Work machine management system and work machine management method

Abstract

This work machine management system comprises a processor. The processor acquires the respective positions of a work machine and a traveling vehicle, and causes an output device to output approach data indicating that the traveling vehicle is approaching the work machine.

Description

WORK MACHINE MANAGEMENT SYSTEM AND WORK MACHINE MANAGEMENT METHOD

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

[0002] In the technical field related to work machines, a remote control system as disclosed in Patent Document 1 is known. In the remote control system, a captured image of a work site captured by an imaging device is displayed on a display device arranged in a remote control room. An operator in the remote control room remotely controls the work machine while checking the captured image of the work site displayed on the display device.

[0003] Japanese Unexamined Patent Application Publication No. 2020-072401

[0004] A traveling vehicle may travel around the work machine at a work site. If an operator in a remote control room cannot sufficiently recognize the presence of the traveling vehicle, an unexpected situation may occur. If an unexpected situation occurs, the productivity of the work site may decrease.

[0005] An object of the present disclosure is to suppress a decrease in productivity of a work site.

[0006] According to the present disclosure, a work machine management system is provided. The management system includes a processor. The processor acquires respective positions of the work machine and the traveling vehicle, and causes an output device to output approach data indicating that the traveling vehicle is approaching the work machine.

[0007] According to the present disclosure, a decrease in productivity of a work site is suppressed.

[0008] Figure 1 is a schematic diagram showing a work site according to the embodiment. Figure 2 is a schematic diagram showing a management system and remote control system according to the embodiment. Figure 3 is a hardware configuration diagram showing a remote controller according to the embodiment. Figure 4 is a block diagram showing the management system and remote control system according to the embodiment. Figure 5 is a diagram showing a display device according to the embodiment. Figure 6 is a diagram for explaining the processing of the proximity determination unit and output control unit according to the embodiment. Figure 7 is a diagram for explaining an example of proximity data displayed on the display device when the first proximity state according to the embodiment is in progress. Figure 8 is a diagram for explaining an example of proximity data displayed on the display device when the second proximity state according to the embodiment is in progress. Figure 9 is a diagram for explaining an example of proximity data displayed on the display device when the first proximity state according to the embodiment is in progress. Figure 10 is a diagram for explaining an example of proximity data displayed on the display device when the first proximity state according to the embodiment is in progress. Figure 11 is a diagram for explaining an example of proximity data displayed on the display device when the first proximity state according to the embodiment is in progress. Figure 12 is a diagram for explaining an example of guidance data displayed on the display device according to the embodiment. Figure 13 is a diagram for explaining the automatic control of a bulldozer according to the embodiment. Figure 14 is a diagram for explaining the automatic control of a bulldozer according to the embodiment. Figure 15 is a flowchart showing the bulldozer management method according to the embodiment.

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

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

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

[0012] At work site 1, a type of work machine, an excavator 3, a bulldozer 4, and a motor grader 5, will perform their duties. The excavator 3 has an implement. The work performed by the excavator 3 includes excavation work, where the implement is used to excavate the work target, and loading work, where the implement is used to load cargo onto a dump truck 2. The bulldozer 4 has an implement. The work performed by the bulldozer 4 includes excavation work, where the implement is used to excavate the work target, leveling work, where the implement is used to prepare the terrain of work site 1, and embankment formation work, where the implement is used to form an embankment. The motor grader 5 has an implement. The work performed by the motor grader 5 includes excavation work, where the implement is used to excavate the work target, and leveling work, where the implement is used to prepare the terrain of work site 1.

[0013] A light vehicle 6, a type of vehicle, travels within the work site 1. A light vehicle 6 is a lightweight vehicle that travels within the work site 1. The light vehicle 6 travels to inspect the work site 1 and to transport workers. The light vehicle 6 may be a manned vehicle or an unmanned vehicle. A manned vehicle is a vehicle that travels based on the driver's operation. An unmanned vehicle is a vehicle that travels without a driver's operation. In this embodiment, the light vehicle 6 is assumed to be a manned vehicle.

[0014] A loading area 7, a soil removal area 8, and a transport route 9 are provided at the work site 1. The loading area 7, soil removal area 8, and transport route 9 are work areas where a dump truck 2, an excavator 3, a bulldozer 4, a motor grader 5, and a light vehicle 6 can operate, respectively.

[0015] Loading area 7 refers to the work area where loading operations are carried out to load cargo onto dump truck 2. An example of cargo is excavated material excavated in loading area 7. Excavator 3 performs excavation and loading operations in loading area 7.

[0016] The soil removal area 8 is the work area where the soil removal operation is carried out, in which the dump truck 2 unloads its cargo. The bulldozer 4 performs excavation, leveling, and embankment formation work in the soil removal area 8.

[0017] The transport path 9 refers to the road on which the dump truck 2 travels. The transport path 9 leads to the loading area 7 and the soil removal area 8, respectively. The transport path 9 is provided to connect at least the loading area 7 and the soil removal area 8. The dump truck 2 traveling towards at least one of the loading area 7 and the soil removal area 8 travels along the transport path 9. The dump truck 2 travels along the transport path 9, for example, by going back and forth between the loading area 7 and the soil removal area 8. The motor grader 5 performs excavation and leveling work along the transport path 9.

[0018] [Management System and Remote Control System] Figure 2 is a schematic diagram showing the management system 10 and remote control system 11 according to the embodiment. The management system 10 manages the work site 1. The management system 10 manages each of the dump truck 2, shovel 3, bulldozer 4, motor grader 5, and light vehicle 6. In Figure 2, a bulldozer 4 is shown as a work machine. In the following description, for the sake of simplicity, an example will be given in which the management system 10 manages the bulldozer 4 and the light vehicle 6.

[0019] The management system 10 comprises a control server 12 and a communication system 13. The control server 12 includes a computer. The control server 12 is located outside the bulldozer 4 and light vehicle 6. The control server 12 is installed in the control facility 14 of the work site 1. The control server 12 manages the work site 1. The control server 12 manages the bulldozer 4 and light vehicle 6. The communication system 13 includes at least one of the following: the internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0020] The light vehicle 6 comprises a vehicle body 15, a running gear 16, and an on-board controller 17. A driver sits in the driver's cab of the vehicle body 15. The vehicle body 15 is supported by the running gear 16. The running gear 16 supports the vehicle body 15 and moves around the work site 1. The running gear 16 includes four wheels on which tires are mounted. The running gear 16 is operated by the driver's operation from the driver's cab of the vehicle body 15.

[0021] The on-board controller 17 includes a computer. The control server 12 and the on-board controller 17 of the light vehicle 6 communicate wirelessly via the communication system 13.

[0022] The bulldozer 4 comprises a body 18, a running gear 19, an excavating work implement 20, a ripper work implement 21, and an on-board controller 22. The body 18 is supported by the running gear 19. The running gear 19 supports the body 18 and travels around the work site 1. The running gear 19 includes a pair of tracks. The running gear 19 is driven by power generated by an engine (not shown). The running gear 19 is braked by the operation of a brake device (not shown). The running gear 19 turns due to the difference between the rotational speed of one track and the rotational speed of the other track.

