or traveling on the second travel surface 104.(Management System)

[0034] FIG. 5 is a functional block diagram illustrating the management system 1 according to the embodiment. As illustrated in FIG. 5, the shovel 2 includes an in-vehicle controller 26. The unmanned dump truck 3 includes an in-vehicle controller 27.

[0035] FIG. 6 is a block diagram illustrating a computer system 1000 according to the embodiment. Each of the in-vehicle controller 26, the remote controller 7, the control controller 30, the control server 10, and the in-vehicle controller 27 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the in-vehicle controller 26, the remote controller 7, the control server 10, and the in-vehicle controller 27 are stored in the storage 1003 as computer programs. The processor 1001 reads the computer programs from the storage 1003, develops the computer programs in the main memory 1002, and executes the above-described processing according to the programs. Note that the computer programs may be distributed to the computer system 1000 via a network.

[0036] The remote controller 7 includes a data reception unit 7A, a command transmission unit 7B, a data transmission unit 7C, and a display control unit 7D. The data reception unit 7A receives detection data and image data from the shovel 2 via the control server 10. The command transmission unit 7B transmits an operation command from the remote operation device 4 to the shovel 2 via the control server 10. Furthermore, the command transmission unit 7B transmits a survey start command for setting a travel area where the unmanned dump truck 3 can travel in a work site to the shovel 2 that operates at the work site via the control server 10. The data transmission unit 7C transmits input data generated by the input device 6 being operated to the shovel 2 via the control server 10. The display control unit 7D causes the display device 5 and the input device 6 to display the display data.

[0037] The control controller 30 includes a data reception unit 30A and a command transmission unit 30B. The data reception unit 30A receives detection data and image data from the shovel 2 via the control server 10. The command transmission unit 30B transmits an operation command from the control controller 30 to the shovel 2 via the control server 10.

[0038] The in-vehicle controller 26 of the shovel 2 includes a command reception unit 26A, a calculation unit 26B, a control unit 26C, a data transmission unit 26D, a travel area setting unit 26E, a travel data generation unit 26F, and a travel stop line setting unit 26G. The command reception unit 26A receives an operation command transmitted from the remote controller 7 via the control server 10. Furthermore, the command reception unit 26A receives a survey start command transmitted from the remote controller 7 via the control server 10. The calculation unit 26B calculates the relative position between a reference position Om of the revolving body 14 and the cutting edge 15D on the basis of detection data of the angle sensor 22 and dimensional data of the working equipment 15 that is known data. As illustrated in FIG. 3, the reference position Om may be determined at a position coinciding with a revolving axis RX of the revolving body 14, or a connection portion between the boom 15A and the revolving body 14 may be determined at any position. Furthermore, the calculation unit 26B can calculate the position of the cutting edge 15D in the global coordinate system on the basis of a relative position between the reference position Om and the cutting edge 15D, position data of the position sensor 20, and detection data of the posture sensor 21. The control unit 26C outputs a control command for controlling each of the travel body 13 and the hydraulic cylinder 16 on the basis of an operation command. The data transmission unit 26D transmits survey data indicating the position of a linear portion of the work site detected by the shovel 2 to the remote controller 7 via the control server 10 on the basis of a survey start command. The travel area setting unit 26E sets the edge line 24 of the travel area on the basis of survey data. The travel data generation unit 26F generates travel data of the unmanned dump truck 3. The travel data generation unit 26F generates travel data such that the unmanned dump truck 3 does not cross the edge line 24. In the embodiment, the travel data includes a plurality of travel points and a travel path that connects the plurality of travel points. A target travel speed and a target orientation of the unmanned dump truck 3 are defined at each of the plurality of travel points. The travel stop line setting unit 26G sets the travel stop line 25 of the shovel 2 on the basis of the edge line 24.

[0039] The travel stop line setting unit 26G sets the travel stop line 25 at a position shifted from the edge line 24 to the outside of the travel area (first travel surface 103 side) by a predetermined distance.

