Worksite management system and worksite management method

Abstract

This worksite management system comprises a processor. The processor designates a first operation area where a work machine works in a work area of a worksite, and determines whether the work of the work machine in the first operation area has ended on the basis of the relative position between the work attachment of the work machine and the work target present in the first operation area.

Description

Work site management system and work site management method

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

[0002] In the technical field of working machines, a working machine as disclosed in Patent Document 1 is known. In Patent Document 1, a controller of the working machine acquires the position of a main body of the working machine and the position of a work implement, and advances the working machine while controlling the work implement according to a target design surface. The controller determines whether there is still soil held by the work implement based on a height difference between the target design surface and a predetermined portion of the main body.

[0003] U.S. Patent Application Publication No. 2024 / 0200304

[0004] A working machine performs work in a work area of a work site. After the working machine finishes working in the work area, a next work may be performed in the work area. If the completion of work by the working machine cannot be properly recognized, there is a possibility that the period from the time when the work of the working machine is completed to the time when the next work is started is prolonged. If the period from the completion of the work by the working machine to the start of the next work is prolonged, the productivity of the work site may decrease.

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

[0006] According to the present disclosure, a work site management system is provided. The work site management system includes a processor. The processor designates a first operation area where a working machine performs work in a work area of the work site, and determines whether the work of the working machine in the first operation area is completed based on the relative position between the work implement of the working machine and the work target existing in the first operation area.

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

[0008] Figure 1 is a schematic diagram showing a work site according to the first embodiment. Figure 2 is a schematic diagram showing the management system and remote control system according to the first embodiment. Figure 3 is a schematic diagram showing an example of a soil removal area according to the first embodiment. Figure 4 is a hardware configuration diagram showing the control server according to the first embodiment. Figure 5 is a block diagram showing the management system and remote control system according to the first embodiment. Figure 6 is a diagram for explaining the driving data according to the first embodiment. Figure 7 is a diagram for explaining the divided area according to the first embodiment. Figure 8 is a diagram for explaining the dump truck operating area according to the first embodiment. Figure 9 is a diagram for explaining the bulldozer operating area according to the first embodiment. Figure 10 is a diagram for explaining the virtual wall according to the first embodiment. Figure 11 is a diagram for explaining the bulldozer operating area and dump truck operating area according to the first embodiment. Figure 12 is a diagram for explaining the bulldozer operating area and dump truck operating area according to the first embodiment. Figure 13 is a schematic diagram showing a dump truck that performed soil removal work at the soil removal point according to the first embodiment. Figure 14 is a schematic side view showing a bulldozer performing leveling work according to the first embodiment. Figure 15 is a schematic top view showing a bulldozer performing leveling work according to the first embodiment. Figure 16 is a flowchart showing a work site management method according to the first embodiment. Figure 17 is a schematic side view showing a bulldozer performing leveling work according to the second embodiment. Figure 18 is a schematic diagram showing an example of a soil removal area according to the third embodiment. Figure 19 is a schematic top view showing a bulldozer performing leveling work according to the third embodiment. Figure 20 is a schematic side view showing a bulldozer performing leveling work according to the third embodiment. Figure 21 is a schematic top view showing a bulldozer performing leveling work according to the third 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] [First Embodiment] The first embodiment will now be described.

[0011] <Work Site> Figure 1 is a schematic diagram showing a work site 1 according to the first embodiment. An example of a work site 1 is a mine or a quarry. 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.

[0012] 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. The work performed by dump truck 2 includes driving around work site 1. Dump truck 2 has a dump body. The work performed by dump truck 2 includes transporting the cargo loaded in the dump body. The work performed by dump truck 2 also includes unloading the cargo from the dump body.

[0013] At work site 1, a type of work machine, an excavator 3, a bulldozer 4, and a motor grader 5, will perform work. The excavator 3 has an implement. The work performed by the excavator 3 includes excavation work, where the excavator 3 excavates the work target. The work performed by the excavator 3 also includes loading work, where the excavator 3 loads cargo onto the dump truck 2. The bulldozer 4 has an implement. The work performed by the bulldozer 4 includes excavation work, where the excavator 4 excavates the work target. The work performed by the bulldozer 4 also includes leveling work, where the excavator 4 levels the terrain of work site 1. The work performed by the bulldozer 4 also includes embankment formation work, where the excavator 4 forms an embankment. The motor grader 5 has an implement. The work performed by the motor grader 5 includes excavation work, where the excavator 5 excavates the work target. The work performed by the motor grader 5 also includes leveling work, where the excavator 5 levels the terrain of work site 1.