[0023] The excavating machine 20 performs at least one of the following tasks: excavation, leveling, and embankment formation. The excavating machine 20 is connected to the vehicle body 18. At least a portion of the excavating machine 20 is positioned in front of the vehicle body 18. The excavating machine 20 includes an excavation blade 20A, a lift frame 20B, a tilt cylinder 20C, and a lift cylinder 20D.

[0024] The drilling blade 20A is positioned at the front of the vehicle body 18. The lift frame 20B supports the drilling blade 20A. One end of the lift frame 20B is connected to the back of the drilling blade 20A via a rotating mechanism. The other end of the lift frame 20B is connected to the side of the traveling device 19 via a rotating mechanism. The tilt cylinder 20C and the lift cylinder 20D are hydraulic cylinders that operate the drilling blade 20A. The tilt cylinder 20C is driven to tilt the drilling blade 20A. The lift cylinder 20D is driven to move the drilling blade 20A up and down. The tilt angle of the drilling blade 20A changes as the tilt cylinder 20C extends and retracts. The drilling blade 20A moves up and down as the lift cylinder 20D extends and retracts.

[0025] The ripper implement 21 performs ripping work on the workpiece. The ripping work includes at least one of cutting work and crushing work on the workpiece. The ripper implement 21 is connected to the vehicle body 18. At least a portion of the ripper implement 21 is located at the rear of the vehicle body 18. The ripper implement 21 has a shank 21A, a ripper arm 21B, a tilt cylinder 21C, a lift cylinder 21D, and a beam 21E.

[0026] The shank 21A is located at the rear of the vehicle body 18. The ripper arm 21B supports the shank 21A. The ripper arm 21B connects the vehicle body 18 and the shank 21A. One end of the ripper arm 21B is connected to the rear of the vehicle body 18 via a pivot mechanism. The other end of the ripper arm 21B is connected to the beam 21E. The beam 21E is rotatably connected to the ripper arm 21B. The shank 21A is connected to the ripper arm 21B via the beam 21E.

[0027] The tilt cylinder 21C and the lift cylinder 21D are hydraulic cylinders that operate the shank 21A. The tilt cylinder 21C and the lift cylinder 21D are each connected to the vehicle body 18. The tilt cylinder 21C drives the shank 21A to tilt. The lift cylinder 20D drives the shank 21A to move up and down. The tilt angle of the shank 21A changes as the tilt cylinder 21C extends and retracts. The tilt cylinder 21C moves the ripper point at the lower end of the shank 21A in the front-rear direction. The shank 21A moves up and down as the lift cylinder 21D extends and retracts.

[0028] The on-board controller 22 includes a computer. The control server 12 and the on-board controller 22 of the bulldozer 4 communicate wirelessly via the communication system 13.

[0029] The bulldozer 4 may be a manned or unmanned work machine. A manned work machine is a work machine that performs work based on the operation of an operator. An unmanned work machine is a work machine that performs work without the operation of an operator. A manned work machine may perform work by the operation of an operator who is in the driver's cab of the work machine, or it may perform work by remote operation by an operator who is located outside the work machine. In this embodiment, the bulldozer 4 is remotely controlled by a remote control system 11. At least a part of the remote control system 11 is located in a remote control room 23. The remote control room 23 is located outside the bulldozer 4. The remote control room 23 is installed in a remote location away from the work site 1. The remote control system 11 comprises a remote control device 24, an output device 25, and a remote controller 27.

[0030] The remote control device 24 is located in the remote control room 23. The remote control device 24 is operated by an operator in the remote control room 23. When the remote control device 24 is operated, an operation signal is generated to operate the bulldozer 4. The operator can operate the remote control device 24 while seated in the driver's seat 28.

[0031] The output device 25 is located in the remote control room 23. The output device 25 outputs output data. The output device 25 includes a display device 25A and an audio output device 25B. Outputting output data by the output device 25 includes the display of display data by the display device 25A and the output of audio data by the audio output device 25B. The display device 25A displays an image of the work site 1. The display device 25A includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED). The audio output device 25B may include a buzzer device that outputs a warning sound. The operator operates the remote control device 24 while checking the image of the work site 1 displayed on the display device 25A. The bulldozer 4 is remotely controlled by the remote control device 24.

[0032] The remote controller 27 is located in the remote control room 23. The remote controller 27 includes a computer. The remote controller 27 and the on-board controller 22 of the bulldozer 4 communicate via a communication system 29. The communication system 29 includes at least one of the following: the Internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0033] The control server 12 and the remote controller 27 communicate via the communication system 29. Note that the communication system 13 and the communication system 29 may be separate communication systems. At least a portion of the communication system 13 and the communication system 29 may be the same communication system.

[0034] [Computer] Figure 3 is a hardware configuration diagram showing a remote controller 27 according to an embodiment. The remote controller 27 includes a computer 30. The computer 30 has a processor 30A such as a CPU (Central Processing Unit), a main memory 30B including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 30C such as a semiconductor disk, an input / output interface 30D including an input / output circuit, and a communication interface 30E including a communication circuit. The functions of the remote controller 27 are stored in the storage 30C as a computer program 30F. The processor 30A reads the computer program 30F from the storage 30C, loads it into the main memory 30B, and executes processing according to the computer program 30F. The computer program 30F may be distributed to the remote controller 27 via a network.

[0035] Similar to the remote controller 27, the control server 12, the on-board controller 17 of the light vehicle 6, and the on-board controller 22 of the bulldozer 4 each also include a computer. The control server 12, the on-board controller 17 of the light vehicle 6, and the on-board controller 22 of the bulldozer 4 each also have a processor 30A, a main memory 30B, a storage 30C for storing a computer program 30F, an input / output interface 30D, and a communication interface 30E.

[0036] Figure 4 is a block diagram showing the management system 10 and remote control system 11 according to the embodiment. The light vehicle 6 has a position sensor 31 and an on-board controller 17. The bulldozer 4 has a traveling device 19, an excavating work machine 20, a ripper work machine 21, a position sensor 41, an obstacle sensor 42, and an imaging device 43.

[0037] The position sensor 31 detects the position of the light vehicle 6. The position sensor 31 is located on the vehicle body 15 of the light vehicle 6. The position sensor 31 detects the position of the light vehicle 6 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 31 includes a GNSS receiver located on the vehicle body 15. The position sensor 31 detects the position of the light vehicle 6 in the global coordinate system. The onboard controller 17 transmits the detection data from the position sensor 31 to the control server 12.

[0038] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is located on the body 18 of the bulldozer 4. The position sensor 41 detects the position of the bulldozer 4 using the Global Navigation Satellite System (GNSS). The position sensor 41 includes a GNSS receiver located on the body 18. The position sensor 41 detects the position of the bulldozer 4 in a global coordinate system. The onboard controller 22 transmits the detection data from the position sensor 41 to the control server 12.

[0039] The obstacle sensor 42 detects objects around the bulldozer 4 without contact. As shown in Figure 2, the obstacle sensor 42 is positioned at the front of the bulldozer 4's body 18. The obstacle sensor 42 may also be positioned at the rear of the body 18. The obstacle sensor 42 detects objects by emitting energy waves. Examples of the obstacle sensor 42 include a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light, a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves, and an ultrasonic sensor (Ultrasonic Sensor) that detects objects by emitting ultrasonic waves. The obstacle sensor 42 can detect the presence or absence of an object, its relative position to the object (relative distance and direction), and its relative velocity to the object. The onboard controller 22 transmits the detection data from the obstacle sensor 42 to the control server 12.