[0040] The control server 10 includes a data reception unit 10A, a data transmission unit 10B, a command reception unit 10C, a command transmission unit 10D, and a data holding unit 10E. The data reception unit 10A receives survey data from the shovel 2. The data transmission unit 10B transmits travel data to the shovel 2, the unmanned dump truck 3, the remote controller 7, and the control controller 30. The command reception unit 10C receives a command from the remote controller 7. The command transmission unit 10D transmits an operation command and a survey start command received from the command transmission unit 7B to the shovel 2. The data holding unit 10E holds survey data and travel data, and transmits the data to a request source in a case where a request is received from the shovel 2, the unmanned dump truck 3, the remote controller 7, and the control controller 30.

[0041] The in-vehicle controller 27 of the unmanned dump truck 3 includes a data reception unit 27A and a control unit 27B. The data reception unit 27A receives travel data from the control controller 30 via the control server 10. The control unit 27B controls the travel device 17 on the basis of travel data. The control unit 27B controls the travel device 17 such that the unmanned dump truck 3 travels along the travel path.(Management Method)

[0042] FIG. 7 is a flowchart illustrating a management method for a work site according to the embodiment. FIG. 7 is a flowchart illustrating a procedure for setting the edge line 24 and the travel stop line 25 in a work site. Each of FIGS. 8, 9, 10, and 11 is a diagram illustrating display data displayed on the display device 5 according to the embodiment. Each of FIGS. 8, 9, 10, and 11 illustrates display data displayed on the display device 5 in a case where the edge line 24 and the travel stop line 25 are set in the work site.

[0043] In the embodiment, an overhead image of the shovel 2 and the unmanned dump truck 3 is displayed on the display device 5. The input device 6 functions as a touch panel. A menu screen is displayed on a part of a display screen of the input device 6.

[0044] In order to set the edge line 24, the operator in the remote operation room 9 operates the remote operation device 4 such that the cutting edge 15D of the bucket 15C is positioned at a survey start point 28 while checking the display device 5. The survey start point 28 defines one end portion of the edge line 24. The survey start point 28 is freely determined by the operator. In the embodiment, the survey start point 28 is set to a part of the lower end portion 102 of the slope 100.

[0045] As illustrated in FIG. 8, after the cutting edge 15D is positioned at the survey start point 28, the operator touches a first button 6A indicating “start survey” in the menu screen of the input device 6. The command transmission unit 7B generates a survey start command on the basis of input data from the first button 6A (step SA1), and transmits the survey start command to the in-vehicle controller 26 via the control server 10 (step SB1).

[0046] The calculation unit 26B acquires the GNSS position and the cutting edge position on the basis of the survey start command (step SC1). That is, the calculation unit 26B starts acquisition of the GNSS position and the cutting edge position with the survey start command from the remote controller 7 as a trigger. The GNSS position refers to an absolute position of the revolving body 14 detected by the position sensor 20. The cutting edge position refers to a relative position of the cutting edge 15D with respect to the reference position Om. As described above, the calculation unit 26B can calculate the relative position of the cutting edge 15D with respect to the reference position Om of the revolving body 14 on the basis of detection data of the angle sensor 22 and dimensional data of the working equipment 15 that is known data.

[0047] The operator operates the remote operation device 4 such that that the cutting edge 15D moves along the lower end portion 102 of the slope 100 to be set. A linear movement trajectory of the cutting edge 15D is set in the edge line 24. The linear portion extends substantially horizontally.

[0048] In a case where the edge line 24 is placed such that the lower end portion 102 of the slope 100 and the edge line 24 coincide with each other, as illustrated in FIG. 9, the operator operates the remote operation device 4 so as to trace the lower end portion 102 using the cutting edge 15D. The calculation unit 26B continues to acquire the GNSS position and the cutting edge position at predetermined time intervals in a period in which the cutting edge 15D moves along the lower end portion 102.

[0049] As illustrated in FIG. 9, after the cutting edge 15D is positioned at a survey end point 29, the operator touches a second button 6B indicating “end survey” in the menu screen of the input device 6. The command transmission unit 7B generates a survey end command on the basis of input data from the second button 6B (step SA2), and transmits the survey end command to the in-vehicle controller 26 via the control server 10 (step SB2).

