Worksite control system and worksite control method

Abstract

This worksite control system includes a processor. The processor acquires vehicle data indicating the ground leveling ability of a bulldozer that performs ground leveling work in an earth removal area of a worksite, determines the spacing between a plurality of earth removal points at which a dump truck performs earth removal work on the basis of the vehicle data, and sets the plurality of earth removal points in the earth removal area so as to achieve the determined spacing.

Description

Work site control system and work site control method

[0001] The present disclosure relates to a work site control system and a work site control method.

[0002] In the technical field related to dump trucks, a dump truck as disclosed in Patent Document 1 is known. In Patent Document 1, the dump truck performs earth discharging work at each of a plurality of earth dumping points.

[0003] Japanese Unexamined Patent Publication No. 2024-071264

[0004] After the earth discharging work of the dump truck is completed, a bulldozer may perform leveling work around the earth dumping point. If the intervals between the plurality of earth dumping points are inappropriate, the work efficiency of the leveling work 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 control system is provided. The work site control system includes a processor. The processor acquires vehicle data indicating the leveling capacity of a bulldozer that performs leveling work in an earth dumping area of a work site, determines intervals between a plurality of earth dumping points at which a dump truck performs earth discharging work based on the vehicle data, and sets the plurality of earth dumping points in the earth dumping area at the determined intervals.

[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 control system and remote operation 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 control system and remote operation 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 schematic diagram showing a plurality of soil removal points set in the soil removal area according to the embodiment. Figure 8 is a schematic diagram showing a dump truck 2 that has performed soil removal work at a soil removal point according to the embodiment. Figure 9 is a schematic diagram showing the soil removal area after soil removal work has been performed at each of the plurality of soil removal points according to the embodiment. Figure 10 is a schematic diagram showing a bulldozer that performs leveling work according to the embodiment. Figure 11 is a diagram for explaining leveling work according to the embodiment. Figure 12 is a plan view for explaining the relationship between the width of the excavation blade and the material according to the embodiment. Figure 13 is a perspective view for explaining the relationship between the width of the excavation blade and the material according to the embodiment. Figure 14 is a plan view for explaining the relationship between the width of the excavation blade and the material according to the embodiment. Figure 15 is a perspective view illustrating the relationship between the width and material of a drilling blade according to an embodiment. Figure 16 is a plan view illustrating the relationship between the width and material of a drilling blade according to an embodiment. Figure 17 is a plan view illustrating the relationship between the width and material of a drilling blade according to an embodiment. Figure 18 is a flowchart illustrating a work site control method according to an embodiment. Figure 19 is a plan view illustrating a leveling operation according to an embodiment.

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

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

[0011] At work site 1, a dump truck 2, a type of work vehicle, performs its duties. Dump truck 2 is an unmanned dump truck, an example of an unmanned vehicle. An unmanned dump truck is a dump truck that performs its duties without the operation of an operator. Dump truck 2 has a dump body. The work performed by dump truck 2 includes transporting the cargo loaded into the dump body. The work performed by dump truck 2 also includes unloading the cargo from the dump body.

[0012] At work site 1, a shovel 3 and a bulldozer 4, both types of work machinery, perform their duties. Shovel 3 has an implement. The work performed by shovel 3 includes excavation work, where it excavates the work target using the implement. The work performed by shovel 3 also includes loading work, where it loads cargo onto dump truck 2 using the implement. Bulldozer 4 has an implement. The work performed by bulldozer 4 includes excavation work, where it excavates the work target using the implement. The work performed by bulldozer 4 also includes leveling work, where it levels the terrain of work site 1 using the implement. The work performed by bulldozer 4 also includes embankment formation work, where it forms an embankment using the implement.

[0013] 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, and a bulldozer 4 can operate, respectively.

[0014] Loading area 6 refers to the work area where loading operations are carried out to load cargo onto dump truck 2. An example of cargo is excavated material excavated in loading area 6. Excavator 3 performs excavation and loading operations in loading area 6.

[0015] The soil removal area 7 is the work area where the soil removal operation is carried out, in which the dump truck 2 unloads its cargo. The bulldozer 4 performs excavation, leveling, and embankment formation work in the soil removal area 7. The bulldozer 4 may also perform excavation, leveling, and embankment formation work in the loading area 6.

[0016] 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. For example, the dump truck 2 travels along the transport path 8 to travel back and forth between the loading area 6 and the soil removal area 7.

[0017] [Control System and Remote Control System] Figure 2 is a schematic diagram showing the control system 9 and remote control system 10 according to the embodiment. The control system 9 manages the work site 1. The control system 9 manages the dump truck 2, the shovel 3, and the bulldozer 4, respectively. In Figure 2, the bulldozer 4 is shown as a work machine. In the following description, for the sake of simplicity, an example will be given in which the control system 9 manages the dump truck 2 and the bulldozer 4.

[0018] The control 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 at least 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).

[0019] 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).

[0020] 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. 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.

[0021] 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.

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

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

[0024] The drilling blade 20A is positioned 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.

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

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

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

[0028] The on-board controller 22 includes a computer. The control server 11 and the on-board controller 22 of the bulldozer 4 communicate wirelessly via the communication system 12.

[0029] The bulldozer 4 may be remotely operated by an operator located outside the bulldozer 4, or it may be a manned work machine operated by an operator riding in the driver's cab of the bulldozer 4, or it may be an unmanned work machine that operates without operator intervention. In this embodiment, the bulldozer 4 is remotely operated 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 comprises a remote control device 24, a display device 25, an input device 26, and a remote controller 27.

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

[0031] The 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). The operator operates the remote control device 24 while checking 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] [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 work performed by the dump truck 2 in the soil removal area 7 includes soil removal work, which involves unloading the cargo from the dump body 16. The work performed by the bulldozer 4 in the soil removal area 7 includes leveling work, which involves preparing the terrain of the soil removal area 7, and embankment formation work, which involves forming an embankment 703 in the soil removal area 7. The leveling work includes pushing work, which involves pushing material such as soil and sand with the excavation blade 20A.

[0036] 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 of the soil removal area 7 near the edge 702.

[0037] 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 operate in a dumping motion 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 operates in a dumping motion, causing the cargo loaded in the dump body 16 to be discharged onto the downward cliff 701.

[0038] 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.

[0039] [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, 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 remote controller 27 via the network.

[0040] 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.