[0040] The imaging device 43 captures an image of the object to be imaged. The imaging device 43 is positioned on the vehicle body 18. As shown in Figure 2, in this embodiment, the imaging device 43 is positioned on the upper part of the vehicle body 18. The object to be imaged by the imaging device 43 includes the work site 1 of the bulldozer 4. The object to be imaged by the imaging device 43 includes the ground of the work site 1 surrounding the bulldozer 4 and objects surrounding the bulldozer 4. The image of the work site 1 captured by the imaging device 43 is a surrounding image 70 showing the area around the bulldozer 4. The surrounding image 70 of the bulldozer 4 is displayed on the display device 25A of the remote control room 23. An RGB camera is exemplified as the imaging device 43. The imaging device 43 may also be an RGB-D camera or a hyperspectral camera. The onboard controller 22 transmits the surrounding image 70 of the bulldozer 4 captured by the imaging device 43 to the remote controller 27.

[0041] The processor 30A of the remote controller 27 has multiple functional units. The functional units of the processor 30A of the remote controller 27 include an operation command transmission unit 51, a control command transmission unit 52, an image acquisition unit 53, a proximity determination unit 54, and an output control unit 55. The storage 30C of the remote controller 27 includes a storage unit 56.

[0042] Based on the operation signal from the remote control device 24, the operation instruction transmitting unit 51 generates an operation instruction for remotely controlling the bulldozer 4. The operation instruction transmitting unit 51 transmits the operation instruction to the on-board controller 22 of the bulldozer 4 via the communication system 29. The on-board controller 22 controls at least one of the traveling device 19, the excavation work implement 20, and the ripper work implement 21 based on the operation instruction transmitted from the operation instruction transmitting unit 51.

[0043] The control instruction transmitting unit 52 outputs a control instruction for automatically controlling the bulldozer 4. Automatic control refers to the practice where at least one of the remote controller 27 and the on-board controller 22 replaces at least a part of the operator's driving operation. The control instruction transmitting unit 52 transmits the control instruction to the on-board controller 22 of the bulldozer 4 via the communication system 29. The on-board controller 22 automatically controls at least one of the traveling device 19, the excavation work implement 20, and the ripper work implement 21 based on the control instruction transmitted from the control instruction transmitting unit 52. The on-board controller 22 prioritizes the control instruction from the control instruction transmitting unit 52 over the operation instruction from the operation instruction transmitting unit 51. When receiving the operation instruction and the control instruction simultaneously, the on-board controller 22 automatically controls at least one of the traveling device 19, the excavation work implement 20, and the ripper work implement 21 based on the control instruction.

[0044] The image acquisition unit 53 acquires the surrounding image 70 of the bulldozer 4 captured by the imaging device 43 via the communication system 29.

[0045] The proximity determination unit 54 acquires the respective positions of the bulldozer 4 and the light vehicle 6. The proximity determination unit 54 acquires the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. As described above, the on-board controller 22 of the bulldozer 4 transmits the detection data of the position sensor 41 to the control server 12. The on-board controller 17 of the light vehicle 6 transmits the detection data of the position sensor 31 to the control server 12. The proximity determination unit 54 acquires the detection data of the position sensor 41 and the detection data of the position sensor 31 from the control server 12.

[0046] The proximity determination unit 54 calculates the relative distance between the bulldozer 4 and the light vehicle 6 based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. The proximity determination unit 54 calculates the relative distance between the bulldozer 4 and the light vehicle 6 based on the detection data of the position sensor 41 and the detection data of the position sensor 31 acquired from the control server 12. Note that the control server 12 may calculate the relative distance between the bulldozer 4 and the light vehicle 6. The proximity determination unit 54 may acquire, from the control server 12, the relative distance between the bulldozer 4 and the light vehicle 6 calculated by the control server 12.

[0047] The proximity determination unit 54 determines whether the light vehicle 6 is approaching the bulldozer 4 based on the relative distance between the bulldozer 4 and the light vehicle 6. The proximity determination unit 54 determines whether the light vehicle 6 is approaching the bulldozer 4 based on, for example, a change in the relative distance between the bulldozer 4 and the light vehicle 6. At the work site 1, there is a possibility that the light vehicle 6 exists around the bulldozer 4. At the work site 1, there is a possibility that the light vehicle 6 travels around the bulldozer 4. The proximity determination unit 54 determines whether the light vehicle 6 is approaching the bulldozer 4 based on a change in the relative distance between the bulldozer 4 and the light vehicle 6 existing around the bulldozer 4.

[0048] Note that the proximity determination unit 54 may determine whether the light vehicle 6 is approaching the bulldozer 4 based on detection data from the obstacle sensor 42. The obstacle sensor 42 can detect the relative distance between the bulldozer 4 and the light vehicle 6 existing around the bulldozer 4. The obstacle sensor 42 can detect a change in the relative distance between the bulldozer 4 and the light vehicle 6. When the obstacle sensor 42 detects the light vehicle 6, the proximity determination unit 54 may determine whether the light vehicle 6 is approaching the bulldozer 4 based on a change in the relative distance between the bulldozer 4 and the light vehicle 6 detected by the obstacle sensor 42.

[0049] The output control unit 55 controls the output device 25. The output control unit 55 displays the surrounding image 70 of the bulldozer 4 acquired by the image acquisition unit 53 on the display device 25A. When the proximity determination unit 54 determines that a light vehicle 6 is approaching the bulldozer 4, the output control unit 55 outputs proximity data 80 to the output device 25 indicating that the light vehicle 6, which is in the vicinity of the bulldozer 4, is approaching the bulldozer 4. The storage unit 56 stores data related to the control of the output device 25.

[0050] [Surrounding Image] Figure 5 is a diagram showing the display device 25A according to the embodiment. As shown in Figure 5, the output control unit 55 causes the surrounding image 70 of the bulldozer 4 captured by the imaging device 43 to be displayed on the display device 25A. In the example shown in Figure 5, the surrounding image 70 displayed on the display device 25A includes the terrain of the work site 1 and a part of the body 18 of the bulldozer 4.

[0051] The output control unit 55 generates a reference image 71 showing at least one of the dimensions of the bulldozer 4 and the distance from the bulldozer 4. In one embodiment, the output control unit 55 generates a reference image 71 showing the width of the excavation blade 20A and the distance from the bulldozer 4. The output control unit 55 can generate the reference image 71 based, for example, on the specifications data of the bulldozer 4. The specifications data of the bulldozer 4 is known data and is stored in advance in the storage unit 56.

[0052] The reference image 71 is superimposed on the surrounding image 70. The reference image 71 shows the width of the excavation blade 20A and the distance from the bulldozer 4. The reference image 71 includes a blade reference line 71A showing the width of the excavation blade 20A and a distance reference line 71B showing the distance from the bulldozer 4. The blade reference line 71A is displayed so as to extend forward from the left end and the right end of the excavation blade 20A, respectively. The left blade reference line 71A and the right blade reference line 71A are parallel. The distance reference line 71B is displayed so as to connect the front end of the left blade reference line 71A and the front end of the right blade reference line 71A. The distance reference line 71B is displayed at a position a specified distance (for example, 20 m) forward from the front end of the vehicle body 18.