[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. An example of cargo is excavated material excavated in loading area 6. Excavator 3 performs excavation and loading operations in loading area 6.

[0016] 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.

[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 first 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 bulldozer 4 is shown as a work machine. In the following description, for the sake of simplicity, an example will be given in which the management system 9 manages the dump truck 2 and the bulldozer 4.

[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 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).

[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).

[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. 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 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, 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). 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.

[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 first 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.

[0036] 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. Leveling operations include 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.

[0037] 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.

[0038] 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 load loaded on the dump body 16 to be removed onto the downward cliff 701.

[0039] 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.

[0040] <Computer> Figure 4 is a hardware configuration diagram showing a control server 11 according to the first 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 control server 11 via a network.

[0041] 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. Each of the on-board controllers 17 of the dump truck 2, 22 of the bulldozer 4, and 27 also has a processor, main memory, storage for storing computer programs, an input / output interface, and a communication interface.

[0042] Figure 5 is a block diagram showing the management system 9 and remote control system 10 according to the first 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, a position sensor 41, a vehicle attitude sensor 42, a work machine attitude sensor 43, and an imaging device 44.

[0043] The position sensor 31 detects the position of the dump truck 2. The position sensor 31 is located on the body 14 of the dump truck 2. The position sensor 31 detects the position of the dump truck 2 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 31 includes a GNSS receiver located on the body 14. The position sensor 31 detects the position of the dump truck 2 in the global coordinate system.

[0044] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation of the dump truck 2 includes an orientation angle relative to a reference orientation. The reference orientation is, for example, north. An inertial sensor (IMU: Inertial Measurement Unit) is exemplified as the orientation sensor 32. Note that the orientation sensor 32 may include an arithmetic unit that calculates orientation from position data detected by two GNSS antennas provided on the dump truck 2. The arithmetic unit can calculate the orientation from a vector connecting the two GNSS antennas. The orientation sensor 32 may detect the tilt 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 tilt angle of the dump truck 2 with respect to the horizontal plane.

[0045] 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 by, for example, detecting the rotational speed of a drive shaft coupled to the wheels of a traveling device 15.

[0046] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is disposed on a 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.

[0047] The vehicle body attitude sensor 42 detects the attitude of the vehicle body 18 of the bulldozer 4. The vehicle body attitude sensor 42 detects the attitude of the vehicle body 18 at least when the position sensor 41 is detecting the position of the bulldozer 4. The vehicle body attitude sensor 42 is disposed on the vehicle body 18. The attitude of the vehicle body 18 includes a tilt angle of the vehicle body 18 with respect to a horizontal plane. An inertial measurement unit (IMU: Inertial Measurement Unit) is exemplified as the vehicle body attitude sensor 42. The vehicle body attitude sensor 42 is capable of detecting the tilt angle of the vehicle body 18 with respect to the horizontal plane.

[0048] The work implement posture sensor 43 detects the posture of the excavating work implement 20 of the bulldozer 4. The work implement posture sensor 43 detects the posture of the excavating work implement 20 at least when the position sensor 41 detects the position of the bulldozer 4. The posture of the excavating work implement 20 includes the angle and height of the excavating work implement 20. The work implement posture sensor 43 includes a frame angle sensor that detects the posture of the lift frame 20B and a blade angle sensor that detects the posture of the excavating blade 20A.

[0049] The posture of the lift frame 20B includes the angle and height of the lift frame 20B. The frame angle sensor detects a frame angle indicating the angle of the lift frame 20B. The frame angle refers to the angle of the lift frame 20B with respect to the vehicle body 18 in the local coordinate system defined for the bulldozer 4. The length of the lift frame 20B is known. By detecting the frame angle, the height of the distal end portion of the lift frame 20B is calculated. An example of the frame angle sensor is an angle sensor disposed at a connecting portion between the lift frame 20B and a side portion of the traveling device 19.