[0041] Figure 5 is a block diagram showing the control system 9 and remote control system 10 according to the embodiment. The dump truck 2 has a traveling device 15, a dump body 16, a position sensor 31, a compass sensor 32, a speed sensor 33, and an on-board controller 17. The bulldozer 4 has a traveling device 19, an excavating work machine 20, a ripper work machine 21, and an imaging device 41.

[0042] The position sensor 31 detects the position of the dump truck 2. The position sensor 31 is arranged on the vehicle body 14 of the dump truck 2. The position sensor 31 detects the position of the dump truck 2 by using a Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects a position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. 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.

[0043] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation of the dump truck 2 includes an azimuth angle relative 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 sensor (IMU), it can detect the inclination angle of the dump truck 2 with respect to the horizontal plane.

[0044] The speed sensor 33 detects the travel speed of the dump truck 2. The speed sensor 33 detects the travel speed of the dump truck 2 by, for example, detecting the rotation speed of a drive shaft connected to the wheels of the travel device 15.

[0045] The imaging device 41 captures an image of the object to be imaged. The imaging device 41 is positioned on the vehicle body 18. As shown in Figure 2, in this embodiment, the imaging device 41 is positioned on the upper part of the vehicle body 18. The object to be imaged by the imaging device 41 includes the work site 1 of the bulldozer 4. The object to be imaged by the imaging device 41 includes the ground of the work site 1 surrounding the bulldozer 4 and objects surrounding the bulldozer 4. The image of the work site 1 captured by the imaging device 41 is displayed on the display device 25 in the remote control room 23. An RGB camera is exemplified as the imaging device 41. The imaging device 41 may also be an RGB-D camera or a hyperspectral camera.

[0046] The remote controller 27 transmits the operation signal generated by the operation of the remote control device 24 to the on-board controller 22 of the bulldozer 4. Based on the operation signal transmitted from the remote controller 27, the on-board controller 22 controls at least one of the traveling device 19, the excavating machine 20, and the ripper machine 21. The remote controller 27 acquires the image of the work site 1 captured by the imaging device 41 and displays it on the display device 25. The remote controller 27 transmits the input data generated by the operation of the input device 26 to the control server 11.

[0047] The control server 11's storage 30C includes a vehicle data storage unit 51. The control server 11's processor 30A has multiple functional units. The functional units of the control server 11's processor 30A include an input data acquisition unit 52, a vehicle data acquisition unit 53, a soil discharge point setting unit 54, and a driving data generation unit 55.

[0048] Vehicle data storage unit 51 stores vehicle data of bulldozer 4. The vehicle data of bulldozer 4 includes specification data of bulldozer 4. Vehicle data storage unit 51 stores vehicle data (specification data) indicating the grading capacity of bulldozer 4. The specification data of bulldozer 4 includes the size of excavation blade 20A, and the maximum earth pushing amount indicating the maximum value of the earth pushing amount of bulldozer 4 in one earth pushing operation. The size of excavation blade 20A includes the width Wb of excavation blade 20A. The width Wb of excavation blade 20A refers to the dimension of excavation blade 20A in the vehicle width direction of bulldozer 4. The size of excavation blade 20A may also include the height of excavation blade 20A. The maximum earth pushing amount is determined based on the size of excavation blade 20A, the maximum output of the engine of bulldozer 4, the maximum traction force of bulldozer 4, and the like. The larger the size of excavation blade 20A is, the larger the maximum earth pushing amount becomes. The higher the maximum output of the engine of bulldozer 4 is, the larger the maximum earth pushing amount becomes. The greater the maximum traction force of bulldozer 4 is, the larger the maximum earth pushing amount becomes. The maximum earth pushing amount is obtained in advance through preliminary experiments or simulations. The size of excavation blade 20A and the maximum earth pushing amount are an example of vehicle data indicating the grading capacity of bulldozer 4.

[0049] Vehicle data storage unit 51 stores specification data of dump truck 2. The specification data of dump truck 2 includes the size of dump truck 2. The size of dump truck 2 includes the size of dump body 16. The size of dump body 16 includes the capacity of dump body 16. The specification data of dump truck 2 includes the maximum loading capacity indicating the maximum value of the amount of cargo that can be loaded on dump body 16. The larger the size of dump body 16 is, the larger the maximum loading capacity of dump body 16 becomes.

[0050] Input data acquisition unit 52 acquires input data from input device 26. When input device 26 is operated, remote controller 27 transmits input data from input device 26 to control server 11. Input data acquisition unit 52 acquires the input data transmitted from remote controller 27.

[0051] The vehicle data acquisition unit 53 acquires vehicle data of the bulldozer 4. The vehicle data acquisition unit 53 acquires vehicle data of the bulldozer 4 from the vehicle data storage unit 51. Alternatively, the operator may input the vehicle data of the bulldozer 4 into the input device 26. The input data acquisition unit 52 acquires input data from the input device 26 into which the vehicle data of the bulldozer 4 is input. The vehicle data acquisition unit 53 may also acquire vehicle data of the bulldozer 4 from the input data acquisition unit 52. The vehicle data acquisition unit 53 acquires at least the width Wb of the excavation blade 20A as vehicle data of the bulldozer 4. The vehicle data acquisition unit 53 acquires vehicle data indicating the width Wb of the excavation blade 20A of the bulldozer 4 that performs leveling work in the soil removal area 7 of the work site 1.

[0052] The soil discharge point setting unit 54 sets soil discharge points 72 in the soil discharge area 7. A soil discharge point 72 is the position where the dump truck 2 performs soil discharge work to unload its cargo. The soil discharge point setting unit 54 sets multiple soil discharge points 72 in the soil discharge area 7.

[0053] 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.

[0054] 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.

[0055] The soil removal point setting unit 54 sets soil removal points 72 in the soil removal area 7 of the work site 1 based on 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 54 sets multiple soil removal points 72 in the soil removal area 7.

[0056] The driving data generation unit 55 generates driving data indicating the driving conditions of the dump truck 2 in the work area. The driving data generation unit 55 generates driving data for the dump truck 2 in at least the soil discharge area 7. The driving data generation unit 55 generates driving data for the dump truck 2 based on the soil discharge point 72 set by the soil discharge point setting unit 54. The driving conditions for the dump truck 2 include 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.

[0057] 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 73, 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.

[0058] 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.