[0053] [Proximity Determination] Figure 6 is a diagram illustrating the processing of the proximity determination unit 54 and the output control unit 55 according to the embodiment. Figure 6 is a schematic diagram showing the bulldozer 4 and the light vehicle 6 as seen from above. In this embodiment, a threshold value Sh related to the relative distance between the bulldozer 4 and the light vehicle 6 is pre-stored in the storage unit 56. The threshold value Sh includes a first threshold value Sh1 and a second threshold value Sh2 which is shorter than the first threshold value Sh1. The first threshold value Sh1 and the second threshold value Sh2 are predetermined values. In Figure 6, the first circle CL1 is a circle centered at the center point of the bulldozer 4's body 18 with a radius of the first threshold value Sh1. The second circle CL2 is a circle centered at the center point of the bulldozer 4's body 18 with a radius of the second threshold value Sh2.

[0054] The proximity determination unit 54 can determine whether the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to a first threshold Sh1, based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. The proximity determination unit 54 can also determine whether the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to a second threshold Sh2, based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31.

[0055] When the proximity determination unit 54 determines that a light vehicle 6 is approaching the bulldozer 4, the output control unit 55 causes the output device 25 to output proximity data 80 indicating that a light vehicle 6 located in the vicinity of the bulldozer 4 is approaching the bulldozer 4.

[0056] The output control unit 55 starts outputting approach data 80 when the approach determination unit 54 determines that the relative distance between the bulldozer 4 and the light vehicle 6 has become less than or equal to the first threshold Sh1. The output control unit 55 also starts outputting approach data 80 when the approach determination unit 54 determines that the relative distance between the bulldozer 4 and the light vehicle 6 has transitioned from a state where it exceeds the first threshold Sh1 to a state where it is less than or equal to the first threshold Sh1. The output control unit 55 outputs the approach data 80 in the first output form when it determines that the relative distance between the bulldozer 4 and the light vehicle 6 has become less than or equal to the first threshold Sh1.

[0057] If the proximity determination unit 54 determines that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2, which is shorter than the first threshold Sh1, the output control unit 55 outputs the proximity data 80 in a second output format different from the first output format. If the proximity determination unit 54 determines that the relative distance between the bulldozer 4 and the light vehicle 6 has transitioned from a state where it exceeds the second threshold Sh2 to a state where it is less than or equal to the second threshold Sh2, the output control unit 55 changes the output format of the proximity data 80 from the first output format to the second output format.

[0058] If the proximity determination unit 54 determines that the relative distance between the bulldozer 4 and the light vehicle 6 exceeds the first threshold Sh1, the output control unit 55 terminates the output of the proximity data 80.

[0059] In other words, the output control unit 55 does not output approach data 80 from the output device 25 when the relative distance between the bulldozer 4 and the light vehicle 6 is greater than the first threshold Sh1, indicating a non-proximity state. The output control unit 55 outputs approach data 80 in the first output form from the output device 25 when the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1 and greater than the second threshold Sh2, indicating a first proximity state. The output control unit 55 outputs approach data 80 in the second output form from the output device 25 when the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2, indicating a second proximity state.

[0060] In this embodiment, approach between the bulldozer 4 and the light vehicle 6 means relative approach between the bulldozer 4 and the light vehicle 6. Approach between the bulldozer 4 and the light vehicle 6 includes the light vehicle 6 traveling so as to approach the bulldozer 4 while the bulldozer 4 is stationary, the bulldozer 4 traveling so as to approach the light vehicle 6 while the light vehicle 6 is stationary, and the bulldozer 4 and the light vehicle 6 each traveling so as to approach each other.

[0061] [Output of Approach Data] Figure 7 is a diagram illustrating an example of approach data 80 displayed on the display device 25A when the first approach state is in accordance with the embodiment. As shown in Figure 7, when the light vehicle 6 travels through the work site 1 so as to approach the bulldozer 4, and the relative distance between the bulldozer 4 and the light vehicle 6 transitions from a state where it exceeds the first threshold Sh1 to a state where it is below the first threshold Sh1, the output control unit 55 causes the display device 25A to display approach data 80 indicating that the light vehicle 6 is approaching the bulldozer 4. In the first approach state, when the relative distance between the bulldozer 4 and the light vehicle 6 is below the first threshold Sh1 and exceeds the second threshold Sh2, the approach data 80 is displayed on the display device 25A in the first display form.

[0062] The output control unit 55 overlays the approach data 80 onto the surrounding image 70. In this embodiment, the approach data 80 includes one or both of the symbol image 81 and the character data 82 displayed on the display device 25A. The output control unit 55 overlays one or both of the symbol image 81 and the character data 82 onto the surrounding image 70. In this embodiment, the output control unit 55 overlays each of the symbol image 81 and the character data 82 onto the surrounding image 70. In the example shown in Figure 7, the symbol image 81 is an arrow image indicating that the light vehicle 6 is approaching the bulldozer 4.

[0063] As described above, the proximity determination unit 54 can calculate the relative distance between the bulldozer 4 and the light vehicle 6 based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. The proximity determination unit 54 can calculate the direction of approach of the light vehicle 6 to the bulldozer 4 (the relative position between the bulldozer 4 and the light vehicle 6) based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. The proximity determination unit 54 can calculate the approach speed of the light vehicle 6 to the bulldozer 4 (the relative speed between the bulldozer 4 and the light vehicle 6) based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31.

[0064] As described above, the approach between the bulldozer 4 and the light vehicle 6 refers to the relative approach between the bulldozer 4 and the light vehicle 6. The direction of approach of the light vehicle 6 to the bulldozer 4 refers to the relative direction of approach between the bulldozer 4 and the light vehicle 6. The approach speed of the light vehicle 6 to the bulldozer 4 refers to the relative approach speed between the bulldozer 4 and the light vehicle 6.

[0065] The proximity data 80 is displayed on the display device 25A to indicate the direction of approach of the light vehicle 6 to the bulldozer 4. The proximity data 80 is also displayed on the display device 25A to indicate the approach speed of the light vehicle 6 to the bulldozer 4. The output control unit 55 causes the proximity data 80 to be displayed on the display device 25A so that the operator can recognize the direction of approach and the approach speed of the light vehicle 6 to the bulldozer 4.

[0066] The symbol image 81 is displayed on the display device 25A to indicate the direction and speed of approach of the light vehicle 6 to the bulldozer 4. The character data 82 is displayed on the display device 25A to indicate the direction and speed of approach of the light vehicle 6 to the bulldozer 4.

[0067] As shown in Figure 7, when the light vehicle 6 is approaching the bulldozer 4 from the right, the direction of approach of the light vehicle 6 to the bulldozer 4 is to the right. The output control unit 55 displays the symbol image 81 on the display device 25A so that the operator can recognize that the direction of approach of the light vehicle 6 to the bulldozer 4 is to the right. In the example shown in Figure 7, the output control unit 55 displays the symbol image 81 to the right of the vehicle body 18 in the surrounding image 70. The output control unit 55 displays the symbol image 81 on the display device 25A so that the tip of the arrow image, which is the symbol image 81, points to the left, which is the direction of travel of the light vehicle 6. The output control unit 55 displays the symbol image 81 in the first color on the display device 25A.