[0050] The calculation unit 26B ends the acquisition of the GNSS position and the cutting edge position on the basis of the survey end command. That is, the calculation unit 26B ends the acquisition of the GNSS position and the cutting edge position with the survey end command from the remote controller 7 as a trigger.

[0051] The calculation unit 26B calculates survey data indicating the position of the linear portion at the work site on the basis of the GNSS position and the cutting edge position acquired at predetermined time intervals. The survey data is an absolute position of a movement trajectory of the cutting edge 15D between the survey start point 28 and the survey end point 29. The survey data is an aggregate of absolute positions of a plurality of positions on the movement trajectory of the cutting edge 15D. That is, the survey data indicates the position of the edge line 24 to be set. In the embodiment, the survey data is detected by the cutting edge 15D of the bucket 15C.

[0052] As illustrated in FIG. 10, the display control unit 7D causes the input device 6 to display a data input screen. After touching a third button 6C indicating “input data”, the operator inputs, to the input device 6, input data for setting the travel stop line 25. The travel stop line 25 is set at a position shifted from the edge line 24 to the outside of the travel area by a predetermined distance. The operator can input any predetermined distance. Furthermore, the operator inputs the height from the lower end portion 102 to the upper end portion 101 and the inclination angle of the slope 100. Each of the height from the lower end portion 102 to the upper end portion 101 and the inclination angle of the slope 100 is known data measured in advance. Note that the height may be calculated on the basis of the cutting edge position in a case where the cutting edge 15D is positioned at each of the lower end portion 102 and the upper end portion 101. The inclination angle of the slope 100 may be calculated on the basis of the cutting edge position in a case where the cutting edge 15D is moved along the slope 100. The data reception unit 7A acquires input data from the input device 6 (step SA3). The data transmission unit 7C transmits the input data to the control server 10 (step SA4), and the data transmission unit 7C transmits the input data to the in-vehicle controller 26 via the control server 10 (step SB3).

[0053] The travel area setting unit 26E sets the edge line 24 of the travel area on the basis of detected survey data. The travel area setting unit 26E sets the edge line 24 such that the edge line 24 coincides with the movement trajectory of the cutting edge 15D. The travel stop line setting unit 26G sets the travel stop line 25 on the basis of the survey data and the input data. The travel stop line setting unit 26G sets the edge line and the travel stop line 25 on the basis of the predetermined distance input from the input device 6 (step SC2).

[0054] The travel stop line setting unit 26G can determine the appropriateness / inappropriateness of the predetermined distance input from the input device 6 on the basis of the height from the lower end portion 102 to the upper end portion 101 and the inclination angle of the slope 100. As described above, the operator can input any numerical value for the predetermined distance. In a case where the edge line 24 is set along the lower end portion 102, there is a possibility that the travel stop line 25 is, for example, set on the slope 100 if the predetermined distance is short. On the basis of the height from the lower end portion 102 to the upper end portion 101 and the inclination angle of the slope 100, the travel stop line setting unit 26G determines whether the travel stop line 25 is set closer to the first travel surface 103 than the upper end portion 101 by the predetermined distance input from the input device 6. The travel stop line setting unit 26G transmits warning data to the input device 6 via the control server 10 in a case where the travel stop line 25 is set to be closer to the slope 100 side than the upper end portion 101 by the predetermined distance input from the input device 6 and the travel stop line setting unit 26G determines that the predetermined distance is inappropriate. The display control unit 7D causes the display device 5 to display the display data indicating that the predetermined distance input to the input device 6 is inappropriate. As a result, the operator can re-input an appropriate predetermined distance. The travel stop line setting unit 26G can set the travel stop line 25 of the shovel 2 on the first travel surface 103.

[0055] After the edge line 24 and the travel stop line 25 are set in the in-vehicle controller 26, the data transmission unit 26D transmits the set edge line 24 and travel stop line 25 to the control server 10 (step SC3). The data transmission unit 26D transmits the edge line 24 and the travel stop line 25 to the remote controller 7 via the control server 10 (steps SB4 and SB6). The set edge line 24 and travel stop line 25 are stored in the control server 10 (step SB5).

