Work site management system

Abstract

This work site management system comprises a processor. The processor calculates work data indicating the progress of a first work machine operating in a work area of a work site, and outputs a display command to cause a display device assigned to a second work machine capable of operating in the work area to display the work data.

Description

Work site management system

[0001] The present disclosure relates to a work site management system.

[0002] In the technical field related to work site management systems, a management system as disclosed in Patent Document 1 is known.

[0003] Japanese Unexamined Patent Publication No. 2021-114055

[0004] There are cases where a second work machine performs work in a work area of a work site after the work of a first work machine is completed. If an operator of the second work machine cannot recognize the progress status of the work of the first work machine, there is a possibility that the work efficiency of the second work machine may decrease.

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

[0006] According to the present disclosure, a work site management system is provided. The management system includes a processor. The processor calculates work data indicating a progress status of a first work machine working in a work area of a work site, and outputs a display command for causing the work data to be displayed on a display device assigned to a second work machine that can work in the work area.

[0007] According to the present disclosure, a decrease in work efficiency 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 schematic diagram showing an example of a soil removal area according to the embodiment. Figure 4 is a hardware configuration diagram showing a control server according to the embodiment. Figure 5 is a block diagram showing the management system and remote control system according to the embodiment. Figure 6 is a diagram for explaining the driving data of a dump truck according to the embodiment. Figure 7 is a diagram for explaining a divided area according to the embodiment. Figure 8 is a diagram for explaining the dump truck operating area according to the embodiment. Figure 9 is a diagram for explaining the bulldozer operating area according to the embodiment. Figure 10 is a diagram for explaining a virtual wall according to the embodiment. Figure 11 is a diagram for explaining the bulldozer operating area and dump truck operating area according to the embodiment. Figure 12 is a diagram for explaining the bulldozer operating area and dump truck operating area according to the embodiment. Figure 13 is a diagram for explaining the method for calculating the work completion time according to the embodiment. Figure 14 is a diagram showing an example of a display device according to the embodiment. Figure 15 is a diagram showing an example of a second display device displaying a first time image according to the embodiment. Figure 16 is a diagram for explaining the method for calculating the work in progress according to the embodiment. Figure 17 is a diagram showing an example of a second display device showing a second time image according to the embodiment. Figure 18 is a flowchart of a work site management method according to the embodiment. Figure 19 is a diagram illustrating the relationship between the bulldozer operator and the first and second bulldozers according to the embodiment. Figure 20 is a diagram schematically showing an example of a soil removal area according to another 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] Multiple work machines operate at the work site 1. In this embodiment, the work machines include a dump truck 2, an excavator 3, a bulldozer 4, and a motor grader 5. The dump truck 2 has a dump body into which cargo is loaded. Each of the excavator 3, bulldozer 4, and motor grader 5 has a work mechanism.

[0012] The work performed by dump truck 2 includes the transport of cargo loaded onto the dump body and the soil removal work of unloading the cargo from the dump body. Dump truck 2 may be a manned or unmanned dump truck. A manned dump truck is a dump truck that performs work based on the driver's operation. An unmanned dump truck is a dump truck that performs work without the driver's operation. In this embodiment, dump truck 2 is an unmanned dump truck.

[0013] The work performed by the shovel 3 includes excavation work, which involves excavating the work target using the implement, and loading work, which involves loading cargo onto the dump truck 2 using the implement. The work performed by the bulldozer 4 includes excavation work, which involves excavating the work target using the implement, leveling work, which involves leveling the terrain of the work site 1 using the implement, and embankment formation work, which involves forming an embankment using the implement. The work performed by the motor grader 5 includes excavation work, which involves excavating the work target using the implement, and leveling work, which involves leveling the terrain of the work site 1 using the implement.

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

[0015] Loading area 6 refers to the work area where loading operations are carried out to load cargo onto dump truck 2. Multiple loading areas 6 may be provided at the work site 1. Excavated material excavated in loading area 6 is an example of cargo. Excavator 3 performs excavation and loading operations in loading area 6.

[0016] The soil removal area 7 refers to the work area where soil removal operations are carried out, in which dump trucks 2 unload their cargo. Multiple soil removal areas 7 may be provided at the work site 1. In this embodiment, the soil removal area 7 includes a first soil removal area 7A and a second soil removal area 7B separate from the first soil removal area 7A. The bulldozer 4 performs excavation work, leveling work, and embankment formation work in the soil removal area 7. The bulldozer 4 includes a first bulldozer 4A that works in the first soil removal area 7A and a second bulldozer 4B that works in the second soil removal area 7B.

[0017] The transport path 8 refers to the road on which the dump truck 2 travels. The transport path 8 leads to the loading area 6 and the soil removal area 7, respectively. The transport path 8 is provided to connect at least the loading area 6 and the soil removal area 7. A dump truck 2 heading towards at least one of the loading area 6 and the soil removal area 7 travels along the transport path 8. The dump truck 2 travels along the transport path 8, for example, by going back and forth between the loading area 6 and the soil removal area 7. The motor grader 5 performs excavation and leveling work along the transport path 8.

[0018] [Management System and Remote Control System] Figure 2 is a schematic diagram showing the management system 9 and remote control system 10 according to the embodiment. The management system 9 manages the work site 1. The management system 9 manages the dump truck 2, shovel 3, bulldozer 4, and motor grader 5, respectively. In Figure 2, the dump truck 2 and bulldozer 4 are shown as work machines. In the following description, for the sake of simplicity, an example will be given in which the management system 9 manages the dump truck 2 and bulldozer 4. The dump truck 2 is an example of a first work machine. The bulldozer 4 is an example of a second work machine.

[0019] The management system 9 comprises a control server 11 and a communication system 12. The control server 11 includes a computer. The control server 11 is located outside the dump truck 2 and the bulldozer 4. The control server 11 is installed in the control facility 13 of the work site 1. The control server 11 manages the work site 1. The control server 11 manages the dump truck 2 and the bulldozer 4. The communication system 12 includes at least one of the following: the internet, a mobile phone network, a satellite network, and a local area network (LAN).

[0020] The dump truck 2 comprises a body 14, a running gear 15, a dump body 16, and an on-board controller 17. The body 14 is supported by the running gear 15. The running gear 15 supports the body 14 and travels around the work site 1. The running gear 15 includes four wheels on which tires are mounted. The running gear 15 is driven by power generated by an engine (not shown). The running gear 15 is braked by the operation of a brake device (not shown). The running gear 15 turns by a steering device (not shown). The dump truck 2 travels around the work site 1 by rotating with the tires of the running gear 15 in contact with the ground of the work site 1.

[0021] The dump body 16 is the component into which the cargo is loaded. The dump body 16 is supported by the vehicle body 14. The dump body 16 performs dumping and lowering operations. Dumping operation refers to the operation of moving the dump body 16 away from the vehicle body 14 and tilting it in the dumping direction. In this embodiment, the dumping direction of the dump body 16 is towards the rear of the vehicle body 14. Lowering operation refers to the operation of moving the dump body 16 closer to the vehicle body 14. When loading operations are performed, the dump body 16 performs a lowering operation. When soil removal operations are performed, the dump body 16 performs a dumping operation.

[0022] The on-board controller 17 includes a computer. The control server 11 and the on-board controller 17 of the dump truck 2 communicate wirelessly via the communication system 12.

[0023] 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.

[0024] 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.

[0025] The drilling blade 20A is positioned in front of the vehicle body 18. The drilling blade 20A has a cutting edge 20E. 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 pivot mechanism. The other end of the lift frame 20B is connected to the side of the travel device 19 via a pivot mechanism. The tilt cylinder 20C and the lift cylinder 20D are hydraulic cylinders that operate the drilling blade 20A. The tilt cylinder 20C is driven to tilt the drilling blade 20A. The lift cylinder 20D is driven to move the drilling blade 20A up and down. The tilt angle of the drilling blade 20A changes as the tilt cylinder 20C extends and retracts. The drilling blade 20A moves up and down as the lift cylinder 20D extends and retracts.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The on-board controller 22 includes a computer. The control server 11 and the on-board controller 22 of the bulldozer 4 communicate wirelessly via the communication system 12.

[0030] 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 10. At least a part of the remote control system 10 is located in a remote control room 23. The remote control room 23 is located outside the bulldozer 4. The remote control room 23 is installed in a remote location away from the work site 1. The remote control system 10 includes a remote control device 24, a display device 25, an input device 26, and a remote controller 27.

[0031] 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.

[0032] The display device 25 is located in the remote control room 23. The display device 25 displays captured images of the work site 1. The display device 25 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED). In this embodiment, the display device 25 includes a first display device 25A and a second display device 25B located at least a portion of the periphery of the first display device 25A. The operator operates the remote control device 24 while viewing the captured images of the work site 1 displayed on the display device 25. The bulldozer 4 is remotely controlled by the remote control device 24.

[0033] The input device 26 is located in the remote control room 23. The input device 26 generates input data when operated by an operator. Examples of input devices 26 include a touch panel, buttons, and a computer keyboard.

[0034] 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).

[0035] The control server 11 and the remote controller 27 communicate via the communication system 29. Note that the communication system 12 and the communication system 29 may be separate communication systems. At least a portion of the communication system 12 and the communication system 29 may be the same communication system.

[0036] [Soil Removal Area] Figure 3 is a schematic diagram showing an example of a soil removal area 7 according to the embodiment. Both the dump truck 2 and the bulldozer 4 can travel on the ground 706 of the soil removal area 7. The ground 706 of the soil removal area 7 is substantially flat. Both the dump truck 2 and the bulldozer 4 work in the soil removal area 7. The dump truck 2 works around the bulldozer 4.