[0068] When the light vehicle 6 is approaching the bulldozer 4 at a first travel speed, the approach speed of the light vehicle 6 to the bulldozer 4 is the first travel speed. The output control unit 55 displays a symbol image 81 on the display device 25A so that the operator can recognize that the approach speed of the light vehicle 6 to the bulldozer 4 is the first travel speed. In the example shown in Figure 7, the output control unit 55 changes the length of the symbol image 81 (arrow image) based on the approach speed. The output control unit 55 makes the length of the symbol image 81 longer the higher the approach speed. The output control unit 55 makes the length of the symbol image 81 shorter the lower the approach speed. The output control unit 55 displays a symbol image 81 with a length corresponding to the first travel speed.

[0069] If a light vehicle 6 is approaching the bulldozer 4 from the right at a first travel speed, the output control unit 55 displays the text "Caution: Vehicle approaching from the right" as text data 82 on the periphery of the surrounding image 70. The text data 82 may also include a numerical value indicating the approach speed. The output control unit 55 displays the first color text data 82 on the display device 25A.

[0070] Figure 8 is a diagram illustrating an example of proximity data 80 displayed on the display device 25A when the second proximity state according to the embodiment is in place. When the bulldozer 4 and the light vehicle 6 move closer together from the state shown in Figure 7, and the relative distance between the bulldozer 4 and the light vehicle 6 transitions from a state where it exceeds the second threshold Sh2 to a state where it is below the second threshold Sh2, the output control unit 55 changes the display mode of the proximity data 80 from the first display mode to the second display mode. The second display mode is different from the first display mode.

[0071] The output control unit 55 displays the symbol image 81 on the display device 25A so that the operator can recognize that the direction of approach of the light vehicle 6 to the bulldozer 4 is to the right and that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2. As shown in Figure 8, when the relative distance between the bulldozer 4 and the light vehicle 6 approaching the bulldozer 4 from the right of the bulldozer 4 becomes less than or equal to the second threshold Sh2, the output control unit 55 changes the display mode of the symbol image 81 from the first display mode to the second display mode. In the example shown in Figure 8, the output control unit 55 changes the color of the symbol image 81 from the first color to the second color and makes the symbol image 81 blink. The output control unit 55 also changes the color of the character data 82 from the first color to the second color and makes the character data 82 blink.

[0072] Figure 9 is a diagram illustrating an example of approach data 80 displayed on the display device 25A when the first approach state according to the embodiment is in effect. Figure 9 shows an example in which the relative distance between the bulldozer 4 and the light vehicle 6 approaching the bulldozer 4 from the left of the bulldozer 4 is less than or equal to the first threshold Sh1.

[0073] The output control unit 55 displays approach data 80 on the display device 25A so that the operator can recognize the direction and speed of approach of the light vehicle 6 to the bulldozer 4. As shown in Figure 9, when the light vehicle 6 is approaching the bulldozer 4 from the left, the output control unit 55 displays a symbol image 81 on the display device 25A so that the operator can recognize that the direction of approach of the light vehicle 6 to the bulldozer 4 is from the left. In the example shown in Figure 9, the output control unit 55 displays the symbol image 81 to the left of the vehicle body 18 in the surrounding image 70. The output control unit 55 displays the symbol image 81 on the display device 25A so that the tip of the arrow image, which is the symbol image 81, points to the right, which is the direction of travel of the light vehicle 6. When the light vehicle 6 is approaching the bulldozer 4 at a first travel speed, the output control unit 55 displays a symbol image 81 on the display device 25A with a length corresponding to the first travel speed.

[0074] If the light vehicle 6 is approaching the bulldozer 4 from the left at a first travel speed, the output control unit 55 displays the text "Caution: Vehicle approaching from the left" as text data 82 on the periphery of the surrounding image 70. The text data 82 may also include a numerical value indicating the approach speed.

[0075] If the bulldozer 4 and the light vehicle 6 move closer together from the state shown in Figure 9, and the relative distance between the bulldozer 4 and the light vehicle 6 transitions from a state where it exceeds the second threshold Sh2 to a state where it is below the second threshold Sh2, the output control unit 55 changes the display mode of the proximity data 80 from the first display mode to the second display mode.

[0076] Figure 10 is a diagram illustrating an example of approach data 80 displayed on the display device 25A when the first approach state according to the embodiment is in place. Figure 9 shows an example in which the relative distance between the bulldozer 4 and the light vehicle 6 approaching the bulldozer 4 from the right of the bulldozer 4 is less than or equal to the first threshold Sh1.

[0077] As shown in Figure 10, when the light vehicle 6 is approaching the bulldozer 4 from the right, the output control unit 55 displays a symbol image 81 on the display device 25A so that the operator can recognize that the direction of approach of the light vehicle 6 to the bulldozer 4 is to the right. In the example shown in Figure 10, the output control unit 55 displays the symbol image 81 to the right of the vehicle body 18 in the surrounding image 70. The output control unit 55 displays the symbol image 81 on the display device 25A such that the tip of the arrow image, which is the symbol image 81, points to the left, which is the direction of travel of the light vehicle 6.

[0078] In the example shown in Figure 10, the approach speed of the light vehicle 6 to the bulldozer 4 is a second approach speed, which is faster than the first approach speed. When the light vehicle 6 is approaching the bulldozer 4 at the second travel speed, the output control unit 55 causes the display device 25A to display a symbol image 81 of a length corresponding to the second travel speed.

[0079] If the light vehicle 6 is approaching the bulldozer 4 from the right at the second travel speed, the output control unit 55 displays the text "Caution: Vehicle rapidly approaching from the right" as text data 82 on the periphery of the surrounding image 70. The text data 82 may also include a numerical value indicating the approach speed.

[0080] In the display device 25A shown in Figures 7, 8, 9, and 10, the symbol image 81 is not limited to an arrow image. The symbol image 81 may be any graphic image or any icon image. Furthermore, the length of the symbol image 81 may be changed, the color of the symbol image 81 may be changed, or the density of the color of the symbol image 81 may be changed based on the approach speed. In addition, the symbol image 81 may be superimposed on the surrounding image 70 and the character data 82 may not be displayed. In addition, the character data 82 may be superimposed on the surrounding image 70 and the symbol image 81 may not be displayed.

[0081] Figure 11 is a diagram illustrating an example of proximity data 80 displayed on the display device 25A when the first proximity state according to the embodiment is in effect. As shown in Figure 11, the proximity data indicating that the light vehicle 6 is approaching the bulldozer 4 may include a flashing ambient image 70. That is, when the relative distance between the bulldozer 4 and the light vehicle 6 approaching the bulldozer 4 becomes less than or equal to a first threshold Sh1, the ambient image 70 may be flashed.