[0056] As illustrated in FIG. 11, the display control unit 7D causes the display device 5 to display the edge line 24 and the travel stop line 25 (step SA5). The display control unit 7D displays the edge line 24 and the travel stop line 25 such that the edge line 24 and the travel stop line 25 are superimposed on an overhead image of the work site generated on the basis of image data of the camera 23.

[0057] The travel data generation unit 26F generates travel data of the unmanned dump truck 3 on the basis of the edge line 24 of the travel area. The travel data generation unit 26F generates travel data such that the unmanned dump truck 3 does not go out of the travel area. The unmanned dump truck 3 travels in the work site on the basis of the travel data.

[0058] While checking the edge line 24 and the travel stop line 25 displayed on the display device 5, the operator operates the shovel 2 via the remote operation device 4 to perform an excavation work of the slope 100. The excavated object is loaded onto the unmanned dump truck 3 that exists on the second travel surface 104. The operator operates the remote operation device 4 such that the shovel 2 does not cross the travel stop line 25. Note that, in a case where the shovel 2 crosses the travel stop line 25, warning data may be displayed on the display device 5, or a warning sound may be emitted. In a case where the travel body 13 includes an automatic brake function, the automatic brake may be operated if the shovel 2 exceeds the travel stop line 25.(Update of Travel Stop Line and Edge Line)

[0059] FIG. 12 is a diagram illustrating display data displayed on the display device 5 according to the embodiment. FIG. 12 illustrates display data displayed on the display device 5 in a case where the excavation work of the slope 100 progresses.

[0060] In a case where the shovel 2 excavates the slope 100 that is an excavation portion of the work site outside the travel area, the travel stop line setting unit 26G updates the travel stop line 25 on the basis of the excavation state of the slope 100. In the embodiment, the travel stop line setting unit 26G determines the excavation state of the slope 100 on the basis of the position of the bucket 15C during a time when the slope 100 is excavated.

[0061] Each of FIGS. 13 and 14 is a diagram for describing a method of determining the excavation state of the slope 100 according to the embodiment. The calculation unit 26B calculates the cutting edge position during a time when the working equipment 15 excavates the slope 100. In a case where the cutting edge position is moved to the first travel surface 103 side (front side) with respect to the edge line 24 as illustrated in FIG. 13 and the cutting edge position is moved downward by a threshold D from a ground contact surface of the crawler belts 13A in contact with the first travel surface 103 as illustrated in FIG. 14, the travel stop line setting unit 26G determines that the slope 100 is excavated, and updates the travel stop line 25 such that the travel stop line 25 is shifted by a distance corresponding to the excavation amount of the slope 100. In this manner, the travel stop line 25 is automatically updated on the basis of the cutting edge position.

[0062] The edge line 24 is not automatically updated. The travel area setting unit 26E updates the edge line 24 on the basis of input data from the input device 6. After checking the situation of the work site displayed on the display device 5 and confirming that the edge line 24 may be updated, the operator operates the input device 6 to update the edge line 24. Due to the excavation work, for example, an embankment may be formed on a part of the second travel surface 104, or the slope 100 may be swollen with earth and sand. In a case where the edge line 24 is automatically updated in a situation where the second travel surface 104 or the slope 100 is not sufficiently leveled, there is a possibility that the unmanned dump truck 3 that has approached the updated edge line 24 climbs on an embankment or interferes with earth and sand. Therefore, after leveling the second travel surface 104 or the slope 100 while confirming the situation of the work site displayed on the display device 5 and confirming that the edge line 24 may be updated, the operator operates the input device 6 to update the edge line 24.

[0063] FIG. 15 is a diagram illustrating display data displayed on the display device 5 according to the embodiment. FIG. 15 illustrates display data displayed on the display device 5 in a case where the edge line 24 is updated. For example, after confirming that the second travel surface 104 or the slope 100 is leveled and the edge line 24 may be updated, the operator operates a fourth button 6D for performing “update” of the edge line 24. Input data generated by the fourth button 6D being operated is transmitted to the travel area setting unit 26E. The travel area setting unit 26E updates the edge line 24 on the basis of the input data. The travel area setting unit 26E updates the edge line 24 such that the edge line 24 approaches the travel stop line 25. For example, the travel stop line setting unit 26G may shift the travel stop line 25 to approach the edge line 24 by the predetermined distance determined to be appropriate in step SC2 described above.