[0037] The work performed by the dump truck 2 in the soil removal area 7 includes at least one of the following: driving operations, which involve driving on the ground 706 of the soil removal area 7, and soil removal operations, which involve unloading the cargo from the dump body 16 in the soil removal area 7. The work performed by the bulldozer 4 in the soil removal area 7 includes leveling operations, which involve leveling the terrain of the soil removal area 7, and embankment formation operations, which involve forming an embankment 703 in the soil removal area 7. The leveling operations include shaping the embankment 703 and leveling the ground 706 of the soil removal area 7. For example, unevenness may be formed on the ground 706 of the soil removal area 7 due to the driving of the dump truck 2 or the dropping of cargo from the dump body 16. The bulldozer 4 performs leveling operations so that the ground 706 of the soil removal area 7 becomes flat.

[0038] A sloping cliff 701 exists around the soil removal area 7. The sloping cliff 701 is located outside the edge 702 of the soil removal area 7. The sloping cliff 701 is a prohibited area where dump trucks 2 and bulldozers 4 are prohibited from operating at the work site 1. Dump trucks 2 and bulldozers 4 cannot travel on the sloping cliff 701. The soil removal area 7 and the sloping cliff 701 are separated by the edge 702 of the soil removal area 7. A bank 703 is formed on the edge 702. The bank 703 protrudes upward from the ground 706 of the soil removal area 7 near the edge 702.

[0039] During the soil removal operation, the dump truck 2 approaches the edge 702 of the soil removal area 7 while reversing. The onboard controller 17 of the dump truck 2 causes the dump body 16 to dump backward after the dump truck 2 has approached the edge 702 of the soil removal area 7. As the dump truck 2 approaches the edge 702 while reversing, the dump body 16 dumps backward, causing the load loaded on the dump body 16 to be removed onto the downward cliff 701.

[0040] The height of the embankment 703 is set so as not to obstruct the soil removal work of the dump truck 2, and so as not to make it difficult for the dump truck 2 to drive over the embankment 703. The height of the embankment 703 is, for example, about the same as the radius of the tires of the dump truck 2. Since the embankment 703 is formed on the edge 702, the dump truck 2 performing soil removal work is prevented from going outside the soil removal area 7.

[0041] [Computer] Figure 4 is a hardware configuration diagram showing a control server 11 according to an embodiment. The control server 11 includes a computer 30. The computer 30 has a processor 30A such as a CPU (Central Processing Unit), a main memory 30B including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 30C such as a semiconductor disk, an input / output interface 30D including an input / output circuit, and a communication interface 30E including a communication circuit. The functions of the control server 11 are stored in the storage 30C as a computer program 30F. The processor 30A reads the computer program 30F from the storage 30C, loads it into the main memory 30B, and executes processing according to the computer program 30F. The computer program 30F may be distributed to the control server 11 via a network.

[0042] Similar to the control server 11, the on-board controller 17 of the dump truck 2, the on-board controller 22 of the bulldozer 4, and the remote controller 27 each also include a computer 30. Each of the on-board controllers 17 of the dump truck 2, 22 of the bulldozer 4, and 27 also includes a processor 30A, main memory 30B, storage 30C for storing computer programs 30F, input / output interface 30D, and communication interface 30E.

[0043] FIG. 5 is a block diagram showing a management system 9 and a remote control system 10 according to an embodiment. A dump truck 2 includes a traveling device 15, a dump body 16, a position sensor 31, an orientation sensor 32, a speed sensor 33, and an in-vehicle controller 17. A bulldozer 4 includes a traveling device 19, an excavating work implement 20, a ripper work implement 21, a position sensor 41, and an imaging device 42.

[0044] The position sensor 31 detects the position of the dump truck 2. The position sensor 31 is arranged on a vehicle body 14 of the dump truck 2. The position sensor 31 detects the position of the dump truck 2 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 31 includes a GNSS receiver arranged on the vehicle body 14. The position sensor 31 detects the position of the dump truck 2 in the global coordinate system.

[0045] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation of the dump truck 2 includes an azimuth angle with respect to a reference orientation. The reference orientation is, for example, north. An example of the orientation sensor 32 is an Inertial Measurement Unit (IMU). Note that the orientation sensor 32 may include a calculator that calculates an orientation from position data detected by two GNSS antennas provided on the dump truck 2. The calculator can calculate the orientation from a vector connecting the two GNSS antennas. The orientation sensor 32 may detect an inclination angle of the dump truck 2 with respect to a horizontal plane. When the orientation sensor 32 is an inertial measurement unit (IMU), it can detect the inclination angle of the dump truck 2 with respect to the horizontal plane.

[0046] The speed sensor 33 detects the traveling speed of the dump truck 2. The speed sensor 33 detects the traveling speed of the dump truck 2, for example, by detecting the rotation speed of a drive shaft connected to the wheels of the traveling device 15.

[0047] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is disposed on the vehicle body 18 of the bulldozer 4. The position sensor 41 detects the position of the bulldozer 4 using a Global Navigation Satellite System (GNSS). The position sensor 41 includes a GNSS receiver disposed on the vehicle body 18. The position sensor 41 detects the position of the bulldozer 4 in a global coordinate system.

[0048] The imaging device 42 images an imaging target. The imaging device 42 is disposed on the vehicle body 18. As shown in FIG. 2, in the embodiment, the imaging device 42 is disposed on an upper portion of the vehicle body 18. The imaging targets of the imaging device 42 include the work site 1 of the bulldozer 4. The imaging targets of the imaging device 42 include the ground of the work site 1 around the bulldozer 4 and objects around the bulldozer 4. The captured image of the work site 1 captured by the imaging device 42 is a surrounding image 80 showing an image of the surroundings of the bulldozer 4. The surrounding image 80 of the bulldozer 4 is displayed on the display device 25 of the remote control room 23. An RGB camera is exemplified as the imaging device 42. Note that the imaging device 42 may be an RGB-D camera or a hyperspectral camera.

[0049] The processor 30A of the remote controller 27 has a plurality of functional units. The functional units of the processor 30A of the remote controller 27 include a switching unit 61, an operation signal transmitting unit 62, an image acquiring unit 63, a display control unit 64, and a notification data transmitting unit 65.

[0050] The switching unit 61 determines which bulldozer 4 to be remotely controlled from among a plurality of bulldozers 4 that can be remotely controlled by the remote control system 10. In this embodiment, the remotely controllable bulldozers 4 include a first bulldozer 4A and a second bulldozer 4B. The switching unit 61 can switch the bulldozer 4 to be remotely controlled between the first bulldozer 4A and the second bulldozer 4B. In this embodiment, the switching unit 61 switches the bulldozer 4 to be remotely controlled based on input data from the input device 26. The operator can switch the bulldozer 4 to be remotely controlled between the first bulldozer 4A and the second bulldozer 4B by operating the input device 26. For example, when the remotely controlled object is the first bulldozer 4A, if the input device 26 is operated to switch the remotely controlled object from the first bulldozer 4A to the second bulldozer 4B, the switching unit 61 switches the remotely controlled bulldozer 4 from the first bulldozer 4A to the second bulldozer 4B based on the input data from the input device 26.

[0051] The operation signal transmission unit 62 transmits the operation signal generated by the operation of the remote control device 24 to the on-board controller 22 of the bulldozer 4. The operation signal transmission unit 62 transmits the operation signal to the bulldozer 4 to be remotely controlled, as determined by the switching unit 61. The operation signal transmission unit 62 transmits the operation signal to one bulldozer 4, as determined by the switching unit 61. Based on the operation signal transmitted from the operation signal transmission unit 62, 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.

[0052] The image acquisition unit 63 acquires a surrounding image 80 of the bulldozer 4 captured by the imaging device 42. The image acquisition unit 63 receives a surrounding image 80 of the bulldozer 4 to be remotely controlled, as determined by the switching unit 61. The image acquisition unit 63 receives a surrounding image 80 of one bulldozer 4, as determined by the switching unit 61. In this embodiment, the surrounding image 80 includes a surrounding image 80A captured by the imaging device 42 of the first bulldozer 4A and a surrounding image 80B captured by the imaging device 42 of the second bulldozer 4B.

[0053] The display control unit 64 displays the surrounding image 80 of the bulldozer 4 acquired by the image acquisition unit 63 on the display device 25. The display control unit 64 also displays the surrounding image 80 of the bulldozer 4 to be remotely controlled, as determined by the switching unit 61, on the display device 25.

[0054] The notification data transmission unit 65 transmits notification data to the control server 11 to notify that the work of the bulldozer 4 has been completed. The notification data transmission unit 65 transmits notification data based on the input data from the input device 26. When the operator has finished the work of the bulldozer 4, they operate the input device 26. The notification data transmission unit 65 transmits notification data based on the input data from the input device 26 indicating that the work of the bulldozer 4 has been completed.

[0055] The processor 30A of the control server 11 has multiple functional units. The functional units of the processor 30A of the control server 11 include a soil removal point setting unit 51, an assignment unit 52, a travel data generation unit 53, a divided area setting unit 54, an operating area designation unit 55, a virtual wall setting unit 56, a calculation unit 57, and an output unit 58.

[0056] The soil discharge point setting unit 51 sets a soil discharge point 72 in the soil discharge area 7. The soil discharge point 72 is the position where the dump truck 2 will perform soil discharge work.

[0057] In this embodiment, the work site 1 is surveyed in advance. Based on the survey data, two-dimensional data representing the two-dimensional shape of the terrain of the work site 1 is calculated. The two-dimensional data represents the two-dimensional shape of the terrain on a predetermined plane substantially parallel to the ground of the work site 1. The two-dimensional data may be defined by latitude and longitude coordinate data. The survey includes detecting the two-dimensional shape of the work site using a position sensor including a GNSS receiver. For example, a survey vehicle equipped with a position sensor travels along the edge of the work area, and the two-dimensional data of the work site 1 is calculated based on the detection data from the position sensor. The two-dimensional data of the work site may be calculated by a control server 11, or by a computer other than the control server 11.