[0059] 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 73 refers to a virtual line indicating the target travel route of dump truck 2. The travel path 73 is defined by a trajectory that passes through multiple travel points 70. The travel data generation unit 55 generates the travel path 73 so as to include the soil discharge point 72.

[0060] 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.

[0061] 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.

[0062] 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 73, which indicates the travel route of the dump truck 2, are defined in the global coordinate system.

[0063] The driving data generated in the driving data generation unit 55 is transmitted to the dump truck 2. The dump truck 2 drives according to the driving data. The onboard controller 17 of the dump truck 2 controls the driving device 15 based on the driving data. The onboard controller 17 controls the driving device 15 so that the dump truck 2 drives according to the driving path 73, based on the detection data from the position sensor 31 and the detection data from the orientation sensor 32. That is, the onboard 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 onboard 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 onboard controller 17 controls the driving device 15 so that the dump truck 2 drives 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.

[0064] 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.

[0065] Figure 7 is a schematic diagram showing a plurality of soil removal points 72 set in a soil removal area 7 according to the embodiment. The soil removal point setting unit 54 sets a plurality of soil removal points 72 in the soil removal area 7. The plurality of soil removal points 72 are set at a constant interval Gn along the longitudinal direction of the edge 702 of the soil removal area 7. In the embodiment, a bank 703 is provided on the edge 702. The bank 703 is formed along the longitudinal direction of the edge 702. The plurality of soil removal points 72 are set at a constant interval Gn along the longitudinal direction of the bank 703 provided on the edge 702 of the soil removal area 7. The soil removal point setting unit 54 sets the soil removal points 72 so that the plurality of soil removal points 72 are arranged at equal intervals along the longitudinal direction of the bank 703.

[0066] The soil removal point 72 is set on the soil removal area 7 side (ground 706 side) of the embankment 703 in the shorter direction. In the shorter direction of the embankment 703, the distance between the embankment 703 and each of the multiple soil removal points 72 is the same.

[0067] In the example shown in Figure 7, the soil removal operation of dump truck 2 has not yet been carried out. In the following explanation, the soil removal point 72 where the soil removal operation of dump truck 2 has not yet been carried out will be appropriately referred to as the unremoved soil point 721, and the soil removal point 72 where the soil removal operation of dump truck 2 has already been carried out will be appropriately referred to as the completed soil removal point 722.

[0068] Figure 8 is a schematic diagram showing a dump truck 2 performing soil removal work at the soil removal point 72 according to the embodiment. The dump truck 2 approaches the soil removal point 72, which is set near the embankment 703, while reversing on the ground 706 of the soil removal area 7, and then operates the dump body 16. As the dump body 16 operates, the load is discharged from the dump body 16 onto the sloping cliff 701. After the load is discharged from the dump body 16, the dump truck 2 moves forward away from the embankment 703. As shown in Figure 8, some of the load discharged from the dump body 16 may remain on the surface of the embankment 703. In the following description, the load remaining on the embankment 703 due to the soil removal work will be appropriately referred to as material 705.

[0069] Multiple dump trucks 2 sequentially enter the soil removal area 7 via entry point 70S. The dump trucks 2 that have entered the soil removal area 7 perform soil removal work at soil removal point 72. The onboard controller 17 of the dump truck 2 that has finished soil removal work transmits a soil removal completion signal to the control server 11 indicating that soil removal work has been completed. As soil removal work is performed at soil removal point 72, the unremoved soil point 721 changes to a soil removed soil point 722. The dump trucks 2 that have finished soil removal work leave the soil removal area 7 via exit point 70E.

[0070] Figure 9 is a schematic diagram showing the soil removal area 7 after soil removal work has been performed at each of the multiple soil removal points 72 according to the embodiment. The soil removal point setting unit 54 can recognize that soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7 based on the soil removal completion signal from the onboard controller 17. The soil removal point setting unit 54 can recognize that soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7 based on the soil removal completion signal from the onboard controller 17. The soil removal point setting unit 54 transmits notification data to the remote controller 27 indicating that soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7. The remote controller 27 displays display data on the display device 25 indicating that soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7. The operator can recognize that soil removal work has been completed at each of the multiple soil removal points 72 set in the soil removal area 7 by checking the display data displayed on the display device 25.

[0071] As shown in Figure 9, after the soil removal work is completed at each of the multiple soil removal points 72 set in the soil removal area 7 and the dump truck 2 leaves the soil removal area 7, the leveling work of the bulldozer 4 in the soil removal area 7 begins. When the operator starts the leveling work of the bulldozer 4, they operate the input device 26 to notify the control server 11 that the leveling work has started. When the input device 26 is operated, a leveling work start signal is sent from the remote controller 27 to the control server 11 to notify the start of the leveling work. After the driving data generation unit 55 of the control server 11 receives the leveling work start signal, it sends an entry prohibition signal to the on-board controller 17 of the dump truck 2 to prohibit the dump truck 2 from entering the soil removal area 7. When the entry prohibition signal is sent from the control server 11 to the on-board controller 17 of the dump truck 2, the dump truck 2 is prohibited from entering the soil removal area 7 while the leveling work of the bulldozer 4 is being carried out in the soil removal area 7. As shown in Figure 9, when the bulldozer 4 is performing leveling work in the soil removal area 7, the dump truck 2, which has traveled along the transport path 8 toward the soil removal area 7, waits at the entrance to the soil removal area 7. The entrance to the soil removal area 7 refers to the position of the entry point 70S or a position near the entry point 70S. After the signal to start leveling work is transmitted to the control server 11, the operator operates the remote control device 24 so that the leveling work in the soil removal area 7 by the bulldozer 4 begins.

[0072] Figure 10 is a schematic diagram showing a bulldozer 4 performing leveling work according to an embodiment. In this embodiment, the leveling work of the bulldozer 4 includes a pushing operation in which the bulldozer 4 moves forward toward the embankment 703 and removes the material 705 remaining on the embankment 703 due to the soil removal work of the dump truck 2 with the excavation blade 20A. The pushing operation includes dropping the material 705 accumulated on the surface of the embankment 703 onto the downward cliff 701 with the excavation blade 20A. The operator operates the remote control device 24 so that the material 705 removed from the embankment 703 falls onto the downward cliff 701. As shown in Figure 10, the operator operates the remote control device 24 so that the cutting edge 20E of the excavation blade 20A moves above the upper end of the embankment 703 in order to drop the material 705 accumulated on the surface of the embankment 703 onto the downward cliff 701.