[0082] The blinking period for which the surrounding image 70 is displayed is predetermined. The surrounding image 70 blinks for the duration of the blinking period starting from the point when the relative distance between the bulldozer 4 and the light vehicle 6 transitions from a state where it exceeds the first threshold Sh1 to a state where it is below the first threshold Sh1. After the blinking period ends, even if the relative distance between the bulldozer 4 and the light vehicle 6 is below the first threshold Sh1, the output control unit 55 terminates the blinking display of the surrounding image 70 and displays the surrounding image 70 in normal mode (continuous display). The blinking display of the surrounding image 70 may also be terminated by the operator operating an input device (not shown).

[0083] Furthermore, a flashing period is not required. If the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1, the flashing display of the surrounding image 70 may continue.

[0084] The approach data indicating that the light vehicle 6 is approaching the bulldozer 4 may include a warning sound output from the audio output device 25B. The output control unit 55 does not output a warning sound from the audio output device 25B when the relative distance between the bulldozer 4 and the light vehicle 6 exceeds the first threshold Sh1, which is a non-approach state. The output control unit 55 outputs a warning sound from the audio output device 25B in the first output form when the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1 and exceeds the second threshold Sh2, which is a first approach state. The output control unit 55 outputs a warning sound from the audio output device 25B in the second output form when the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2, which is a second approach state.

[0085] [Output of Guidance Data] Figure 12 is a diagram illustrating an example of guidance data 90 displayed on the display device 25A according to the embodiment. As described with reference to Figure 7, when the relative distance between the bulldozer 4 and the light vehicle 6 transitions from a state where it exceeds the first threshold Sh1 to a state where it is less than or equal to the first threshold Sh1, the output control unit 55 causes the display device 25A to display proximity data 80 indicating that the light vehicle 6 is approaching the bulldozer 4. The proximity data 80 includes a symbol image 81 and character data 82.

[0086] As shown in Figure 12, the output control unit 55 can display guidance data 90 on the display device 25A indicating the direction in which the bulldozer 4 should move, based on the direction in which the light vehicle 6 approaches the bulldozer 4, so as to prevent the relative distance between the bulldozer 4 and the light vehicle 6 from becoming too short. In other words, the output control unit 55 can display guidance data 90 on the display device 25A indicating the direction in which the bulldozer 4 should move, so as to avoid contact between the bulldozer 4 and the light vehicle 6. The output control unit 55 displays the guidance data 90 on the display device 25A so that the operator can recognize the direction in which the bulldozer 4 should move. By checking the guidance data 90 displayed on the display device 25A, the operator can operate the remote control device 24 so as to avoid contact between the bulldozer 4 and the light vehicle 6.

[0087] As shown in Figure 12, when the light vehicle 6 is approaching the bulldozer 4 from the right, that is, when the direction of approach of the light vehicle 6 to the bulldozer 4 is from the right, the direction in which the bulldozer 4 should move in order to prevent the relative distance between the bulldozer 4 and the light vehicle 6 from becoming too short is to the left, which is opposite to the direction in which the light vehicle 6 is approaching. The output control unit 55 displays guidance data 90 on the display device 25A so that the operator can recognize that the direction in which the bulldozer 4 should move is to the left.

[0088] The output control unit 55 overlays the approach data 80 and guidance data 90 onto the surrounding image 70. In this embodiment, the guidance data 90 includes one or both of the symbol image 91 and character data 92 displayed on the display device 25A. The output control unit 55 overlays one or both of the symbol image 91 and character data 92 onto the surrounding image 70. In this embodiment, the output control unit 55 overlays each of the symbol image 91 and character data 92 onto the surrounding image 70. In the example shown in Figure 12, the symbol image 91 is displayed on the display device 25A to indicate the direction in which the bulldozer 4 should move. The character data 92 is displayed on the display device 25A to indicate the direction in which the bulldozer 4 should move.

[0089] The output control unit 55 displays the symbol image 91 on the display device 25A so that the operator can recognize that the bulldozer 4 should move to the left. In the example shown in Figure 12, the output control unit 55 displays the symbol image 91 to the left of the vehicle body 18 in the surrounding image 70. The output control unit 55 displays the symbol image 91 on the display device 25A so that the tip of the arrow image, which is the symbol image 91, points to the left.

[0090] If the light vehicle 6 approaches the bulldozer 4 from the right and the direction the bulldozer 4 should move is to the left, the output control unit 55 displays the text data 92 "Turn to the left" on the periphery of the surrounding image 70.

[0091] If the light vehicle 6 is approaching the bulldozer 4 from the right, guidance data 90 recommending that the bulldozer 4 move to the left is displayed on the display device 25A, allowing the operator to operate the remote control device 24 so as to avoid contact between the bulldozer 4 and the light vehicle 6.

[0092] The output control unit 55 may also output voice data as guidance data to the voice output device 25B. The voice output device 25B may output voice messages such as "Turn left."

[0093] In the display device 25A shown in Figure 12, the symbol image 91 is not limited to an arrow image. The symbol image 91 may be any graphic image or any icon image. The symbol image 91 may be superimposed on the surrounding image 70 and the character data 92 may not be displayed. The character data 92 may be superimposed on the surrounding image 70 and the symbol image 91 may not be displayed.

[0094] [Automatic Control] Figure 13 is a diagram illustrating the automatic control of the bulldozer 4 according to the embodiment. As shown in Figure 13, when the bulldozer 4 is moving forward and the light vehicle 6 is traveling in front of the bulldozer 4, there is a high probability that the bulldozer 4 and the light vehicle 6 will come into contact. The proximity determination unit 54 can determine whether there is a high probability that the bulldozer 4 and the light vehicle 6 will come into contact based on the change in the position of the bulldozer 4 detected by the position sensor 41 and the change in the position of the light vehicle 6 detected by the position sensor 31.

[0095] If the proximity detection unit 54 determines that there is a high probability of contact between the bulldozer 4 and the light vehicle 6, the control command transmission unit 52 outputs a control command to automatically control the running gear 19 of the bulldozer 4 so as to suppress contact between the bulldozer 4 and the light vehicle 6. The control command transmission unit 52 outputs a control command, for example, to stop the running gear 19 of the bulldozer 4. The control command transmission unit 52 outputs a control command, for example, to activate the automatic brake of the running gear 19. By activating the automatic brake of the running gear 19, contact between the bulldozer 4 and the light vehicle 6 is suppressed.

[0096] Figure 14 is a diagram illustrating the automatic control of a bulldozer 4 according to an embodiment. As shown in Figure 14, when the bulldozer 4 is moving forward, if the dump truck 2 is traveling in front of the bulldozer 4, there is a high probability that the bulldozer 4 and the dump truck 2 will come into contact. The dump truck 2 is an example of a vehicle traveling around the bulldozer 4. The dump truck 2 has a position sensor that detects its position using the Global Navigation Satellite System (GNSS). The detection data from the position sensor of the dump truck 2 is transmitted to the control server 12. The proximity determination unit 54 can determine whether there is a high probability that the bulldozer 4 and the dump truck 2 will come into contact based on the change in the position of the bulldozer 4 detected by the position sensor 41 and the change in the position of the dump truck 2 detected by the position sensor of the dump truck 2. The control server 12 can determine whether there is a high probability that the bulldozer 4 and the dump truck 2 will come into contact based on the change in the position of the bulldozer 4 detected by the position sensor 41 and the change in the position of the dump truck 2 detected by the position sensor of the dump truck 2.