[0050] The posture of the excavating blade 20A includes the angle and height of the excavating blade 20A. The blade angle sensor detects a blade angle indicating the angle of the excavating blade 20A. The blade angle refers to the angle of the excavating blade 20A with respect to the lift frame 20B in the local coordinate system defined for the bulldozer 4. An example of the blade angle sensor is an angle sensor disposed at a connecting portion between the lift frame 20B and the excavating blade 20A. The dimensions of the excavating blade 20A are known. By detecting the blade angle, the height of the distal end portion of the excavating blade 20A is calculated. The distal end portion of the excavating blade 20A includes the cutting edge of the cutting blade 20E of the excavating blade 20A.

[0051] The work machine attitude sensor 43 is not limited to an angle sensor. The work machine attitude sensor 43 may be a cylinder stroke sensor or a tilt sensor such as an inertial unit (IMU). The frame angle sensor may be a cylinder stroke sensor that detects the stroke length of the lift cylinder 20D, or a tilt sensor attached to the lift frame 20B. The blade angle sensor may be a cylinder stroke sensor that detects the stroke length of the tilt cylinder 20C, or a tilt sensor attached to the drilling blade 20A.

[0052] The imaging device 44 captures an image of the object to be imaged. The imaging device 44 is positioned on the vehicle body 18. As shown in Figure 2, in this embodiment, the imaging device 44 is positioned on the upper part of the vehicle body 18. The object to be imaged by the imaging device 44 includes the work site 1 of the bulldozer 4. The object to be imaged by the imaging device 44 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 44 is a peripheral image showing the area around the bulldozer 4. The peripheral image of the bulldozer 4 is displayed on the display device 25 in the remote control room 23. An RGB camera is exemplified as the imaging device 44. The imaging device 44 may also be an RGB-D camera or a hyperspectral camera.

[0053] The processor 30A of the remote controller 27 has multiple functional units. The functional units of the processor 30A of the remote controller 27 include an operation signal transmission unit 61, an image acquisition unit 62, and a display control unit 63.

[0054] The operation signal transmission unit 61 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 operation signal transmission unit 61, 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.

[0055] The image acquisition unit 62 acquires the surrounding image of the bulldozer 4 captured by the imaging device 44. The image acquisition unit 62 also acquires the detection data from the position sensor 41, the vehicle attitude sensor 42, and the work equipment attitude sensor 43 when the surrounding image is captured by the imaging device 44.

[0056] The display control unit 63 causes the surrounding image of the bulldozer 4, captured by the imaging device 44, to be displayed on the display device 25.

[0057] 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, a driving data generation unit 52, a divided area setting unit 53, an operating area designation unit 54, a virtual wall setting unit 55, and a determination unit 56.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 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.

[0062] The driving data generation unit 52 generates driving data indicating the driving conditions of the dump truck 2 in the work area. The driving data generation unit 52 generates driving data for the dump truck 2 in at least the soil discharge area 7. The driving data generation unit 52 generates driving data for the dump truck 2 based on the soil discharge point 72 set by the soil discharge point setting unit 51. 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.

[0063] Figure 6 is a diagram illustrating the driving data according to the first embodiment. Figure 6 shows the driving data set in the soil removal area 7. The driving data defines the driving conditions of the dump truck 2. The driving data for 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 52 generates at least the driving path 69 of the dump truck 2.

[0064] 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.

[0065] 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 52 generates the travel path 69 so as to include the soil discharge point 72.

[0066] 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.

[0067] 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.

[0068] 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 travel route of the dump truck 2, are defined in the global coordinate system.

[0069] The driving data generated in the driving data generation unit 52 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.

[0070] 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.

[0071] The division area setting unit 53 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.

[0072] Figure 7 is a diagram illustrating a divided area 73 according to the first 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, the soil removal work of the dump truck 2 has not yet been carried out. In the following description, soil removal points 72 where the soil removal work of the dump truck 2 has not yet been carried out will be appropriately referred to as unremoved soil points 721, and soil removal points 72 where the soil removal work of the dump truck 2 has already been carried out will be appropriately referred to as removed soil points 722.

[0073] The division area setting unit 53 sets multiple division areas 73 in the soil removal area 7. The division area setting unit 53 sets the division areas 73 so that the multiple division areas 73 do not overlap with each other. The division area setting unit 53 sets the division areas 73 so that soil removal points 72 are located inside the division areas 73. The division area setting unit 53 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.

[0074] In the example shown in Figure 7, the division area setting unit 53 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.

[0075] 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.