[0073] Figure 11 is a diagram illustrating the leveling work according to the embodiment. As shown in Figure 11, the material 705 is deposited on the surface of the embankment 703 so as to correspond to the soil removal point 72 (soil removal point 722). That is, there is a one-to-one correspondence between the material 705 deposited on the surface of the embankment 703 and the soil removal point 72. The material 705 exists at regular intervals Gm along the longitudinal direction of the embankment 703. There is a one-to-one correspondence between the intervals Gn of the soil removal points 72 and the intervals Gm of the material 705. The larger the intervals Gn of the soil removal points 72, the larger the intervals Gm of the material 705.

[0074] The bulldozer 4 performs soil pushing operations so that each of the multiple materials 705 is removed from the embankment 703. During the leveling operation, the bulldozer 4 performs soil pushing operations at each of the multiple positions along the longitudinal direction of the embankment 703, while repeatedly moving forward and backward. In the example shown in Figure 11, the bulldozer 4 moves forward toward the embankment 703 as indicated by arrow Fa in order to remove the first material 705, which is the leftmost of the multiple materials 705 located in the left-right direction. As the bulldozer 4 moves forward toward the embankment 703, the first material 705 is removed from the embankment 703 by the excavation blade 20A.

[0075] After the first material 705 is removed from the embankment 703, the bulldozer 4 reverses away from the embankment 703 as indicated by arrow Ba. After moving away from the embankment 703, the bulldozer 4 moves forward toward the embankment 703 to remove the second material 705 which is located to the right of the first material 705. As the bulldozer 4 moves forward toward the embankment 703, the second material 705 is removed from the embankment 703 by the digging blade 20A.

[0076] After the second material 705 is removed from the embankment 703, the bulldozer 4 reverses away from the embankment 703. After moving away from the embankment 703, the bulldozer 4 moves forward towards the embankment 703 to remove the third material 705 which is located to the right of the second material 705. As the bulldozer 4 moves forward towards the embankment 703, the third material 705 is removed from the embankment 703 by the excavation blade 20A.

[0077] By repeating the above-described operation, the bulldozer 4 can remove each of the multiple materials 705 that are present at regular intervals Gm in the longitudinal direction of the embankment 703 from the embankment 703.

[0078] After the bulldozer 4 completes its leveling work, the dump truck 2 resumes its soil removal work. When the operator finishes the leveling work of the bulldozer 4, they operate the input device 26 to notify the control server 11 that the leveling work has been completed. When the input device 26 is operated, a leveling work completion signal is sent from the remote controller 27 to the control server 11 to notify the control server 11 that the leveling work has been completed. After receiving the leveling work completion signal, the driving data generation unit 55 of the control server 11 sends an entry permission signal to the on-board controller 17 of the dump truck 2 to allow the dump truck 2 to enter the soil removal area 7. When the entry permission signal is sent from the control server 11 to the on-board controller 17 of the dump truck 2, the dump truck 2 enters the soil removal area 7 from the entrance and the soil removal work of the dump truck 2 resumes.

[0079] Furthermore, in the soil removal area 7, the soil removal work by the dump truck 2 and the leveling work by the bulldozer 4 may be carried out simultaneously. For example, when the soil removal work by the dump truck 2 at the first soil removal point 72 among the multiple soil removal points 72 has been completed and the soil removal work by the dump truck 2 at the second soil removal point 72 is being carried out, the leveling work at the first soil removal point 72 by the bulldozer 4 may be carried out.

[0080] [Spacing of soil removal points] In this embodiment, the soil removal point setting unit 54 determines the spacing Gn of the multiple soil removal points 72 based on the width Wb of the excavation blade 20A so that the leveling work can be carried out efficiently. The soil removal point setting unit 54 sets the multiple soil removal points 72 in the soil removal area 7 so that the spacing Gn is determined.

[0081] Figure 12 is a plan view illustrating the relationship between the width Wb of the drilling blade 20A and the material 705 according to the embodiment. Figure 13 is a perspective view illustrating the relationship between the width Wb of the drilling blade 20A and the material 705 according to the embodiment.

[0082] In the example shown in Figures 12 and 13, the material 705 includes a first material 705A, a second material 705B, and a third material 705C arranged in the longitudinal direction of the embankment 703. The second material 705B is positioned to the right of the first material 705A. The third material 705C is positioned to the right of the second material 705B. The multiple materials 705 are arranged at regular intervals Gm.

[0083] In the examples shown in Figures 12 and 13, the spacing Gn of the soil removal points 72 is determined so that adjacent materials 705 do not overlap with each other. The first material 705A and the second material 705B are separated. The second material 705B and the third material 705C are separated.

[0084] In the examples shown in Figures 12 and 13, the width Wm of one piece of material 705 is smaller than the width Wb of the excavation blade 20A. The amount of one piece of material 705 is less than the maximum amount of soil pushed by the bulldozer 4. Therefore, the bulldozer 4 can remove the material 705 from the embankment 703 in one soil pushing operation (one forward movement). The bulldozer 4 can remove the first material 705A from the embankment 703 in one soil pushing operation indicated by arrow Fa1. The bulldozer 4 can remove the second material 705B from the embankment 703 in one soil pushing operation indicated by arrow Fa2. The bulldozer 4 can remove the third material 705C from the embankment 703 in one soil pushing operation indicated by arrow Fa3. The bulldozer 4 can remove material 705 (705A, 705B, 705C) from the embankment 703 by performing an integer number of (3) push operations.

[0085] The width Wm of material 705 can be derived from the size of the dump body 16. The amount of material 705 can be derived from the size of the dump body 16. The larger the width of the dump body 16, the larger the width Wm of material 705. The larger the capacity of the dump body 16, the greater the amount of material 705. If the width Wm of material 705 changes depending on the properties (soil type) of material 705, the width Wm of material 705 may be derived by considering the properties of material 705. The properties of material 705 include the degree to which material 705 spreads when discharged from the dump body 16 onto the embankment 703. The greater the degree to which material 705 spreads, the larger the width Wm of material 705. The properties of material 705 may also include the angle of repose of material 705. The smaller the angle of repose of material 705, the larger the width Wm of material 705.