[0058] Furthermore, three-dimensional data showing the three-dimensional shape of the terrain of the work site 1 may be calculated based on the survey data. The survey may include detecting the three-dimensional shape of the work site 1 using a three-dimensional sensor. A three-dimensional sensor is a sensor capable of detecting the three-dimensional shape of an object to be detected. Examples of three-dimensional sensors include a laser sensor (LiDAR: Light Detection and Ranging) that detects the three-dimensional shape of an object by emitting laser light, and a stereo camera. For example, if an aircraft such as a drone equipped with a three-dimensional sensor flies over the work site 1, and the three-dimensional sensor mounted on the drone detects the work site 1, three-dimensional data of the work site 1 may be calculated based on the detection data of the three-dimensional sensor. The three-dimensional data of the work site 1 may be calculated by the control server 11, or by a computer other than the control server 11.

[0059] The soil removal point setting unit 51 sets soil removal points 72 in the soil removal area 7 of the work site 1 based on the survey data of the soil removal area 7. The position of the soil removal points 72 is defined in the global coordinate system. The soil removal point setting unit 51 sets multiple soil removal points 72 in the soil removal area 7. The soil removal area 7 is an example of a work area. The soil removal points 72 are an example of work points set in a work area. The soil removal point setting unit 51 is an example of a work point setting unit that sets work points in a work area.

[0060] The assignment unit 52 assigns dump trucks 2 to at least some of the multiple soil removal points 72 set by the soil removal point setting unit 51. The assignment unit 52 may assign dump trucks 2 to each of the multiple soil removal points 72 set by the soil removal point setting unit 51. The assignment unit 52 may assign dump trucks 2 to some of the multiple soil removal points 72 set by the soil removal point setting unit 51.

[0061] The driving data generation unit 53 generates driving data indicating the driving conditions of the dump truck 2 in the work area. The driving data generation unit 53 generates driving data for the dump truck 2 in at least the soil discharge area 7. The driving data generation unit 53 generates driving data for the dump truck 2 based on the soil discharge point 72 to which the dump truck 2 is assigned by the assignment unit 52. The driving conditions for the dump truck 2 include the target driving path of the dump truck 2, the target position of the dump truck 2, the target direction of the dump truck 2, the target driving speed of the dump truck 2, and the target turning radius of the dump truck 2.

[0062] Figure 6 is a diagram illustrating the driving data of the dump truck 2 according to the embodiment. Figure 6 shows the driving data set in the soil discharge area 7. The driving data defines the driving conditions of the dump truck 2. The driving data of the dump truck 2 includes the driving point 70, the driving path 69, the target position of the dump truck 2, the target direction of the dump truck 2, and the target driving speed of the dump truck 2. The driving data generation unit 53 generates at least the driving path 69 of the dump truck 2.

[0063] Multiple travel points 70 are set in the soil removal area 7. The travel points 70 define the target position of the dump truck 2. The target position of the dump truck 2 is defined in the global coordinate system. For each of the multiple travel points 70, the target direction and target travel speed of the dump truck 2 are set. The multiple travel points 70 are set at intervals. The intervals between the travel points 70 may be uniform or uneven.

[0064] The target position of dump truck 2 refers to the target position of dump truck 2 when it passes through the travel point 70. The target direction of dump truck 2 refers to the target direction of dump truck 2 when it passes through the travel point 70. The target travel speed of dump truck 2 refers to the target travel speed of dump truck 2 when it passes through the travel point 70. The travel path 69 refers to a virtual line indicating the target travel route of dump truck 2. The travel path 69 is defined by a trajectory that passes through multiple travel points 70. The travel data generation unit 53 generates the travel path 69 so as to include the soil discharge point 72.

[0065] In the example shown in Figure 6, of the multiple travel points 70, one travel point 70 is set as an entry point 70S, and one travel point 70 is set as an exit point 70E. Also, of the multiple travel points 70, at least one travel point 70 is set as a switchback point 71, and at least one travel point 70 is set as an earth removal point 72. The switchback point 71 is the position where the dump truck 2 performs a switchback. A switchback is the action in which the forward-moving dump truck 2 makes a sharp change in direction and moves in reverse.

[0066] The soil removal point 72 is set near the edge 702 of the soil removal area 7. As explained with reference to Figure 3, a bank 703 is formed on the edge 702. The soil removal point 72 may also be set at the lower end of the bank 703 on the soil removal area 7 side. The soil removal point 72 may also be set on the slope of the bank 703 on the soil removal area 7 side.

[0067] The location of the travel point 70, which includes the switchback point 71 and the soil removal point 72, and the location of the travel path 69, which indicates the target travel route of the dump truck 2, are defined in the global coordinate system.

[0068] The driving data generated in the driving data generation unit 53 is transmitted to the on-board controller 17 of the dump truck 2. The on-board controller 17 of the dump truck 2 controls the driving device 15 based on the driving data. The on-board controller 17 controls the driving device 15 so that the dump truck 2 travels according to the driving path 69, based on the detection data from the position sensor 31 and the detection data from the orientation sensor 32. Specifically, the on-board controller 17 controls the driving device 15 so that the deviation between the detected position of the dump truck 2 detected by the position sensor 31 and the target position of the dump truck 2 set at the driving point 70 is reduced when passing through the driving point 70. The on-board controller 17 controls the driving device 15 so that the deviation between the detected orientation of the dump truck 2 detected by the orientation sensor 32 and the target orientation of the dump truck 2 set at the driving point 70 is reduced when passing through the driving point 70. The on-board controller 17 controls the driving device 15 so that the dump truck 2 travels at the target driving speed, based on the detection data from the speed sensor 33. In other words, the onboard controller 17 controls the driving device 15 so that the deviation between the detected driving speed of the dump truck 2 detected by the speed sensor 33 when passing through the driving point 70 and the target driving speed of the dump truck 2 set at the driving point 70 becomes small.

[0069] In the example shown in Figure 6, the dump truck 2 enters the soil removal area 7 from the transport path 8 while moving forward. After entering the soil removal area 7 from the transport path 8, the dump truck 2 passes the entry point 70S and then enters the switchback point 71 while moving forward. After entering the switchback point 71, the dump truck 2 performs a switchback and then enters the soil removal point 72 while moving backward. The dump truck 2 that has entered the soil removal point 72 performs soil removal work at the soil removal point 72. With the dump truck 2 positioned at the soil removal point 72, the dump body 16 performs a dumping operation, and the load is discharged from the dump truck 2 at the soil removal point 72. Having completed the soil removal work, the dump truck 2 moves forward towards the exit point 70E to leave the soil removal point 72. After passing the exit point 70E, the dump truck 2 leaves the soil removal area 7 and returns to the transport path 8.

[0070] The division area setting unit 54 sets multiple division areas 73 in the soil removal area 7 where the bulldozer 4 and dump truck 2 work. The positions of the division areas 73 are defined in the global coordinate system.

[0071] Figure 7 is a diagram illustrating a divided area 73 according to an embodiment. As shown in Figure 7, the soil removal point setting unit 51 sets a plurality of soil removal points 72 in the soil removal area 7. In the example shown in Figure 7, the plurality of soil removal points 72 are set along the edge 702 of the soil removal area 7. In the example shown in Figure 7, soil removal work by the dump truck 2 has not yet been performed. In the following description, soil removal points 72 where soil removal work by the dump truck 2 has not yet been performed will be appropriately referred to as unremoved soil points 721, and soil removal points 72 where soil removal work by the dump truck 2 has already been performed will be appropriately referred to as removed soil points 722.

[0072] The division area setting unit 54 sets multiple division areas 73 in the soil removal area 7. The division area setting unit 54 sets the division areas 73 so that the multiple division areas 73 do not overlap with each other. The division area setting unit 54 sets the division areas 73 so that soil removal points 72 are located inside the division areas 73. The division area setting unit 54 sets the division areas 73 so that multiple soil removal points 72 that are adjacent to each other are located inside the division areas 73.

[0073] In the example shown in Figure 7, the division area setting unit 54 sets three division areas 73 in the soil removal area 7. The division area 73 includes a first division area 731, a second division area 732, and a third division area 733. The first division area 731, the second division area 732, and the third division area 733 are set so as not to overlap with each other. The second division area 732 is set next to one side of the first division area 731, and the third division area 733 is set next to the other side of the first division area 731. In the example shown in Figure 7, the first division area 731 includes six adjacent soil removal points 72. The second division area 732 includes seven adjacent soil removal points 72. The third division area 733 includes five adjacent soil removal points 72.

[0074] In the example shown in Figure 7, the outline of the divided area 73 is a rectangle. However, the outline of the divided area 73 is not limited to a rectangle. The outline of the divided area 73 may be any polygon, such as a hexagon or an octagon. The outline of the divided area 73 may also be a circle or an ellipse.

[0075] The division area setting unit 54 determines the size of the division area 73 based on the size of the soil removal area 7. As described above, the work site 1 is surveyed in advance. The size of the soil removal area 7 is calculated based on the survey data. The division area 73 is set inside the soil removal area 7. The size of the division area 73 is smaller than the size of the soil removal area 7. The division area setting unit 54 sets the division area 73 so that the division area 73 is smaller than the soil removal area 7. The division area setting unit 54 sets the division area 73 so that the first division area 731, the second division area 732, and the third division area 733 do not extend beyond the soil removal area 7.

[0076] The bulldozer 4 and the dump truck 2 each work within the divided area 73. The divided area setting unit 54 determines the size of the divided area 73 so that the bulldozer 4 and the dump truck 2 can each work smoothly within the divided area 73. The divided area setting unit 54 determines the size of the divided area 73 so that when the bulldozer 4 and the dump truck 2 work within the divided area 73, they are prevented from extending outside the divided area 73. The divided area setting unit 54 determines the size of the divided area 73 based on the vehicle data of the bulldozer 4 and the dump truck 2. The vehicle data includes at least one of the external dimensions of the bulldozer 4 and the dump truck 2, the minimum turning radius of the bulldozer 4 and the dump truck 2, and the external dimensions of the work equipment of the bulldozer 4.