[0097] If the proximity detection unit 54 determines that there is a high probability of contact between the bulldozer 4 and the dump truck 2, the control command transmission unit 52 outputs a control command to automatically control the running gear 19 of the bulldozer 4 so as to suppress contact between the bulldozer 4 and the dump truck 2. The control command transmission unit 52 outputs a control command, for example, to activate the automatic brake of the running gear 19 of the bulldozer 4. The control server 12 outputs a control command to automatically control the running gear of the dump truck 2 so as to suppress contact between the bulldozer 4 and the dump truck 2. The control server 12 outputs a control command, for example, to activate the automatic brake of the running gear of the dump truck 2. Contact between the bulldozer 4 and the dump truck 2 is avoided by the activation of the automatic brakes of both the bulldozer 4 and the dump truck 2.

[0098] [Management Method] Figure 15 is a flowchart showing the management method of the bulldozer 4 according to this embodiment. The imaging device 43 captures an image 70 of the bulldozer 4's surroundings. The image 70 of the bulldozer 4 captured by the imaging device 43 is transmitted to the remote controller 27. The image acquisition unit 53 acquires the image 70 of the bulldozer 4 captured by the imaging device 43. The output control unit 55 displays the image 70 of the bulldozer 4 acquired by the image acquisition unit 53 on the display device 25A. The operator operates the remote control device 24 while checking the image 70 of the bulldozer 4's surroundings displayed on the display device 25A. The operation command transmission unit 51 generates an operation command for remotely operating the bulldozer 4 based on the operation signal from the remote control device 24. The operation command transmission unit 51 transmits the operation command to the on-board controller 22 of the bulldozer 4 via the communication system 29. The on-board controller 22 controls at least one of the traveling device 19, the excavating work machine 20, and the ripper work machine 21 based on the operation command transmitted from the operation command transmission unit 51.

[0099] The proximity determination unit 54 acquires the position data of the bulldozer 4 detected by the position sensor 41 and the position data of the light vehicle 6 detected by the position sensor 31 (step S1).

[0100] The proximity determination unit 54 calculates the relative distance between the bulldozer 4 and the light vehicle 6 based on the position data of the bulldozer 4 acquired in step S1 and the position data of the light vehicle 6 detected by the position sensor 31 (step S2).

[0101] The proximity determination unit 54 determines whether the relative distance between the bulldozer 4 and the light vehicle 6 calculated in step S2 is less than or equal to a predetermined first threshold Sh1 (step S3).

[0102] In step S3, if it is determined that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1 (step S3: Yes), the output control unit 55 causes the approach data 80 to be output to the output device 25 in a first output form. The output control unit 55 then superimposes the symbol image 81 and the character data 82 onto the surrounding image 70 in a first display form, as described with reference to Figure 7, for example (step S4).

[0103] The proximity determination unit 54 determines whether the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to a predetermined second threshold Sh2 (step S5).

[0104] In step S5, if it is determined that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2 (step S5: Yes), the output control unit 55 causes the approach data 80 to be output to the output device 25 in a second output form. The output control unit 55 then superimposes the symbol image 81 and the character data 82 onto the surrounding image 70 in a second display form, as described with reference to Figure 8, for example (step S6).

[0105] The output control unit 55 determines whether or not to terminate the output of output data from the output device 25 (step S7). If it is determined in step S7 to terminate the output of output data from the output device 25 (step S7: Yes), the output control unit 55 terminates the output of output data from the output device 25. If it is determined in step S7 to continue the output of output data from the output device 25 (step S7: No), the process returns to step S1. Also, if it is determined in step S3 that the relative distance between the bulldozer 4 and the light vehicle 6 is not less than or equal to the first threshold Sh1 (step S3: No), and if it is determined in step S5 that the relative distance between the bulldozer 4 and the light vehicle 6 is not less than or equal to the second threshold Sh2 (step S5: No), it is determined whether or not to terminate the output of output data from the output device 25.

[0106] [Effects] As described above, in this embodiment, the processor 30A of the remote controller 27 includes a proximity determination unit 54 that acquires the respective positions of the bulldozer 4 and the light vehicle 6, and an output control unit 55 that causes the output device 25 to output proximity data 80 indicating that the light vehicle 6, which is located around the bulldozer 4, is approaching the bulldozer 4.

[0107] According to this embodiment, since proximity data 80 is output from the output device 25, the operator in the remote control room 23 can recognize the presence of the light vehicle 6 around the bulldozer 4. Because the operator in the remote control room 23 can recognize the presence of the light vehicle 6 around the bulldozer 4, measures can be taken to avoid contact between the bulldozer 4 and the light vehicle 6. This suppresses the occurrence of unforeseen incidents at the work site 1, thereby suppressing a decrease in productivity at the work site 1.

[0108] For example, by starting the output of proximity data 80 when the light vehicle 6 is not visible in the surrounding image 70, the operator can recognize early that the light vehicle 6 is approaching the bulldozer 4. Since the operator can recognize the presence of the light vehicle 6 in the vicinity of the bulldozer 4 early, measures to avoid contact between the bulldozer 4 and the light vehicle 6 can be taken early.

[0109] The proximity determination unit 54 determines whether the light vehicle 6 is approaching the bulldozer 4 based on the relative distance between the bulldozer 4 and the light vehicle 6. As a result, proximity data 80 indicating that the light vehicle 6 is approaching the bulldozer 4 is appropriately output from the output device 25.

[0110] The proximity determination unit 54 calculates the relative distance between the bulldozer 4 and the light vehicle 6 based on the position of the bulldozer 4 detected by the position sensor 41 and the position of the light vehicle 6 detected by the position sensor 31. This allows for accurate calculation of the relative distance between the bulldozer 4 and the light vehicle 6.

[0111] The output control unit 55 starts outputting proximity data 80 when it determines that the relative distance between the bulldozer 4 and the light vehicle 6 has fallen below the first threshold Sh1. This ensures that the proximity data 80 is output at the appropriate time when it is necessary.

[0112] The output control unit 55 outputs proximity data 80 in a first output form when it determines that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1, and outputs proximity data 80 in a second output form when it determines that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2, which is shorter than the first threshold Sh1. This allows the operator to recognize that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the first threshold Sh1, and that the relative distance between the bulldozer 4 and the light vehicle 6 is less than or equal to the second threshold Sh2.

[0113] The output control unit 55 terminates the output of proximity data 80 when it determines that the relative distance between the bulldozer 4 and the light vehicle 6 exceeds the first threshold Sh1. This prevents the proximity data 80 from being continuously output when it is not needed.

[0114] The output control unit 55 outputs approach data 80 so that the operator can recognize the direction in which the light vehicle 6 is approaching the bulldozer 4. This allows the operator to recognize the direction in which the light vehicle 6 is approaching the bulldozer 4. The operator can then take measures to avoid contact between the bulldozer 4 and the light vehicle 6.

[0115] The approach data 80 includes a symbolic image 81 indicating the direction of approach of the light vehicle 6 to the bulldozer 4. This allows the operator to intuitively recognize the direction of approach of the light vehicle 6 to the bulldozer 4.