[0086] The width Wm and quantity of material 705 are derived in advance, for example, by preliminary experiments or simulations, and stored in the vehicle data storage unit 51. The soil removal point setting unit 54 can determine the spacing Gn of the soil removal points 72 so that the material 705 (705A, 705B, 705C) is removed from the embankment 703 by an integer number of (3) soil pushing operations, based on the width Wb of the excavation blade 20A and the size of the dump body 16. If the width Wm of material 705 derived based on the size of the dump body 16 is smaller than the width Wb of the excavation blade 20A, and the quantity of material 705 derived based on the size of the dump body 16 is less than the maximum soil pushing amount, the spacing Gn of the soil removal points 72 is determined so that multiple pieces of material 705 do not overlap with each other, thereby enabling the bulldozer 4 to remove the material 705 from the embankment 703 by an integer number of (3) soil pushing operations.

[0087] Figure 14 is a plan view illustrating the relationship between the width Wb of the drilling blade 20A and the material 705 according to the embodiment. Figure 15 is a perspective view illustrating the relationship between the width Wb of the drilling blade 20A and the material 705 according to the embodiment.

[0088] In the example shown in Figures 14 and 15, the material 705 includes a first material 705A, a second material 705B, a third material 705C, a fourth material 705D, and a fifth material 705E arranged in the longitudinal direction of the embankment 703. At least a portion of the second material 705B is positioned to the right of the first material 705A. At least a portion of the third material 705C is positioned to the right of the second material 705B. At least a portion of the fourth material 705D is positioned to the right of the third material 705C. At least a portion of the fifth material 705E is positioned to the right of the fourth material 705D. The multiple materials 705 are arranged at regular intervals Gm.

[0089] In the examples shown in Figures 14 and 15, because the spacing Gn of the soil removal points 72 is narrow, adjacent materials 705 overlap with each other. Part of the first material 705A and part of the second material 705B overlap. Part of the second material 705B and part of the third material 705C overlap. Part of the third material 705C and part of the fourth material 705D overlap. Part of the fourth material 705D and part of the fifth material 705E overlap.

[0090] In the examples shown in Figures 14 and 15, considering the width Wb of the excavation blade 20A relative to the dimension from the left end of the first material 705A to the right end of the fifth material 705E, the minimum number of earth-pushing operations is 4. The bulldozer 4 may be able to remove material 705 from the embankment 703 by performing the first earth-pushing operation indicated by arrow Fa1, the second earth-pushing operation indicated by arrow Fa2, the third earth-pushing operation indicated by arrow Fa3, and the fourth earth-pushing operation indicated by arrow Fa4.

[0091] In the examples shown in Figures 14 and 15, there is an overlap of adjacent material 705. The amount of material 705 in the overlapping portion may exceed the maximum amount of earth being pushed by the bulldozer 4. If the amount of material 705 in the overlapping portion exceeds the maximum amount of earth being pushed, it may not be possible to remove the material 705 from the embankment 703 in a single earth-pushing operation. For example, if the amount of material 705 by the overlapping portion of the first material 705A and the second material 705B exceeds the maximum amount of earth being pushed, the bulldozer 4 may need to perform the first earth-pushing operation indicated by arrow Fa1 multiple times. Similarly, the bulldozer 4 may need to perform the second earth-pushing operation indicated by arrow Fa2 and the third earth-pushing operation indicated by arrow Fa3 multiple times each. In this case, the number of earth-pushing operations (the number of times the bulldozer 4 moves forward and backward) increases, which may reduce the efficiency of the leveling work. Furthermore, if the amount of overlapping material 705 exceeds the maximum amount of earth being pushed, and the amount of earth being pushed by the bulldozer 4 in a single earth-pushing operation exceeds the maximum amount of earth being pushed, the travel device 19 of the bulldozer 4 may slip or get stuck.

[0092] The soil removal point setting unit 54 determines the spacing Gn of the soil removal points 72 so that the amount of soil pushed by the bulldozer 4 in one soil pushing operation is less than or equal to the maximum soil pushing amount. The soil removal point setting unit 54 determines the spacing Gn of the soil removal points 72 so that, for example, the amount of overlapping material 705 is less than or equal to the maximum soil pushing amount. The soil removal point setting unit 54 may also determine the spacing Gn of the soil removal points 72 so that there is no overlapping portion of material 705.

[0093] On the other hand, the presence of overlapping material 705 shortens the distance from the left end of the first material 705A to the right end of the fifth material 705E, thus reducing the number of times the bulldozer 4 needs to perform its earth-pushing operations. If the first material 705A, the second material 705B, the third material 705C, the fourth material 705D, and the fifth material 705E are far apart from each other, the bulldozer 4 will need to perform its earth-pushing operations at least five times. If there is overlapping material 705 between adjacent materials, the bulldozer 4 may only need to perform its earth-pushing operations four times. Therefore, the earth-pushing point setting unit 54 may determine the spacing Gn of the earth-pushing points 72 in such a way that the number of earth-pushing operations the bulldozer 4 needs to perform is reduced. The earth-pushing point setting unit 54 may also determine the spacing Gn of the earth-pushing points 72 in such a way that overlapping material 705 is generated. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 such that overlapping portions of material 705 are generated and the amount of material 705 in the overlapping portions is less than or equal to the maximum soil removal amount. The soil removal point setting unit 54 may also determine the interval Gn of the soil removal points 72 such that the number of soil removal operations is reduced and the amount of soil removed in the soil removal operations is less than or equal to the maximum soil removal amount.

[0094] Figure 16 is a plan view illustrating the relationship between the width Wb of the excavation blade 20A and the material 705 according to the embodiment. In the example shown in Figure 16, although the width Wm of one piece of material 705 is smaller than the width Wb of the excavation blade 20A, the amount of one piece of material 705 is greater than the maximum amount of soil pushed by the bulldozer 4. Therefore, it is difficult for the bulldozer 4 to remove one piece of material 705 from the embankment 703 in a single soil pushing operation (one forward movement). The bulldozer 4 needs to perform soil pushing operations multiple times to remove one piece of material 705 from the embankment 703.

[0095] As shown in Figure 16, when the spacing Gn of the soil removal points 72 is narrow, adjacent materials 705 overlap each other. In the example shown in Figure 16, considering the width Wb of the excavation blade 20A relative to the dimension from the left end of the first material 705A to the right end of the fifth material 705E, the bulldozer 4 needs to perform the first soil pushing operation indicated by arrow Fa1, the second soil pushing operation indicated by arrow Fa2, the third soil pushing operation indicated by arrow Fa3, and the fourth soil pushing operation indicated by arrow Fa4. The bulldozer 4 needs to perform each of the first soil pushing operation indicated by arrow Fa1, the second soil pushing operation indicated by arrow Fa2, the third soil pushing operation indicated by arrow Fa3, and the fourth soil pushing operation indicated by arrow Fa4 multiple times.