[0077] The external dimensions of the bulldozer 4 and dump truck 2 are known data derived from the specification data of the bulldozer 4 and dump truck 2. The external dimensions of the bulldozer 4 and dump truck 2 include the external dimensions on a predetermined plane parallel to the ground 706 of the soil removal area 7. If the ground 706 of the soil removal area 7 is substantially parallel to a horizontal plane, the external dimensions of the bulldozer 4 and dump truck 2 include the external dimensions in the horizontal direction. The external dimensions of the bulldozer 4 and dump truck 2 may also include the external dimensions in the height direction perpendicular to the ground 706 of the soil removal area 7. The division area setting unit 54 sets the division area 73 such that the larger the external dimensions of the bulldozer 4 and dump truck 2, the larger the division area 73 becomes.

[0078] The minimum turning radius of a work machine refers to the radius of the circle traced by the outermost part of the work machine when it travels across the ground of the work area with the steering angle at its maximum. The minimum turning radius of the bulldozer 4 and dump truck 2 is known data derived from the specifications data of the bulldozer 4 and dump truck 2. The division area setting unit 54 sets the division area 73 such that the larger the turning radius of the bulldozer 4 and dump truck 2, the larger the division area 73 becomes.

[0079] The working equipment of the bulldozer 4 includes an excavating working equipment 20 and a ripper working equipment 21. The external dimensions of the working equipment of the bulldozer 4 are known data derived from the specifications data of the bulldozer 4. The external dimensions of the working equipment of the bulldozer 4 include the external dimensions on a predetermined plane parallel to the ground 706 of the soil removal area 7. The external dimensions of the working equipment of the bulldozer 4 include the external dimensions in the width direction of the bulldozer 4. The external dimensions of the working equipment of the bulldozer 4 are, for example, the width of the excavating blade 20A. The external dimensions of the working equipment of the bulldozer 4 may also include the external dimensions in the height direction perpendicular to the ground of the soil removal area 7. The division area setting unit 54 sets the division area 73 such that the larger the external dimensions of the working equipment of the bulldozer 4, the larger the division area 73 becomes.

[0080] The work area designation unit 55 designates a division area 73 from among several division areas 73 in which the bulldozer 4 will work. The work area designation unit 55 also designates a division area 73 from among several division areas 73 in which the dump truck 2 will work. The division area 73 in which the bulldozer 4 will work and the division area 73 in which the dump truck 2 will work are different.

[0081] In the following description, the designated divided area 73 where the bulldozer 4 will work will be appropriately referred to as the bulldozer operating area 74. The designated divided area 73 where the dump truck 2 will work will be appropriately referred to as the dump truck operating area 75. The operating area designation unit 55 designates the bulldozer operating area 74 (second operating area) where the bulldozer 4 will work from among the multiple divided areas 73 in the soil removal area 7 of the work site 1. The operating area designation unit 55 designates the dump truck operating area 75 (first operating area) where the dump truck 2 will work from among the multiple divided areas 73 in the soil removal area 7 of the work site 1.

[0082] In bulldozer operating area 74, bulldozer 4 will be working, while dump truck 2 will not. In dump truck operating area 75, dump truck 2 will be working, while bulldozer 4 will not.

[0083] Figure 8 is a diagram illustrating the dump truck operating area 75 according to the embodiment. The operating area designation unit 55 designates a divided area 73 that includes an un-excavated soil point 721 from among a plurality of divided areas 73 as the dump truck operating area 75. The driving data generation unit 53 generates a driving path 69 so that soil excavation work is performed at the un-excavated soil point 721 in the dump truck operating area 75. The driving data generation unit 53 generates a driving path 69 so that it includes the un-excavated soil point 721 to which the dump truck 2 has been assigned by the assignment unit 52. The dump truck 2 performs soil excavation work at each of the plurality of un-excavated soil points 721 inside the dump truck operating area 75.

[0084] In the example shown in Figure 8, the first divided area 731 is designated as the dump truck operating area 75. The operating area designation unit 55 designates the first divided area 731 as the dump truck operating area 75 while the bulldozer 4 is located outside the first divided area 731.

[0085] After the soil removal work is completed, the onboard controller 17 of the dump truck 2 sends a soil removal completion signal to the control server 11 indicating that the soil removal work is finished. The soil removal point setting unit 51 can recognize that the unremoved soil points 721 have changed to soil removed soil points 722 by receiving the soil removal completion signal. Figure 8 shows the state in which the soil removal work of the dump truck 2 is progressing in the first divided area 731, and two of the six unremoved soil points 721 in the first divided area 731 have changed to soil removed soil points 722.

[0086] Figure 9 is a diagram illustrating the bulldozer operating area 74 according to the embodiment. After all of the un-excavated soil points 721 in the first divided area 731 designated as the dump truck operating area 75 have changed to soil-excavated soil points 722, the operating area designation unit 55 designates the first divided area 731 as the bulldozer operating area 74. That is, the operating area designation unit 55 designates the first divided area 731, where the soil-excavation work of the dump truck 2 has been completed, as the bulldozer operating area 74 where the bulldozer 4 will work. The operating area designation unit 55 also designates a divided area 73, separate from the first divided area 731, as the dump truck operating area 75 where the dump truck 2 will work. In the example shown in Figure 9, the operating area designation unit 55 designates the second divided area 732, which includes the un-excavated soil points 721, as the dump truck operating area 75.

[0087] The work of the bulldozer 4 includes leveling work to shape the work target in the divided area 73 where the soil removal work has been completed. In this embodiment, the work target is an embankment 703 adjacent to the soil removal point 72. The bulldozer 4 performs leveling work to shape the embankment 703 in the divided area 73 where the soil removal work has been completed. The bulldozer 4 uses the excavation machine 20 to perform leveling work on the embankment 703. The operator operates the remote control device 24 so that the bulldozer 4 enters the first divided area 731, which is designated as the bulldozer operating area 74, in order to perform leveling work in the first divided area 731 where the soil removal work of the dump truck 2 has been completed. The work of the bulldozer 4 may also include leveling work to smooth the ground 706 of the divided area 73. The work of the bulldozer 4 may also include embankment forming work to form the embankment 703. The work of the bulldozer 4 may include either or both of the leveling work and the embankment forming work. For the sake of simplicity, in the following explanation, we will assume that the work performed by Bulldozer 4 is land leveling.

[0088] The virtual wall setting unit 56 sets a virtual wall 76 in the bulldozer operating area 74 (first divided area 731) when the bulldozer 4 is inside the bulldozer operating area 74 (first divided area 731) and the dump truck 2 is outside the bulldozer operating area 74 (first divided area 731). The virtual wall setting unit 56 sets a virtual wall 76 in the bulldozer operating area 74 (first divided area 731) after the dump truck 2 has left the bulldozer operating area 74 (first divided area 731) and the bulldozer 4 has entered the bulldozer operating area 74 (first divided area 731). The bulldozer 4 performs leveling work in the bulldozer operating area 74 (first divided area 731) inside the virtual wall 76.

[0089] Figure 10 is a diagram illustrating a virtual wall 76 according to the embodiment. The virtual wall 76 is a virtual wall set at the boundary between the bulldozer operating area 74 (first divided area 731) and the area outside the bulldozer operating area 74 (first divided area 731) in order to restrict the bulldozer 4 from advancing out of the bulldozer operating area 74 (first divided area 731) and the dump truck 2 from entering the bulldozer operating area 74 (first divided area 731). As shown in Figure 10, the virtual wall setting unit 56 sets the virtual wall 76 along the outline of the bulldozer operating area 74 (first divided area 731).

[0090] The virtual wall 76 restricts the operating range of the bulldozer 4. The virtual wall 76 is set to surround the bulldozer 4. The virtual wall 76 is set in the global coordinate system. The virtual wall 76 is set to the south, north, east, west, above, and below the bulldozer 4. The virtual wall 76 may be set to at least one of the south, north, east, west, above, and below the bulldozer 4. The virtual wall 76 does not move even if the bulldozer 4 moves within the work site 1. The virtual wall 76 is fixed within the work site 1. The area outside the virtual wall 76 is an avoidance area where the bulldozer 4 should avoid advancing. When the bulldozer 4 approaches the virtual wall 76, the operation of at least one of the traveling device 19, the excavating machine 20, and the ripper machine 21 is restricted, or an alarm is output in the remote control room 23. In other words, if there is a possibility that at least a part of the bulldozer 4 may go outside the virtual wall 76, the operation of the bulldozer 4 will be restricted or an alarm will be issued to prevent the bulldozer 4 from going outside the virtual wall 76.

[0091] There is a possibility that obstacles may exist at the work site 1 that could hinder the operation of the bulldozer 4. Examples of obstacles include dump trucks 2 traveling in the soil removal area 7, structures above the bulldozer 4, cliffs or holes in the work site 1, and buildings. If at least a part of the bulldozer 4 moves outside the virtual wall 76, the work efficiency of the bulldozer 4 may decrease. By setting a virtual wall 76 at the boundary between the bulldozer operating area 74 where the bulldozer 4 works and the avoidance area, the bulldozer 4 is prevented from moving beyond the virtual wall 76 into the avoidance area. This prevents a decrease in the work efficiency of the bulldozer 4. An example of a virtual wall is disclosed in Japanese Patent Application Publication No. 2024-034408.

[0092] Figure 11 is a diagram illustrating the bulldozer operating area 74 and the dump truck operating area 75 according to the embodiment. As shown in Figure 11, the first divided area 731 is designated as the bulldozer operating area 74, and the second divided area 732 is designated as the dump truck operating area 75. A virtual wall 76 is set in the bulldozer operating area 74 (first divided area 731).

[0093] After a virtual wall 76 is set in the bulldozer operating area 74 (first divided area 731), the driving data generation unit 53 generates a driving path 69 so that soil removal work is carried out at the unremoved soil point 721 in the second divided area 732. The driving data generation unit 53 generates a driving path 69 so that it includes the unremoved soil point 721 to which the dump truck 2 has been assigned by the assignment unit 52. The driving data generation unit 53 generates a driving path 69 so that at least a portion of the driving path 69 is located inside the dump truck operating area 75 (second divided area 732). The driving data generation unit 53 generates a driving path 69 so that the dump truck 2 does not enter the bulldozer operating area 74 (first divided area 731). The driving data generation unit 53 generates a driving path 69 so that the driving path 69 does not go inside the virtual wall 76. Dump truck 2 performs soil removal work at each of the multiple unremoved soil points 721 inside the dump truck operating area 75 (second divided area 732).