[0076] The division area setting unit 53 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 53 sets the division area 73 so that the division area 73 is smaller than the soil removal area 7. The division area setting unit 53 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.

[0077] Each of the bulldozer 4 and dump truck 2 operates within the divided area 73. The divided area setting unit 53 determines the size of the divided area 73 so that each of the bulldozer 4 and dump truck 2 can operate smoothly within the divided area 73. The divided area setting unit 53 determines the size of the divided area 73 so that when each of the bulldozer 4 and dump truck 2 operates within the divided area 73, they are prevented from extending outside the divided area 73. The divided area setting unit 53 determines the size of the divided area 73 based on the vehicle data of the bulldozer 4 and dump truck 2. The vehicle data includes at least one of the external dimensions of the bulldozer 4 and dump truck 2, the minimum turning radius of the bulldozer 4 and dump truck 2, and the external dimensions of the work equipment of the bulldozer 4.

[0078] 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 53 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.

[0079] 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 53 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.

[0080] 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 53 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.

[0081] The work area designation unit 54 designates a division area 73 from among several division areas 73 in which the bulldozer 4 will work. The work area designation unit 54 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.

[0082] 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 54 designates the bulldozer operating area 74 (first 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 54 designates the dump truck operating area 75 (second 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.

[0083] 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.

[0084] Figure 8 is a diagram illustrating the dump truck operating area 75 according to the first embodiment. The operating area designation unit 54 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 52 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 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.

[0085] 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 54 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.

[0086] 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.

[0087] Figure 9 is a diagram illustrating the bulldozer operating area 74 according to the first embodiment. After all of the un-excavated soil points 721 in the first divided area 731, which is designated as the dump truck operating area 75, have changed to soil-excavated soil points 722, the operating area designation unit 54 designates the first divided area 731 as the bulldozer operating area 74. That is, the operating area designation unit 54 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 54 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 54 designates the second divided area 732, which includes the un-excavated soil points 721, as the dump truck operating area 75.

[0088] 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.

[0089] The virtual wall setting unit 55 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 55 sets the 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.

[0090] Figure 10 is a diagram illustrating a virtual wall 76 according to the first 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 55 sets the virtual wall 76 along the outline of the bulldozer operating area 74 (first divided area 731).

[0091] 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.

[0092] 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.

[0093] Figure 11 is a diagram illustrating the bulldozer operating area 74 and the dump truck operating area 75 according to the first 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).

[0094] After a virtual wall 76 is set in the bulldozer operating area 74 (first divided area 731), the driving data generation unit 52 generates a driving path 69 so that soil removal work is performed at the unremoved soil points 721 in the second divided area 732. The driving data generation unit 52 generates the 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 52 generates the 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 52 generates the driving path 69 so that the driving path 69 does not go inside the virtual wall 76. The 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).

[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] The onboard controller 22 of the bulldozer 4 transmits work completion notification data to the control server 11 to notify that the leveling work in the bulldozer operating area 74 has been completed after the leveling work in the bulldozer operating area 74 has been completed. The onboard controller 22 can calculate the position of the excavating machine 20 in the global coordinate system based on the detection data of the position sensor 41 and the detection data of the work machine attitude sensor 43. The position sensor 41 and the work machine attitude sensor 43 are examples of work machine sensors that detect the position of the excavating machine 20. As will be described later, the onboard controller 22 recognizes that the leveling work by the excavating machine 20 on the embankment 703 in the bulldozer operating area 74 has been completed based on the relative position of the excavating machine 20 and the embankment 703 present in the bulldozer operating area 74. After recognizing that the leveling work by the excavating machine 20 on the embankment 703 has been completed, the onboard controller 22 transmits work completion notification data to the control server 11 indicating that the leveling work has been completed.

[0097] In this embodiment, the determination unit 56 determines whether or not the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, based on the work completion notification data transmitted from the on-board controller 22 of the bulldozer 4.

[0098] The virtual wall setting unit 55 modifies at least a portion of the virtual wall 76 when the determination unit 56 determines that the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed. In this embodiment, the virtual wall setting unit 55 cancels the setting of the virtual wall 76 after the determination unit 56 determines that the leveling work of the bulldozer 4 has been completed, that the soil removal work of the dump truck 2 in the second divided area 732 has been completed, and that the dump truck 2 has left the second divided area 732. The virtual wall setting unit 55 can determine whether the soil removal work of the dump truck 2 in the second divided area 732 has been completed based on the soil removal completion signal from the on-board controller 17 of the dump truck 2. The virtual wall setting unit 55 can determine whether the dump truck 2 has left the second divided area 732 based on the detection data from the position sensor 31 of the dump truck 2.