[0096] For example, if the amount of material 705 in the overlapping portion between the first material 705A and the second material 705B is excessively large (i.e., the overlap amount between the first material 705A and the second material 705B is excessively large), it may be necessary to perform the first earth-pushing operation indicated by arrow Fa1 X times. By reducing the amount of material 705 in the overlapping portion between the first material 705A and the second material 705B (i.e., by reducing the overlap amount between the first material 705A and the second material 705B), it may be possible to perform the first earth-pushing operation indicated by arrow Fa1 Y times instead of X times. In this way, even when the amount of one material 705 is greater than the maximum earth-pushing capacity of the bulldozer 4, it may be possible to reduce the number of times earth-pushing operations are performed by adjusting the overlap amount of adjacent materials 705. Furthermore, by separating the first material 705A, the second material 705B, the third material 705C, the fourth material 705D, and the fifth material 705E from one another, the number of times the soil pushing operation is performed may change. The soil discharge point setting unit 54 may determine the spacing Gn of the soil discharge points 72 based on the width Wb of the excavation blade 20A and the size of the dump body 16 (the amount of one material 705) so as to reduce the number of soil pushing operations.

[0097] Figure 17 is a plan view illustrating the relationship between the width Wb of the excavation blade 20A and the material 705 according to this embodiment. Figure 17 shows an example where the spacing Gn of the soil removal points 72 is sufficiently large and the spacing Gm of the material 705 is sufficiently large. In the example shown in Figure 17, the multiple pieces of material 705 do not overlap with each other. In the example shown in Figure 17, if the amount of one piece of material 705 is less than or equal to the maximum amount of soil pushed, and the width Wm of the material 705 is smaller than the width Wb of the excavation blade 20A, the bulldozer 4 can remove the material 705 from the embankment 703 by an integer number of soil pushing operations.

[0098] As described above, when the operator starts leveling work, they operate the input device 26 so that a leveling work start signal is sent to the control server 11. When the leveling work start signal is sent, the dump truck 2 is prohibited from entering the soil removal area 7. The dump truck 2 waits at the entrance to the soil removal area 7. When the operator finishes leveling work, they operate the input device 26 so that a leveling work end signal is sent to the control server 11. When the leveling work end signal is sent, the soil removal work of the dump truck 2 resumes.

[0099] Increasing the spacing Gn between the soil removal points 72 means that the number of soil removal points 72 set in the soil removal area 7 decreases. Multiple dump trucks 2 often arrive at the soil removal area 7 at regular time intervals. If there are fewer soil removal points 72, the soil removal work will be completed in a shorter time, allowing for an earlier transition from soil removal to leveling work. In other words, the entry of dump trucks 2 into the soil removal area 7 will be prohibited earlier. As a result, as shown in Figure 17, there is a higher possibility that dump trucks 2 will be waiting at the entrance of the soil removal area 7 until the soil removal work resumes, potentially increasing the waiting time for dump trucks 2 waiting at the entrance of the soil removal area 7 until the soil removal work resumes. A longer waiting time for dump trucks 2 may reduce the productivity of the work site 1.

[0100] The soil removal point setting unit 54 may determine the spacing Gn of the soil removal points 72 so as to shorten the waiting time for the dump truck 2 until soil removal work resumes. In other words, the soil removal point setting unit 54 may determine the spacing Gn of the soil removal points 72 so as not to make the spacing Gn of the soil removal points 72 excessively large. The soil removal point setting unit 54 may also determine the spacing Gn of the soil removal points 72 so as to suppress the decrease in the number of soil removal points 72 in the soil removal area 7.

[0101] The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 such that the number of soil pushing operations is reduced, the amount of soil pushed by the bulldozer 4 during soil pushing operations is less than or equal to the maximum amount of soil pushed, and the waiting time of the dump truck 2 until soil removal operations are resumed is shortened. The soil removal point setting unit 54 may also calculate an evaluation function with the number of soil pushing operations as the first evaluation item, the amount of soil pushed by the bulldozer 4 as the second evaluation item, and the waiting time of the dump truck 2 as the third evaluation item, and determine the interval Gn of the soil removal points 72 such that the degree of the evaluation value of the evaluation function is improved.

[0102] [Work Site Control Method] Figure 18 is a flowchart showing a control method for the work site 1 according to an embodiment. The vehicle data acquisition unit 53 acquires vehicle data indicating the width Wb of the excavation blade 20A of the bulldozer 4 (step S1). The vehicle data acquisition unit 53 acquires vehicle data from the vehicle data storage unit 51. If vehicle data is input to the input device 26 by the operator, the vehicle data acquisition unit 53 may acquire vehicle data from the input data acquisition unit 52.

[0103] The soil discharge point setting unit 54 determines the interval Gn of the multiple soil discharge points 72 where the dump truck 2 will perform soil discharge work, based on the width Wb of the excavation blade 20A (step S2).

[0104] The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so as to reduce the number of times the bulldozer 4 has to push soil. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so as to be less than or equal to the maximum amount of soil pushed by the bulldozer 4 in one pushing operation. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so as to reduce the waiting time for the dump truck 2 until soil removal work resumes.

[0105] The soil removal point setting unit 54 sets multiple soil removal points 72 in the soil removal area 7 so that the interval Gn determined in step S2 (step S3).

[0106] The driving data generation unit 55 generates driving data for the dump truck 2 based on the soil discharge point 72 set in step S3 (step S4).

[0107] The driving data generation unit 55 transmits the driving data generated in step S4 to the on-board controller 17 of the dump truck 2 (step S5). The on-board controller 17 of the dump truck 2 controls the driving device 15 based on the driving data.

[0108] [Effects] As described above, the control server 11 includes a vehicle data acquisition unit 53 that acquires vehicle data indicating the width Wb of the excavation blade 20A of the bulldozer 4 that performs leveling work in the soil removal area 7 of the work site 1, and a soil removal point setting unit 54 that determines the interval Gn of a plurality of soil removal points 72 where the dump truck 2 performs soil removal work based on the width Wb of the excavation blade 20A, and sets the plurality of soil removal points 72 in the soil removal area 7 so that the interval Gn is determined.