[0094] Bulldozer 4 is positioned in the first divided area 731 during the period when dump truck 2 is performing soil removal work in the dump truck operating area 75 (second divided area 732). The first divided area 731 is designated as the bulldozer operating area 74 by the operating area designation unit 55. Bulldozer 4 performs leveling work in the bulldozer operating area 74 (first divided area 731) during the period when dump truck 2 is performing soil removal work in the dump truck operating area 75 (second divided area 732).

[0095] After the soil removal work is completed, the onboard controller 17 of the dump truck 2 sends a soil removal completion signal to the control server 11 indicating that the soil removal work is finished. Upon receiving the soil removal completion signal, the soil removal point setting unit 51 can recognize that the unremoved soil point 721 has changed to a soil removed soil point 722.

[0096] When the operator completes the leveling work of the bulldozer 4 in the bulldozer operating area 74 (first divided area 731), the operator operates the input device 26. Based on the input data from the input device 26, the notification data transmission unit 65 of the bulldozer 4 transmits notification data to the control server 11 to notify that the leveling work in the bulldozer operating area 74 has been completed.

[0097] The virtual wall setting unit 56 cancels the virtual wall setting after determining that the bulldozer 4 has finished leveling the ground in the first divided area 731, the dump truck 2 has finished unloading soil in the second divided area 732, and the dump truck 2 has left the second divided area 732. The virtual wall setting unit 56 can determine whether the bulldozer 4 has finished leveling the ground in the first divided area 731 based on notification data from the notification data transmission unit 65. The virtual wall setting unit 56 can determine whether the dump truck 2 has finished unloading soil in the second divided area 732 based on the unloading completion signal from the dump truck 2's onboard controller 17. The virtual wall setting unit 56 can determine whether the dump truck 2 has left the second divided area 732 based on detection data from the dump truck 2's position sensor 31.

[0098] Figure 12 is a diagram illustrating the bulldozer operating area 74 and the dump truck operating area 75 according to the embodiment. As shown in Figure 12, the virtual wall setting unit 56 releases the setting of the virtual wall 76 in the first divided area 731 after the bulldozer 4 has finished leveling the ground in the first divided area 731, the dump truck 2 has finished removing soil in the second divided area 732, and the dump truck 2 has left the second divided area 732. By releasing the setting of the virtual wall 76, the bulldozer 4 can move outside the first divided area 731.

[0099] After the setting of the virtual wall 76 is released, the operating area designation unit 55 designates the second divided area 732 as the bulldozer operating area 74 where the bulldozer 4 will perform leveling work. In other words, the operating area designation unit 55 designates the dump truck operating area 75, where the dump truck 2 has finished its soil removal work, as the bulldozer operating area 74.

[0100] The operating area designation unit 55 designates the bulldozer operating area 74 (first divided area 731), where the bulldozer 4 has completed its leveling work, as the dump truck operating area 75. The operating area designation unit 55 may also designate a divided area 73 different from the first divided area 731 and the second divided area 732 as the dump truck operating area 75.

[0101] The operator operates the remote control device 24 so that the bulldozer 4 enters the second divided area 732, which has been designated as the bulldozer operating area 74, in order to carry out leveling work in the second divided area 732 where the soil removal work has been completed. The travel data generation unit 53 generates a travel path 69 so that soil removal work is carried out at the unremoved soil point 721 in the dump truck operating area 75.

[0102] [Calculation of work data] The calculation unit 57 calculates work data indicating the progress of the dump truck 2 performing soil removal work in the soil removal area 7 of the work site 1. The work data indicates the progress of the soil removal work of the dump truck 2. The work data includes the work completion time Tf, which is the time required until the soil removal work of the dump truck 2 is completed in the soil removal area 7 of the work site 1. The work data may also include the work completion time, which is the time when the soil removal work of the dump truck 2 is completed in the soil removal area 7 of the work site 1. In this embodiment, the calculation unit 57 calculates at least the work completion time Tf as work data.

[0103] The work completion time Tf is the time from the present moment when the calculation unit 57 starts calculating the work completion time Tf until the soil removal work is completed. As described above, the dump truck 2 enters the soil removal area 7 from the transport path 8 outside the soil removal area 7 and then travels to the soil removal point 72. After traveling from outside the soil removal area 7 to the soil removal point 72, the dump truck 2 performs soil removal work at the soil removal point 72. The work completion time Tf is the time required until the soil removal work at the soil removal point 72 is completed.

[0104] Figure 13 is a diagram illustrating a method for calculating the work completion time Tf according to an embodiment. As an example, the method for calculating the work completion time Tf in the first divided area 731 will be described. Six adjacent soil removal points 72 are set in the first divided area 731. Figure 13 shows the state at the point when soil removal work by the dump truck 2 in the first divided area 731 is progressing and three of the six unremoved soil points 721 in the first divided area 731 have changed to soil-removed points 722. At the point shown in Figure 13, the unremoved soil points 721 include the first unremoved soil point 721A, the second unremoved soil point 721B, and the third unremoved soil point 721C.

[0105] The assignment unit 52 assigns a dump truck 2 to each of the three un-excavated soil points 721 (721A, 721B, 721C). In the example shown in Figure 13, the dump truck 2 includes a first dump truck 2A assigned to the first un-excavated soil point 721A, a second dump truck 2B assigned to the second un-excavated soil point 721B, and a third dump truck 2C assigned to the third un-excavated soil point 721C.

[0106] The driving data generation unit 53 generates a driving path 69 that includes the un-excavated soil point 721 to which the dump truck 2 has been assigned by the assignment unit 52. In the example shown in Figure 13, the driving path 69 includes a first driving path 69A generated to include a first un-excavated soil point 721A, a second driving path 69B generated to include a second un-excavated soil point 721B, and a third driving path 69C generated to include a third un-excavated soil point 721C. Note that in Figure 13, the driving path 69 is shown schematically. The switchback point 71 and other points are not shown.

[0107] Each of the multiple dump trucks 2 (2A, 2B, 2C) travels along a travel path 69 (69A, 69B, 69C) to an un-de-soiled point 721 (721A, 721B, 721C). Each of the multiple dump trucks 2 (2A, 2B, 2C) travels sequentially to an un-de-soiled point 721 (721A, 721B, 721C) assigned by the assignment unit 52. Each of the multiple dump trucks 2 (2A, 2B, 2C) sequentially performs de-soiled work at an un-de-soiled point 721 (721A, 721B, 721C) assigned by the assignment unit 52.

[0108] Multiple dump trucks 2 (2A, 2B, 2C) enter the soil removal area 7 in sequence. In the example shown in Figure 13, the first dump truck 2A enters the soil removal area 7, followed by the second dump truck 2B. After the second dump truck 2B enters the soil removal area 7, the third dump truck 2C enters the soil removal area 7.

[0109] In the example shown in Figure 13, the first dump truck 2A travels to the first un-excavated point 721A and performs excavation work, after which the second dump truck 2B travels to the second un-excavated point 721B and performs excavation work. After the second dump truck 2B travels to the second un-excavated point 721B and performs excavation work, the third dump truck 2C travels to the third un-excavated point 721C and performs excavation work.

[0110] The calculation unit 57 calculates the work completion time Tf based on the distance traveled and the travel speed of the dump truck 2 to the un-de-soiled point 721. The dump truck 2 is an unmanned dump truck that travels based on travel data generated by the travel data generation unit 53. The calculation unit 57 calculates the work completion time Tf based on the position of the de-soiled point 72 (un-de-soiled point 721) set by the de-soiled point setting unit 51, the detection data from the position sensor 31 that detects the position of the dump truck 2, and the travel data generated by the travel data generation unit 53.

[0111] The distance traveled by the dump truck 2 includes the distance between the current position of the dump truck 2 at the moment the calculation unit 57 starts calculating the work completion time Tf and the un-de-soiled point 721 assigned to the dump truck 2. The dump truck 2 travels following the travel path 69. The current position of the dump truck 2 is detected by the position sensor 31. The detection data from the position sensor 31 is transmitted to the control server 11 via the communication system 12. Based on the detection data from the position sensor 31, the position of the de-soiled point 72 (un-de-soiled point 721) set by the de-soiled point setting unit 51, and the travel path 69, the calculation unit 57 can calculate the distance traveled by the dump truck 2 to the un-de-soiled point 721. The dump truck 2 travels at a target travel speed defined by the travel data. Based on the distance traveled by the dump truck 2 and the target travel speed of the dump truck 2, the calculation unit 57 can calculate the work completion time Tf from the present moment until the de-soiled work of the dump truck 2 is completed.

[0112] The dump truck 2 has a dump body 16 on which the cargo is loaded. When the dump truck 2 enters the un-de-soiled point 721, it performs de-soiling operations at the un-de-soiled point 721, unloading the cargo from the dump body 16. The calculation unit 57 may calculate the work completion time Tf by taking into account the time required for the de-soiling operations. That is, the calculation unit 57 may calculate the work completion time Tf based on the distance traveled by the dump truck 2 to the un-de-soiled point 721, the travel speed of the dump truck 2 to the un-de-soiled point 721, and the time required for the dump truck 2 to perform de-soiling operations at the un-de-soiled point 721. As described above, when de-soiling operations are performed, the dump body 16 performs a dumping operation. After the cargo is unloaded from the dump body 16, the dump body 16 performs a lowering operation. The time required for de-soiling operations includes the time required for the dumping operation and the time required for the lowering operation of the dump body 16.