[0064] As described above, the management system 1 for a work site, includes: the command transmission unit 7B that transmits a survey start command for setting a travel area where the unmanned dump truck 3 can travel in a work site to the shovel 2 that operates at the work site; the data reception unit 7A that receives survey data indicating a position of a linear portion of the work site detected by the shovel 2 on the basis of the survey start command; and the travel area setting unit 26E that sets the edge line 24 of the travel area on the basis of the survey data. According to the embodiment, a travel area where the unmanned dump truck 3 can travel is efficiently set in a work site.(other Embodiments)

[0065] In the above-described embodiment, for example, the function of the in-vehicle controller 26 may be included in at least one of the remote controller 7, the control controller 30, the control server 10, or the in-vehicle controller 27. For example, the remote controller 7 may include not only the functions of the data reception unit 7A and the command transmission unit 7B but also the functions of the travel area setting unit 26E and the travel stop line setting unit 26G. The control server 10 may include not only the functions of the data reception unit 10A and the data transmission unit 10B but also the functions of the travel area setting unit 26E and the travel stop line setting unit 26G.

[0066] In the above-described embodiment, an example in which an operation command from the remote controller 7 is transmitted to the shovel 2 via the control server 10 has been described, but a similar operation command may be transmitted from the control controller 30 to the shovel 2 via the control server 10.

Claims

1. A management system for a work site, comprising:a first controller configured totransmit a survey start command in order to set a travel area where an unmanned dump truck can travel in a work site to a shovel that operates at the work site, andreceive survey data indicating a position of a linear portion of the work site detected by the shovel based on the survey start command; anda second controller configured to set an edge line of the travel area based on the survey data.

2. The management system for a work site according to claim 1, whereinthe shovel includes working equipment including a bucket, andthe survey data is detected by the bucket.

313. The management system for a work site according to claim 1, whereinthe second controller is configured to set a travel stop line of the shovel based on the edge line.

4. The management system for a work site according to claim 3, whereinthe second controller is configured to set the travel stop line at a position shifted from the edge line to an outside of the travel area by a predetermined distance.

5. The management system for a work site according to claim 4, further comprising:an input device,the predetermined distance being input from the input device to the second controller.

6. The management system for a work site according to claim 5, whereinat the work site, a slope, a first travel surface connected to an upper end portion of the slope, and a second travel surface connected to a lower end portion of the slope are present,the shovel excavates the slope in a state in which at least a part of a travel body of the shovel is positioned on the first travel surface, and loads an excavated object onto the unmanned dump truck that exists on the second travel surface, andthe second controller is configured to determine appropriateness / inappropriateness of the predetermined distance input from the input device based on a height from the lower end portion to the upper end portion and an inclination angle of the slope.

7. The management system for a work site according to claim 3, whereinan excavation portion of a work site outside the travel area is excavated by the shovel, andthe second controller is configured to update the travel stop line based on an excavation state of the excavation portion.

8. The management system for a work site according to claim 7, whereinthe shovel includes working equipment including a bucket, andthe second controller is configured to determine an excavation state of the excavation portion based on a position of the bucket.

9. The management system for a work site according to claim 7, further comprising:an input device,the second controller being configured to update the edge line based on input data from the input device.

10. The management system for a work site according to claim 1, whereinat the work site, a slope, a first travel surface connected to an upper end portion of the slope, and a second travel surface connected to a lower end portion of the slope are present,the shovel excavates the slope in a state in which at least a part of a travel body of the shovel is positioned on the first travel surface, and loads an excavated object onto the unmanned dump truck that exists on the second travel surface,the linear portion includes the lower end portion, andthe edge line is set along the lower end portion.

11. The management system for a work site according to claim 10, whereinthe second controller is configured to set a travel stop line of the shovel on the first travel surface.

12. A management method for a work site, comprising:transmitting a survey start command in order to set a travel area where an unmanned dump truck can travel in a work site to a shovel that operates at the work site;receiving survey data indicating a position of a linear portion of the work site detected by the shovel based on the survey start command; andsetting an edge line of the travel area based on the survey data.

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