[0116] The output control unit 55 outputs approach data 80 so that the operator can recognize the approaching speed of the light vehicle 6 to the bulldozer 4. This allows the operator to recognize the approaching speed of the light vehicle 6 to the bulldozer 4. The operator can then take measures to avoid contact between the bulldozer 4 and the light vehicle 6.

[0117] The output device 25 includes a display device 25A. The output control unit 55 overlays the symbol image 81 onto the surrounding image 70. This allows the operator to intuitively recognize the direction in which the light vehicle 6 is approaching the work site 1.

[0118] The output device 25 includes a display device 25A. The proximity data 80 includes either or both of a symbol image 81 and character data 82 displayed on the display device 25A. The output control unit 55 overlays the proximity data 80 onto the surrounding image 70. This allows the operator to intuitively recognize that a light vehicle 6 is approaching a bulldozer 4 at the work site 1.

[0119] [Other Embodiments] In the above-described embodiment, the vehicles traveling around the bulldozer 4 are either light vehicles 6 or dump trucks 2. The vehicles traveling around the bulldozer 4 may be other work machines different from the bulldozer 4. The vehicles traveling around the bulldozer 4 may be other bulldozers, or shovels 3, or motor graders 5, or wheel loaders.

[0120] In the above-described embodiment, the remotely controlled work machine is a bulldozer 4. However, the remotely controlled work machine is not limited to a bulldozer 4. The remotely controlled work machine may be an excavator 3, a motor grader 5, or a wheel loader.

[0121] In the above-described embodiment, at least a portion of the functional parts of the remote controller 27 may be provided on the control server 12. At least a portion of the functional parts of the control server 12 may be provided on the remote controller 27.

[0122] In the above-described embodiment, each of the multiple functional units of the remote controller 27 may be configured by a separate computer (hardware).

[0123] 1...Work site, 2...Dump truck (vehicle), 3...Excavator (working machine), 4...Bulldozer (working machine), 5...Motor grader (working machine), 6...Light vehicle (vehicle), 7...Loading area, 8...Soil removal area, 9...Transport route, 10...Management system, 11...Remote control system, 12...Control server, 13...Communication system, 14...Control facility, 15...Vehicle body, 16...Running gear, 17...On-board controller, 18...Vehicle body, 19...Running gear, 20...Excavating work machine, 20A...Excavating blade, 20B...Lift frame, 20C...Tilt cylinder, 20D...Lift cylinder, 21...Ripper work machine, 21A...Shank, 21B...Ripper arm, 21C...Tilt cylinder, 21D...Lift cylinder, 21E...Beam, 22...On-board controller, 23...Remote control room, 24...Remote control device, 25...Output device, 25A...Display Device, 25B...Audio output device, 27...Remote controller, 28...Driver's seat, 29...Communication system, 30...Computer, 30A...Processor, 30B...Main memory, 30C...Storage, 30D...Input / output interface, 30E...Communication interface, 30F...Computer program, 31...Position sensor (second position sensor), 41...Position sensor (first position sensor), 42...Obstacle sensor, 43...Imaging device, 51...Operation command transmission unit, 52...Control command transmission unit, 53...Image acquisition unit, 54...Proximity determination unit, 55...Output control unit, 56...Storage unit, 70...Surrounding image, 71...Reference image, 71A...Blade reference line, 71B...Distance reference line, 80...Proximity data, 81...Symbol image, 82...Character data, 90...Guidance data, 91...Symbol image, 92...Character data, CL1...First circle, CL2...Second circle.

Claims

1. A management system for work machines, comprising a processor, the processor acquiring the respective positions of the work machine and the traveling vehicle, and causing the traveling vehicle to output proximity data to an output device indicating that it is approaching the work machine.

2. The management system for a work machine according to claim 1, wherein the processor transmits operation commands for remotely operating the work machine based on operation signals from a remote control device located in a remote control room outside the work machine, and the output device is located in the remote control room.

3. The management system for a work machine according to claim 1, wherein the processor determines whether the traveling vehicle is approaching the work machine based on the relative distance between the work machine and the traveling vehicle.

4. The management system for a work machine according to claim 3, wherein the processor calculates the relative distance based on the position of the work machine detected by the first position sensor and the position of the traveling vehicle detected by the second position sensor.

5. The management system for a work machine according to claim 1, wherein the processor determines that the relative distance between the work machine and the traveling vehicle has fallen below a first threshold, and initiates the output of the proximity data.

6. The management system for a work machine according to claim 5, wherein the processor outputs the approach data in a first output form when it is determined that the relative distance is less than or equal to the first threshold, and outputs the approach data in a second output form when it is determined that the relative distance is less than or equal to a second threshold which is shorter than the first threshold.

7. The management system for a work machine according to claim 5, wherein the processor terminates outputting the proximity data when it determines that the relative distance exceeds the first threshold.

8. The management system for a work machine according to claim 1, wherein the approach data indicates the direction of approach of the vehicle.

9. The management system for a work machine according to claim 8, wherein the output device includes a display device, and the approach data includes a symbolic image indicating the approach direction.

10. The management system for a work machine according to claim 9, wherein the proximity data indicates the approaching speed of the vehicle.

11. The management system for a work machine according to claim 9, wherein the processor acquires a surrounding image of the work machine captured by the imaging device and displays the symbol image superimposed on the surrounding image.

12. The management system for a work machine according to claim 1, wherein the output device includes a display device, the proximity data includes either or both a symbol image and character data displayed on the display device, and the processor acquires a surrounding image of the work machine captured by an imaging device and displays the proximity data superimposed on the surrounding image.

13. The management system for a work machine according to claim 1, wherein the output device includes a display device, the processor acquires a peripheral image of the work machine captured by an imaging device, and the proximity data includes the peripheral image that is displayed in a blinking manner.

14. The management system for a work machine according to claim 1, wherein the output device includes an audio output device, and the proximity data includes a warning sound output from the audio output device.

15. The management system for a work machine according to claim 1, wherein the approach data indicates the direction of approach of the traveling vehicle, and the processor causes the output device to output guidance data indicating the direction in which the work machine should move so as to prevent the relative distance between the work machine and the traveling vehicle from becoming too short, based on the approach direction.

16. The management system for a work machine according to claim 1, wherein the processor outputs a control command for automatically controlling the travel device of the work machine so as to suppress contact between the work machine and the travel vehicle when it is determined that there is a high probability of contact between the work machine and the travel vehicle.

17. A method for managing a work machine, comprising: acquiring the respective positions of the work machine and the vehicle; and outputting proximity data to an output device indicating that the vehicle is approaching the work machine.

18. A method for managing a work machine according to claim 17, comprising transmitting an operation command for remotely operating the work machine based on an operation signal from an operation device located in a remote control room outside the work machine, wherein the output device is located in the remote control room.

19. A method for managing a work machine according to claim 17, comprising determining whether the traveling vehicle is approaching the work machine based on the relative distance between the work machine and the traveling vehicle.

20. A method for managing a work machine according to claim 19, wherein the relative distance is calculated based on the position of the work machine detected by the first position sensor and the position of the traveling vehicle detected by the second position sensor.

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