[0113] In the example shown in Figure 13, the completion time Tf for the first dump truck 2A is A minutes, the completion time Tf for the second dump truck 2B is B minutes, and the completion time Tf for the third dump truck 2C is C minutes. C minutes is longer than B minutes. B minutes is longer than A minutes.

[0114] In this embodiment, the work completion time Tf is the time required to complete the soil removal work at all of the multiple (six) soil removal points 72 set in the first divided area 731 of the soil removal area 7. The work completion time Tf is the time required to complete the soil removal work of the last of the multiple dump trucks 2 assigned to each of the multiple soil removal points 72. In the example shown in Figure 13, the last unremoved soil point 721 is the third unremoved soil point 721C, and the last dump truck 2 to perform soil removal work is the third dump truck 2C. The work completion time Tf is the time required to complete the soil removal work of the last of the multiple dump trucks 2 (2A, 2B, 2C), the third dump truck 2C. The work completion time Tf is the time from the present moment before the soil removal work of the first dump truck 2A begins until the soil removal work of the last third dump truck 2C is completed. In the example shown in Figure 13, the work completion time Tf is C minutes.

[0115] [Display of the first hour image] The output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 to display work data indicating the progress of the soil removal work of the dump truck 2. As explained with reference to Figure 13, when the work completion time Tf for the soil removal work in the first divided area 731 is calculated, the output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 that is performing leveling work on the first divided area 731 where the soil removal work has been completed to display the work data. That is, the output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 that is performing leveling work on the divided area 73 which is the target of the calculation of work data to display the work data.

[0116] In this embodiment, the output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 to display the work completion time Tf. The output unit 58 transmits the display command to the remote controller 27 to display the work completion time Tf on the display device 25. Based on the display command from the output unit 58, the display control unit 64 causes the display device 25 to display a first time image 100 showing the work completion time Tf.

[0117] Figure 14 shows an example of a display device 25 according to the embodiment. The display device 25 includes a first display device 25A and a second display device 25B. In this embodiment, the second display device 25B is positioned below the first display device 25A.

[0118] When the first bulldozer 4A is being remotely controlled, an image 80A of the area surrounding the first bulldozer 4A is displayed on the display device 25. When the second bulldozer 4B is being remotely controlled, an image 80B of the area surrounding the second bulldozer 4B is displayed on the display device 25.

[0119] In this embodiment, the surrounding image 80A of the first bulldozer 4A is displayed on the first display device 25A. The surrounding image 80A of the first bulldozer 4A includes an image of the first soil removal area 7A captured by the imaging device 42 of the first bulldozer 4A. The surrounding image 80A includes an image of the first soil removal area 7A in front of the first bulldozer 4A. In the example shown in Figure 14, the surrounding image 80A includes an image of the edge 702 of the first soil removal area 7A. The surrounding image 80A includes an image of the front of the vehicle body 18 of the first bulldozer 4A. The surrounding image 80A may include an image of a dump truck 2 traveling through the first soil removal area 7A.

[0120] Figure 15 is a diagram showing an example of a second display device 25B displaying a first time image 100 according to the embodiment. Figure 15 corresponds to an enlarged view of a part of Figure 14. The second display device 25B displays a work image 90 related to the soil removal area 7. The work image 90 includes an overhead view of the soil removal area 7. When the first bulldozer 4A is being remotely operated, the second display device 25B displays a work image 90A related to the first soil removal area 7A as the work image 90. When the second bulldozer 4B is being remotely operated, the second display device 25B displays a work image 90B related to the second soil removal area 7B as the work image 90.

[0121] The work image 90A includes an overhead view of the first soil removal area 7A, a model image 2V of a dump truck 2 traveling through the first soil removal area 7A, and a model image 4VA of the first bulldozer 4A. Model image 2V is an image that simulates the dump truck 2 as seen from above. In the example shown in Figure 15, model image 2V is model image 2BV of the second dump truck 2B. Model image 4VA is an image that simulates the first bulldozer 4A as seen from above.

[0122] When dump truck 2 travels in the first soil removal area 7A, the model image 2V moves in the work image 90A in accordance with the movement of dump truck 2. The detection data from the position sensor 31 of dump truck 2 is transmitted to the remote controller 27 via the control server 11. The display control unit 64 can move the model image 2V in the work image 90A based on the detection data from the position sensor 31 of dump truck 2. When the first bulldozer 4A travels in the first soil removal area 7A, the model image 4VA moves in the work image 90A in accordance with the movement of the first bulldozer 4A. The detection data from the position sensor 41 of the first bulldozer 4A is transmitted to the remote controller 27. The display control unit 64 can move the model image 4VA in the work image 90A based on the detection data from the position sensor 41 of the first bulldozer 4A.

[0123] The work image 90A includes a travel path image 69V showing the travel path 69 of the dump truck 2, a switchback point image 71V showing the switchback point 71 of the dump truck 2, and a soil discharge point image 72V showing each of the multiple soil discharge points 72 of the dump truck 2. The soil discharge point image 72V is an example of a symbol image showing a soil discharge point 72. The soil discharge point image 72V includes an undischarged point image 721V showing an undischarged point 721 and a completed soil discharge point image 722V showing a completed soil discharge point 722. In the example shown in Figure 15, the travel path image 69V is the second travel path image 69BV showing the second travel path 69B of the second dump truck 2B. The image of the unexcavated point 721V includes the first image of the unexcavated point 721AV showing the first unexcavated point 721A, the second image of the unexcavated point 721BV showing the second unexcavated point 721B, and the third image of the unexcavated point 721CV showing the third unexcavated point 721C.

[0124] The display control unit 64 overlays a first time image 100, which indicates the work completion time Tf, onto the work image 90A. The first time image 100 includes a numerical value indicating the work completion time Tf. In the example shown in Figure 15, the display control unit 64 displays the characters (numbers) "[C minutes] until completion" as the first time image 100 on the second display device 25B. The first time image 100 is overlaid on the work image 90A.

[0125] As shown in Figure 15, the first time image 100, which shows the work completion time Tf, is displayed around at least a portion of the third unexcavated point image 721CV, which shows the third unexcavated point 721C assigned to the last third dump truck 2C. The first time image 100 is displayed in the vicinity of the third unexcavated point image 721CV. In the example shown in Figure 15, the first time image 100 is displayed directly above the third unexcavated point image 721CV on the display screen of the second display device 25B.

[0126] The operator can recognize the work completion time Tf by checking the first time image 100. Since the first time image 100 is displayed near the third unexcavated point image 721CV, the operator can recognize that the unexcavated point 721 where the excavation work is performed last is the third unexcavated point 721C.

[0127] [Calculation of Intermediate Work Time] As described above, the assignment unit 52 assigns a dump truck 2 to a soil removal point 72. The assignment unit 52 assigns a soil removal point 72 (unremoved soil point 721) to a dump truck 2 that has traveled along the transport path 8 to the vicinity of the soil removal area 7. The assignment unit 52 assigns a soil removal point 72 to a dump truck 2 that is located close to the soil removal area 7. The assignment unit 52 does not assign a soil removal point 72 to a dump truck 2 that is located far from the soil removal area 7. In other words, among the multiple soil removal points 72 set by the soil removal point setting unit 51, there may be soil removal points 72 to which a dump truck 2 is not assigned. If there is a soil removal point 72 to which a dump truck 2 is not assigned, the calculation unit 57 calculates an intermediate work time Tm, which is the time required until the soil removal work of the last dump truck 2 to which a soil removal point 72 has been assigned is completed, as work data indicating the progress of the soil removal work of the dump trucks 2. The work in progress time Tm is the time from the present moment when the calculation unit 57 starts calculating the work in progress time Tm until the time when the soil removal work of the last dump truck 2 to which soil removal point 72 is assigned is completed.

[0128] Figure 16 is a diagram illustrating the method for calculating the work time Tm according to the embodiment. Six adjacent soil removal points 72 are set in the first divided area 731. The unremoved soil points 721 include the first unremoved soil point 721A, the second unremoved soil point 721B, and the third unremoved soil point 721C.

[0129] The assignment unit 52 assigns the first dump truck 2A to the first un-excavated point 721A and the second dump truck 2B to the second un-excavated point 721B. No dump truck 2 is assigned to the third un-excavated point 721C.

[0130] The driving data generation unit 53 generates a first driving path 69A that includes the first un-excavated point 721A, and a second driving path 69B that includes the second un-excavated point 721B. The first dump truck 2A drives to the first un-excavated point 721A according to the first driving path 69A. The second dump truck 2B drives to the second un-excavated point 721B according to the second driving path 69B. After the first dump truck 2A enters the excavation area 7, the second dump truck 2B enters the excavation area 7. After the first dump truck 2A drives to the first un-excavated point 721A and performs excavation work, the second dump truck 2B drives to the second un-excavated point 721B and performs excavation work.

[0131] The work in progress time Tm is the time required until the soil removal work is completed at some of the multiple (six) soil removal points 72 set in the first divided area 731 of the soil removal area 7. The work in progress time Tm is the time required until the soil removal work of the last dump truck 2 among the multiple dump trucks 2 to which an un-soiled point 721 has been assigned is completed. In the example shown in Figure 16, the last un-soiled point 721 to which a dump truck 2 has been assigned is the second un-soiled point 721B, and the dump truck 2 that performs soil removal work at the last un-soiled point 721 to which a dump truck 2 has been assigned is the second dump truck 2B. The work in progress time Tm is the time required until the soil removal work of the last second dump truck 2B to which an un-soiled point 721 has been assigned is completed. The work in progress time Tm is the time from the present moment before the soil removal work of the first dump truck 2A begins until the soil removal work of the last second dump truck 2B is completed. In the example shown in Figure 16, the time Tm during soil removal is B minutes.

[0132] [Display of the second time image] The output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 to display the work in progress Tm. The output unit 58 transmits the display command to the remote controller 27 to display the work in progress Tm on the display device 25. Based on the display command from the output unit 58, the display control unit 64 causes the display device 25 to display a second time image 200 showing the work in progress Tm.