[0109] According to the embodiment, the spacing Gn of the multiple soil removal points 72 is appropriately determined based on the width Wb of the excavation blade 20A. Since an appropriate spacing Gn of soil removal points 72 is determined, a decrease in the work efficiency of the bulldozer 4's leveling work is suppressed.

[0110] By determining the interval Gn of the soil removal points 72 so that the material 705 is removed from the embankment 703 by an integer number of soil-pushing operations, the bulldozer 4 can efficiently carry out leveling work.

[0111] By determining the interval Gn of the soil removal points 72 in a way that reduces the number of times soil pushing operations are performed, the bulldozer 4 can efficiently carry out leveling work.

[0112] By determining the interval Gn of the soil removal points 72 so that the amount of soil pushed by the bulldozer 4 in a single soil pushing operation is less than or equal to the maximum soil pushing amount, the bulldozer 4 can efficiently perform leveling work.

[0113] By determining the interval Gn of the soil removal points 72 in such a way that the waiting time for the dump truck 2 until soil removal work resumes is minimized, the bulldozer 4 can perform leveling work more efficiently. Furthermore, since the waiting time for the dump truck 2 is reduced, the decrease in productivity at the work site 1 is suppressed.

[0114] The soil discharge point setting unit 54 may determine the spacing Gn of the soil discharge points 72 based on the width Wm of the excavation blade 20A and the size of the dump body 16 of the dump truck 2. This ensures that the spacing Gn of multiple soil discharge points 72 is appropriately determined.

[0115] [Other Embodiments] Figure 19 is a plan view illustrating a leveling operation according to an embodiment. As shown in Figure 19, multiple bulldozers 4 may perform leveling work in the soil removal area 7. In the example shown in Figure 19, a first bulldozer 4A and a second bulldozer 4B perform leveling work as bulldozers 4 in the soil removal area 7. The width Wb2 of the excavation blade 20A of the second bulldozer 4B is smaller than the width Wb1 of the excavation blade 20A of the first bulldozer 4A. The soil removal point setting unit 54 may determine the spacing Gn of the soil removal points 72 based on the widths Wb (Wb1, Wb2) of the respective excavation blades 20A of the multiple bulldozers 4 (4A, 4B). There is a one-to-one correspondence between the spacing Gn of the soil removal points 72 and the spacing Gm of the material 705. In the example shown in Figure 19, the material 705 includes a first material 705A, a second material 705B, and a third material 705C.

[0116] The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so that the first bulldozer 4A and the second bulldozer 4B each remove the material 705 from the embankment 703 by performing an integer number of soil pushing operations. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so that the number of soil pushing operations performed by the first bulldozer 4A and the second bulldozer 4B is reduced. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so that the amount of soil pushed in the soil pushing operations of the first bulldozer 4A and the second bulldozer 4B is less than or equal to the maximum amount of soil pushed. The soil removal point setting unit 54 may determine the interval Gn of the soil removal points 72 so that the waiting time for the dump truck 2 until soil removal work is resumed is reduced.

[0117] In the example shown in Figure 19, the first bulldozer 4A and the second bulldozer 4B can each remove the material 705 from the embankment 703 by performing an integer number of shoveling operations. The first bulldozer 4A performs the first shoveling operation indicated by arrow Fa11, the second shoveling operation indicated by arrow Fa21, and the third shoveling operation indicated by arrow Fa31. The second bulldozer 4B performs the first shoveling operation indicated by arrow Fa12, the second shoveling operation indicated by arrow Fa22, and the third shoveling operation indicated by arrow Fa32.

[0118] In the above-described embodiment, the bulldozer 4 is remotely controlled by the remote control system 10. The bulldozer 4 does not have to be remotely controlled. The bulldozer 4 may perform its work through the operation of an operator sitting in the driver's cab of the bulldozer 4.

[0119] In the above-described embodiment, the machine used to perform the leveling work was a bulldozer 4. However, the machine used to perform the leveling work is not limited to a bulldozer 4. For example, the machine used to perform the leveling work may be a motor grader.

[0120] In the above-described embodiment, the dump truck 2 is assumed to be an unmanned dump truck. However, the dump truck 2 does not have to be an unmanned dump truck. The dump truck 2 may also be a manned dump truck operated by an operator sitting in the driver's cab.

[0121] In the above embodiment, at least a part of the functional unit of the control server 11 may be provided on the remote controller 27, on the onboard controller 17 of the dump truck 2, or on the onboard controller 22 of the bulldozer 4.

[0122] In the above-described embodiment, each of the functional units of the control server 11 may be configured by a separate computer (hardware).

[0123] 1...Work site, 2...Dump truck, 3...Excavator, 4...Bulldozer, 4A...First bulldozer, 4B...Second bulldozer, 6...Loading area, 7...Soil removal area, 8...Transport route, 9...Control system, 10...Remote control system, 11...Control server, 12...Communication system, 13...Control facility, 14...Vehicle body, 15...Running gear, 16...Dump body, 17...On-board controller, 18...Vehicle body, 19...Running gear, 20...Excavating work machine, 20A...Excavation 20B... Cutting blade, 20C... Lift frame, 20D... Tilt cylinder, 20E... Lift cylinder, 21... Ripper work machine, 21A... Shank, 21B... Ripper arm, 21C... Tilt cylinder, 21D... Lift cylinder, 21E... Beam, 22... Onboard controller, 23... Remote control room, 24... Remote control device, 25... Display device, 26... Input device, 27... Remote controller, 28... Driver's seat, 29... Communication system, 30... Computer, 30A... Processor, 30B... Main memory, 30C... Storage, 30D... Input / output interface, 30E... Communication interface, 30F... Computer program, 31... Position sensor, 32... Direction sensor, 33... Speed ​​sensor, 41... Imaging device, 51... Vehicle data storage unit, 52... Input data acquisition unit, 53... Vehicle data acquisition unit, 54... Soil removal point setting unit, 55... Driving data generation unit, 70... Driving point 70E... Exit point, 70S... Entry point, 71... Switchback point, 72... Soil removal point, 73... Driving path, 701... Downward cliff, 702... Edge, 703... Embankment, 705... Material, 705A... First material, 705B... Second material, 705C... Third material, 705D... Fourth material, 705E... Fifth material, 706... Ground, 721... Point where soil has not been removed, 722... Point where soil has been removed, Wb... Width, Wm... Width, Gm... Spacing, Gn... Spacing.