[0133] Figure 17 shows an example of a second display device 25B displaying a second time image 200 according to the embodiment. As shown in Figure 17, when the first bulldozer 4A is being remotely operated, the second display device 25B displays a work image 90A related to the first soil removal area 7A as a work image 90.

[0134] The work image 90A includes a soil removal point image 72V showing each of the multiple soil removal points 72 of the dump truck 2. The soil removal point image 72V includes an unremoved point image 721V showing an unremoved point 721 and a completed point image 722V showing a completed point 722. The unremoved point image 721V includes a first unremoved point image 721AV showing a first unremoved point 721A, a second unremoved point image 721BV showing a second unremoved point 721B, and a third unremoved point image 721CV showing a third unremoved point 721C.

[0135] The display control unit 64 overlays a second time image 200, which indicates the time Tm of the work in progress, onto the work image 90A. The second time image 200 includes a character image 201 indicating the time Tm of the work in progress, and an identification image 202 for identifying that the second time image 200 indicates the time Tm of the work in progress. In the example shown in Figure 16, the display control unit 64 displays the characters (numbers) "[B minutes]" as the character image 201 on the second display device 25B. The display control unit 64 displays a "+" mark as the identification image 202 on the second display device 25B. The identification image 202 only needs to be able to identify that the second time image 200 indicates the time Tm of the work in progress. The identification image 202 may be any mark, figure, or icon. The identification image 202 may also include characters. The second time image 200 is overlaid on the work image 90A.

[0136] As shown in Figure 17, the second time frame image 200, which shows the time Tm during the work, is displayed in at least part of the vicinity of the second unexcavated point image 721BV, which shows the second unexcavated point 721B assigned to the last dump truck 2, the second dump truck 2B. The second time frame image 200 is displayed in the vicinity of the second unexcavated point image 721BV. In the example shown in Figure 17, the second time frame image 200 is displayed directly above the second unexcavated point image 721BV on the display screen of the second display device 25B.

[0137] The operator can recognize the work in progress time Tm by checking the second time image 200. Since the second time image 200 is displayed near the second un-excavated point image 721BV, the operator can recognize that the second un-excavated point 721B is the last un-excavated point 721 to which the dump truck 2 is assigned and where the excavation work will be performed. Since the second time image 200 includes the identification image 202, the operator can recognize that the characters (numbers) in the character image 201 represent the work in progress time Tm, not the work completion time Tf.

[0138] [Management Method] Figure 18 is a flowchart showing the management method of the work site 1 according to the embodiment. The soil removal point setting unit 51 sets a plurality of soil removal points 72 in the divided area 73 of the soil removal area 7. The assignment unit 52 assigns dump trucks 2 to at least some of the soil removal points 72 set in the divided area 73. The driving data generation unit 53 generates a driving path 69 so that the dump trucks 2 include the soil removal points 72 to which they are assigned. The dump trucks 2 drive around the work site 1 based on the driving data including the driving path 69.

[0139] The calculation unit 57 determines whether or not a dump truck 2 has been assigned to all of the multiple soil removal points 72 set in the divided area 73 (step S1).

[0140] In step S1, if it is determined that dump trucks 2 are assigned to all of the multiple soil removal points 72 set in the divided area 73 (step S1: Yes), the calculation unit 57 calculates the work completion time Tf, which is the time required until the soil removal work of the last of the multiple dump trucks 2 that sequentially perform soil removal work in the divided area 73 is completed (step S2).

[0141] The output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 that can work in the divided area 73 to display the work completion time Tf (step S3). The display control unit 64 causes the second display device 25B to display the first time image 100 showing the work completion time Tf.

[0142] In step S1, if it is determined that no dump truck 2 is assigned to some of the multiple soil removal points 72 (unremoved points 721) set in the divided area 73 (step S1: No), the calculation unit 57 calculates the intermediate work time Tm, which is the time required until the soil removal work of the last dump truck 2 among the multiple dump trucks 2 assigned to the soil removal points 72 in the divided area 73 is completed (step S4).

[0143] The output unit 58 outputs a display command to the display device 25 assigned to the bulldozer 4 to display the work in progress time Tm (step S3). The display control unit 64 causes the second time image 200 showing the work in progress time Tm to be displayed on the second display device 25B.

[0144] [Effects] As described above, in this embodiment, the processor 30A of the control server 11 includes a calculation unit 57 that calculates work data indicating the progress of the dump truck 2 performing soil removal work in the soil removal area 7 of the work site 1, and an output unit 58 that outputs a display command to display the work data on a display device 25 assigned to a bulldozer 4 that can work in the soil removal area 7. The output unit 58 outputs a display command to display the work completion time Tf, which is the time required for the soil removal work of the dump truck 2 to be completed, on the display device 25 as work data.

[0145] According to this embodiment, work data indicating the progress of the soil removal work of the dump truck 2 is displayed on the display device 25, so that the operator of the bulldozer 4 can recognize the progress of the soil removal work of the dump truck 2. As a result, a decrease in the work efficiency of the bulldozer 4 is suppressed.

[0146] Figure 19 is a diagram illustrating the relationship between the operator of the bulldozer 4 according to the embodiment and the first bulldozer 4A and the second bulldozer 4B. As explained with reference to Figures 8 and 13, during the period when the dump truck 2 is performing soil removal work in the first divided area 731 of the first soil removal area 7A, the first bulldozer 4A waits outside the first divided area 731 until the soil removal work by the dump truck 2 is completed. After the soil removal work by the dump truck 2 in the first divided area 731 is completed, the leveling work of the first divided area 731 by the first bulldozer 4A begins.

[0147] If the waiting time for the first bulldozer 4A is long, the work efficiency of the first bulldozer 4A will decrease. Also, if the first bulldozer 4A is being remotely controlled, the second bulldozer 4B will not work. Therefore, if the waiting time for the first bulldozer 4A is long, the work efficiency of the second bulldozer 4B will also decrease.

[0148] In this embodiment, the work completion time Tf required to complete the soil removal work in the first divided area 731 is displayed on the display device 25. The longer the work completion time Tf, the longer the waiting time for the first bulldozer 4A. The operator can determine the waiting time for the first bulldozer 4A by checking the work completion time Tf displayed on the display device 25. Based on the waiting time for the first bulldozer 4A, the operator can take measures to suppress the decrease in the work efficiency of the bulldozer 4.

[0149] If the completion time Tf for the soil removal work in the first divided area 731 of the first soil removal area 7A is long, and the operator determines that the waiting time for the first bulldozer 4A before starting the leveling work in the first divided area 731 of the first soil removal area 7A is long, the operator switches the remotely controlled bulldozer 4 from the first bulldozer 4A to the second bulldozer 4B. If the waiting time for the first bulldozer 4A is long, the second bulldozer 4B becomes the target of remote control, and the work of the second bulldozer 4B proceeds, thus suppressing a decrease in the work efficiency of the bulldozer 4.

[0150] If the completion time Tf for the soil removal work in the first divided area 731 of the first soil removal area 7A is short, and the operator determines that the waiting time for the first bulldozer 4A before starting the leveling work in the first divided area 731 of the first soil removal area 7A is short, the operator may keep the remotely controlled bulldozer 4 as the first bulldozer 4A and continue to keep the first bulldozer 4A on standby. Based on the work completion time Tf, the operator can determine which measure is more effective in suppressing the decrease in the work efficiency of the bulldozer 4: the first measure of continuing to keep the first bulldozer 4A on standby, or the second measure of switching the remotely controlled bulldozer 4 from the first bulldozer 4A to the second bulldozer 4B.

[0151] As explained with reference to Figure 11, the first bulldozer 4A is positioned in the first divided area 731 (bulldozer operating area 74) during the period when the dump truck 2 is performing soil removal work in the second divided area 732 (dump truck operating area 75). The bulldozer 4 performs leveling work in the first divided area 731. After the soil removal work by the dump truck 2 in the second divided area 732 is completed, the leveling work of the second divided area 732 by the first bulldozer 4A begins. If the leveling work of the first bulldozer 4A in the first divided area 731 is completed before the soil removal work of the dump truck 2 in the second divided area 732, the first bulldozer 4A waits in the first divided area 731 until the soil removal work of the dump truck 2 is completed. The time Tf required to complete the work until the soil removal work in the second divided area 732 is completed is displayed on the display device 25, allowing the operator to take measures to suppress a decrease in the work efficiency of the bulldozer 4. Based on the work completion time Tf, the operator can determine which measure is more effective in suppressing a decrease in the work efficiency of the bulldozer 4: the first measure of continuing to keep the first bulldozer 4A on standby in the first divided area 731, or the second measure of switching the remotely controlled bulldozer 4 from the first bulldozer 4A to the second bulldozer 4B.

[0152] As explained with reference to Figure 15, the first time image 100, which shows the work completion time Tf, is displayed near the third un-excavated point image 721CV. Therefore, the operator in the remote control room 23 can recognize that the un-excavated point 721, where the excavation work is performed last, is the third un-excavated point 721C.

[0153] As explained with reference to Figure 17, the second time image 200, which shows the time Tm during the work, is displayed near the second un-deployed point image 721BV, which shows the second un-deployed point 721B assigned to the last dump truck 2, the second dump truck 2B. Therefore, the operator in the remote control room 23 can recognize the progress of the soil removal work of the dump trucks 2.

[0154] [Other Embodiments] Figure 20 is a schematic diagram showing an example of a soil removal area 7 according to another embodiment. As shown in Figure 20, the dump truck 2 may perform soil removal work so that a plurality of natural mounds 704 are formed on the ground 706 of the soil removal area 7. The plurality of natural mounds 704 are formed regularly at intervals in the soil removal area 7. The bulldozer 4 can perform leveling work to adjust the shape of the plurality of natural mounds 704 formed on the ground 706 of the soil removal area 7.

[0155] In the above embodiment, the work completion time Tf is defined as the time from the present moment when the calculation unit 57 starts calculating the work completion time Tf until the time when the soil removal work is completed. The work completion time Tf may also be the time from the start of the soil removal work until the completion of the soil removal work.

[0156] In the above-described embodiment, the calculation unit 57 calculates the work completion time Tf as work data indicating the progress of the soil removal work of the dump truck 2. The calculation unit 57 may also calculate the work completion time, which is the time when the soil removal work of the dump truck 2 is completed in the soil removal area 7 of the work site 1, as work data.

[0157] In the above-described embodiment, the work data indicating the progress of the soil removal work of the dump truck 2 may include the actual work amount, which is the amount of work done from the time the soil removal work started until the present time. The work data may also include the predicted work amount, which is the amount of work done from the present time until the soil removal work is completed. The calculation unit 57 can calculate the amount of work from the unremoved soil points 721 and the removed soil points 722. As described above, the soil removal point setting unit 51 can recognize that the unremoved soil points 721 have changed to removed soil points 722 by receiving the soil removal completion signal. The calculation unit 57 can calculate the actual work amount and the predicted work amount based on the number of removed soil points 722 in the first divided area 731. For example, if two of the six soil removal points 72 in the first divided area 731 are removed soil points 722, the calculation unit 57 can calculate that the actual work amount is approximately 33% and the predicted work amount is approximately 67%.

[0158] In the above embodiment, the output unit 58 outputs a display command to a display device 25 assigned to a bulldozer 4 performing leveling work on a divided area 73, which is the target of work data calculation. The output unit 58 may output a display command to a display device 25 assigned to a bulldozer 4 that is located closest to the divided area 73, which is the target of work completion time Tf calculation, among a plurality of bulldozers 4 present at the work site 1, to display work data. The output unit 58 may output a display command to a display device 25 assigned to a bulldozer 4 located within a predetermined range centered on the divided area 73, which is the target of work completion time Tf calculation. The output unit 58 may output a display command to a display device 25 assigned to each of the plurality of bulldozers 4 present at the work site 1 to display work data.

[0159] In the above embodiment, the remotely controlled work machine is assumed to be 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. The work machine that performs leveling work on the soil removal area 7 may be an excavator 3, a motor grader 5, or a wheel loader.

[0160] In the above-described embodiment, at least a portion of the functional unit of the remote controller 27 may be provided on the control server 11. At least a portion of the functional unit of the control server 11 may be provided on the remote controller 27. At least a portion of the functional unit of the control server 11 may be provided on the on-board controller 22 of the bulldozer 4. At least a portion of the functional unit of the control server 11 may be provided on the on-board controller 17 of the dump truck 2. For example, at least the calculation unit 57 and the output unit 58 may be provided on the on-board controller 17 of the dump truck 2. In this case, the on-board controller 17 of the dump truck 2 may calculate work data indicating the progress of the work of the dump truck 2 and output a display command to display the work data on the display device 25 assigned to the bulldozer 4.

[0161] In the above-described embodiment, each of the multiple functional units of the control server 11 may be configured by a separate computer (hardware). Each of the multiple functional units of the remote controller 27 may be configured by a separate computer (hardware).

[0162] 1...Work site, 2...Dump truck (first work machine), 2A...First dump truck, 2B...Second dump truck, 2C...Third dump truck, 2V...Model image, 2BV...Model image, 3...Excavator, 4...Bulldozer (second work machine), 4A...First bulldozer, 4B...Second bulldozer, 4VA...Model image, 5...Motor grader, 6...Loading area, 7...Soil removal area, 7A...First soil removal area, 7B...Second soil removal area, 8...Transportation route, 9...Management system, 10...Remote control system, 11...Control server, 12...Communication system, 13...Control facility, 14...Vehicle body, 15... 16...Dump body, 17...On-board controller, 18...Vehicle body, 19...Traction device, 20...Excavation work machine, 20A...Excavation blade, 20B...Lift frame, 20C...Tilt cylinder, 20D...Lift cylinder, 20E...Cutting edge, 21...Ripper work machine, 21A...Shank, 21B...Ripper arm, 21C...Tilt cylinder, 21D...Lift cylinder, 21E...Beam, 22...On-board controller, 23...Remote control room, 24...Remote control device, 25...Display device, 25A...First display device, 25B...Second display device, 26...Input device, 27...Remote controller, 28 ...control seat, 29...communication system, 30...computer, 30A...processor, 30B...main memory, 30C...storage, 30D...input / output interface, 30E...communication interface, 30F...computer program, 31...position sensor, 32...direction sensor, 33...speed sensor, 41...position sensor, 42...imaging device, 51...soil removal point setting unit, 52...assignment unit, 53...driving data generation unit, 54...divided area setting unit, 55...operating area specification unit, 56...virtual wall setting unit, 57...calculation unit, 58...output unit, 61...switching unit, 62...operation signal transmission unit, 63... Image acquisition unit, 64... Display control unit, 65... Notification data transmission unit, 69... Travel path, 69A... First travel path, 69B... Second travel path, 69C... Third travel path, 69V... Travel path image, 69BV... Second travel path image, 70... Travel point, 70E... Exit point, 70S... Entry point, 71... Switchback point, 71V... Switchback point image, 72... Soil removal point, 72V... Soil removal point image, 73... Divided area, 74... Bulldozer operating area (second operating area), 75... Dump truck operating area (first operating area), 76... Virtual wall, 80... Surrounding image, 80A... Surrounding image, 90... Work image,90A...Work image, 100...First hour image, 200...Second hour image, 201...Character image, 202...Identification image, 701...Downward cliff, 702...Edge, 703...Embankment, 704...Natural ground, 706...Ground, 721...Unexcavated point, 721A...First unexcavated point, 721B...Second unexcavated point, 721C...Third unexcavated point, 721V...Unexcavated point image, 721AV...First unexcavated point image, 721BV...Second unexcavated point image, 721CV...Third unexcavated point image, 722...Excavated point, 722V...Excavated point image, 731...First divided area, 732...Second divided area, 733...Third divided area.

Claims

1. A work site management system comprising a processor, the processor calculating work data indicating the progress of a first work machine working in the work area of ​​the work site, and outputting a display command to display the work data on a display device assigned to a second work machine that is capable of working in the work area.

2. The work data includes a work completion time, which is the time required for the work of the first work machine to be completed, as described in claim 1.

3. The work site management system according to claim 2, wherein the processor sets a work point in the work area, the first work machine travels from outside the work area to the work point and then performs work at the work point, and the work completion time is the time required to complete the work at the work point.

4. The work site management system according to claim 3, wherein the processor calculates the work completion time based on the distance traveled and the travel speed of the first work machine to the work point.

5. The work site management system according to claim 4, wherein the first work machine has a dump body into which cargo is loaded, the work of the first work machine includes a soil removal operation in which the cargo is discharged from the dump body at the work point, and the processor calculates the work completion time based on the time required for the soil removal operation.

6. The work site management system according to claim 3, wherein the processor generates travel data indicating travel conditions including a target travel path and a target travel speed of the first work machine, the first work machine is an unmanned work machine that travels based on the travel data, and the processor calculates the work completion time based on the position of the work point, detection data from a position sensor that detects the position of the first work machine, and the travel data.

7. A work site management system according to claim 3, wherein a work image including a symbolic image indicating the work point is displayed on the display device, and a first time image indicating the work completion time is superimposed on the work image.

8. The work site management system according to claim 3, wherein the processor sets a plurality of work points in the work area, assigns the first work machine to each of the plurality of work points, each of the plurality of first work machines travels sequentially to the assigned work point, and the work completion time is the time required for the last of the plurality of first work machines to complete its work.

9. A work site management system according to claim 8, wherein a work image including a plurality of symbolic images representing each of the plurality of work points is displayed on the display device, and a first time image indicating the work completion time is displayed around at least a portion of the symbolic image representing the work point assigned to the last first work machine.

10. The work site management system according to claim 3, wherein the processor sets a plurality of work points in the work area, assigns the first work machine to at least some of the plurality of work points, the first work machine travels to the assigned work point, and if there are work points to which the first work machine is not assigned, the processor calculates the work in progress time, which is the time required until the work of the last first work machine assigned to a work point is completed, as work data, and outputs a display command to the display device to display the work in progress time.

11. A work site management system according to claim 10, wherein a work image including a plurality of symbolic images representing each of the plurality of work points is displayed on the display device, and a second time image indicating the work time is displayed around at least a portion of the symbolic image of the work point assigned to the last first work machine.

12. The work site management system according to claim 11, wherein the second time image includes an identification image for identifying that the second time image indicates the time in progress of the work.

13. The work site management system according to claim 1, wherein the processor sets a plurality of divided areas in the work area, designates the first divided area among the plurality of divided areas as the first working area in which the first work machine works, and the second work machine is positioned in the second divided area during the period in which the first work machine works in the first working area.

14. The work site management system according to claim 13, wherein the processor designates the second divided area as a second working area where the second work machine performs its work.

15. The work site management system according to claim 14, wherein the processor designates the first divided area where the work of the first work machine has been completed as a second working area where the second work machine will perform its work.

16. The work site management system according to claim 1, wherein the second work machine is remotely operated by a remote control device located in a remote control room outside the second work machine, and the display device is located in the remote control room.

17. A work site management system comprising: a first work machine that operates in a work area of ​​a work site; a second work machine capable of operating in the work area; and a processor, wherein the processor calculates work data indicating the progress of the first work machine operating in the work area of ​​a work site; outputs a display command to cause the work data to be displayed on a display device assigned to the second work machine capable of operating in the work area; and the second work machine displays the work data on the display device.

18. The work site management system according to claim 17, wherein the work data includes a work completion time, which is the time required for the work of the first work machine to be completed.

19. The work site management system according to claim 18, wherein the processor sets a work point in the work area, the first work machine travels from outside the work area to the work point and then performs work at the work point, and the work completion time is the time required to complete the work at the work point.

20. The work site management system according to claim 19, wherein the processor calculates the work completion time based on the distance traveled and the travel speed of the first work machine to the work point.

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