Claims

1. A work site control system comprising a processor, the processor acquiring vehicle data indicating the leveling capacity of a bulldozer performing leveling work in the soil removal area of ​​a work site, determining the intervals between multiple soil removal points where a dump truck performs soil removal work based on the vehicle data, and setting the multiple soil removal points in the soil removal area so as to be at the determined intervals.

2. The work site control system according to claim 1, wherein the vehicle data includes the width of the excavation blade of the bulldozer.

3. A control system for a work site according to claim 2, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer removes the material remaining on the embankment after the soil removal work with the excavation blade while advancing toward the embankment, in the leveling work the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, and the processor determines the interval of the soil removal points such that the material is removed from the embankment by an integer number of pushing operations.

4. The work site control system according to claim 2, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of the embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer removes the material remaining on the embankment after the soil removal work with the excavation blade while advancing toward the embankment, the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, and the processor determines the interval between the soil removal points so as to reduce the number of times the pushing operation is performed.

5. A control system for a work site according to claim 2, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer removes the material remaining on the embankment after the soil removal work with the excavation blade while advancing toward the embankment, the leveling work in which the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the vehicle data includes a maximum pushing amount indicating the maximum amount of soil pushed by the bulldozer in a single pushing operation, and the processor determines the interval between the soil removal points so that the amount of soil pushed in the pushing operation is less than or equal to the maximum pushing amount.

6. A control system for a work site according to claim 2, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer moves forward toward the embankment and removes the material remaining on the embankment after the soil removal work with the excavation blade, in the leveling work, the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the leveling work of the bulldozer is started after the soil removal work is completed at each of the plurality of soil removal points, the soil removal work is resumed after the leveling work is completed, and the processor determines the interval between the soil removal points so as to shorten the waiting time for the dump truck until the soil removal work is resumed.

7. A control system for a work site according to claim 2. The plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer removes the material remaining on the embankment after the soil removal work with the excavation blade while advancing toward the embankment, the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the leveling work of the bulldozer is started after the soil removal work is completed at each of the plurality of soil removal points, the leveling work of the bulldozer is started after the leveling work is completed, the soil removal work is resumed after the leveling work is completed, the vehicle data includes a maximum pushing amount indicating the maximum amount of soil pushed by the bulldozer in a single pushing operation, and the processor determines the interval between the soil removal points such that the number of pushing operations is reduced, the amount of soil pushed in the pushing operations is less than or equal to the maximum pushing amount, and the waiting time of the dump truck until the soil removal work is resumed is shortened.

8. A control system for a work site according to claim 2, wherein a plurality of bulldozers perform the leveling work in the soil removal area, and the processor determines the interval between the soil removal points based on the width of the excavation blades of each of the plurality of bulldozers.

9. The control system for a work site according to claim 1, wherein the processor determines the interval between the soil discharge points based on the size of the dump body of the dump truck.

10. A control system for a work site according to claim 2, comprising storage, the storage storing vehicle data indicating the width of the drilling blade, and the processor obtaining the width of the drilling blade from the storage.

11. The work site control system according to claim 2, wherein the processor acquires input data from an input device on which the width of the drilling blade is input.

12. The work site control system according to claim 1, comprising a driving data generation unit that generates driving data for the dump truck, wherein the dump truck is an unmanned dump truck that drives according to the driving data.

13. A method for controlling a work site, comprising: acquiring vehicle data indicating the leveling capacity of a bulldozer performing leveling work in the soil removal area of ​​a work site; determining the intervals between multiple soil removal points where a dump truck will perform soil removal work based on the vehicle data; and setting the multiple soil removal points in the soil removal area so that they are at the intervals determined.

14. The work site control method according to claim 13, wherein the vehicle data includes the width of the excavation blade of the bulldozer.

15. A method for controlling a work site according to claim 14, wherein a plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer moves forward toward the embankment and removes the material remaining on the embankment after the soil removal work with the excavation blade, in the leveling work the bulldozer performs the pushing operation at each of a plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, and the interval between the soil removal points is determined so that the material is removed from the embankment by an integer number of pushing operations.

16. A method for controlling a work site according to claim 14, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer moves forward toward the embankment and removes the material remaining on the embankment after the soil removal work with the excavation blade, in the leveling work the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, and the interval between the soil removal points is determined so as to reduce the number of times the pushing operation is performed.

17. A method for controlling a work site according to claim 14, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer moves forward toward the embankment and removes the material remaining on the embankment after the soil removal work with the excavation blade, in the leveling work the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the vehicle data includes a maximum pushing amount indicating the maximum amount of soil pushed by the bulldozer in a single pushing operation, and the interval between the soil removal points is determined so that the amount of soil pushed in the pushing operation is less than or equal to the maximum pushing amount.

18. A method for controlling a work site according to claim 14, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer moves forward toward the embankment and removes the material remaining on the embankment after the soil removal work with the excavation blade, in the leveling work the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the leveling work of the bulldozer is started after the soil removal work is completed at each of the plurality of soil removal points, the soil removal work is resumed after the leveling work is completed, and the interval between the soil removal points is determined so as to shorten the waiting time for the dump truck until the soil removal work is resumed.

19. A method for controlling a work site according to claim 14, wherein the plurality of soil removal points are set at regular intervals along the longitudinal direction of an embankment provided at the edge of the soil removal area, the leveling work includes a pushing operation in which the bulldozer removes the material remaining on the embankment after the soil removal work with the excavation blade while advancing toward the embankment, in the leveling work, the bulldozer performs the pushing operation at each of the plurality of positions along the longitudinal direction of the embankment while repeatedly moving forward and backward, the leveling work of the bulldozer is started after the soil removal work is completed at each of the plurality of soil removal points, the soil removal work is resumed after the leveling work is completed, the vehicle data includes a maximum pushing amount indicating the maximum amount of soil pushed by the bulldozer in one pushing operation, and the interval between the soil removal points is determined such that the number of pushing operations is reduced, the amount of soil pushed in the pushing operations is less than or equal to the maximum pushing amount, and the waiting time of the dump truck until the soil removal work is resumed is shortened.

20. A method for controlling a work site according to claim 14, wherein multiple bulldozers perform the leveling work in the soil removal area, and the spacing between the soil removal points is determined based on the width of the excavation blades of each of the multiple bulldozers.

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