[0099] Figure 12 is a diagram illustrating the bulldozer operating area 74 and the dump truck operating area 75 according to the first embodiment. As shown in Figure 12, the virtual wall setting unit 55 releases the setting of the virtual wall 76 in the first divided area 731 after at least one of the embankment formation work and leveling work of the bulldozer 4 in the first divided area 731 is completed, and the soil removal work of the dump truck 2 in the second divided area 732 is completed 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.

[0100] After the setting of the virtual wall 76 is released, the operating area designation unit 54 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 54 designates the dump truck operating area 75, where the dump truck 2 has finished its soil removal work, as the bulldozer operating area 74.

[0101] The operating area designation unit 54 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 54 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.

[0102] 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 52 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.

[0103] <Job Completion Determination> As described above, when the onboard controller 22 of the bulldozer 4 completes work in the bulldozer operating area 74, it sends notification data to the control server 11 to notify that the work has been completed. The method by which the onboard controller 22 determines that the work has been completed will be described below.

[0104] Figure 13 is a schematic diagram showing a dump truck 2 performing soil removal work at the soil removal point 72 according to the first 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 13, 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.

[0105] Figure 14 is a schematic side view showing a bulldozer 4 performing leveling work according to the first embodiment. Figure 15 is a schematic top view showing a bulldozer 4 performing leveling work according to the first embodiment. In this embodiment, the leveling work of the bulldozer 4 includes a pushing operation in which the bulldozer 4 removes the material 705 remaining on the embankment 703 by the soil removal work of the dump truck 2 with the excavation blade 20A while advancing toward the embankment 703. The work target of the bulldozer 4 includes the material 705 remaining on the surface of the embankment 703.

[0106] The material 705 is deposited on the surface of the embankment 703 so as to correspond to the soil removal points 72 (soil removal points 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 points 72. The material 705 exists at regular intervals along the longitudinal direction of the embankment 703. There are the same number of material 705 as there are soil removal points 72. However, there may be a different number of material 705 than the number of soil removal points 72. In this embodiment, multiple soil removal points 72 are set in the bulldozer operating area 74. Multiple pieces of material 705, which are the target of the bulldozer 4's work, exist in the bulldozer operating area 74.

[0107] The excavation work includes the operation of dropping the material 705 accumulated on the surface of the embankment 703 onto the sloping cliff 701 using the excavation blade 20A. The operator operates the remote control device 24 so that the material 705 is removed from the embankment 703 and the material 705 removed from the embankment 703 falls onto the sloping cliff 701. As shown in Figure 14, 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 sloping cliff 701. As shown in Figure 15, the operator adjusts the position of the bulldozer 4 so that the center of the bulldozer 4 in the width direction coincides with the position of the excavation point 72, and then operates the remote control device 24 so that the bulldozer 4 moves forward toward the embankment 703.

[0108] The material 705 is present at regular intervals along the longitudinal direction of the embankment 703. The bulldozer 4 performs soil-cutting work so that each of the multiple pieces of material 705 is removed from the embankment 703. During the leveling work, the bulldozer 4 performs soil-cutting work at each of the multiple locations along the longitudinal direction of the embankment 703 while repeatedly moving forward and backward.

[0109] The on-board controller 22 of the bulldozer 4 can calculate the position of the cutting edge 20E of the digging blade 20A in the global coordinate system based on the detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43. The length of the lift frame 20B and the dimensions of the digging blade 20A are known. The on-board controller 22 can calculate the position of the tip of the cutting edge 20E in the global coordinate system based on the detection data from the position sensor 41, the detection data from the work machine attitude sensor 43, the length of the lift frame 20B, and the dimensions of the digging blade 20A. The position sensor 41 and the work machine attitude sensor 43 function as work machine sensors that detect the position of the tip of the cutting edge 20E of the digging work machine 20.

[0110] The position of the upper end of the embankment 703 in the global coordinate system is known. The position (height) of the upper end of the embankment 703 can be determined in advance, for example, based on the survey described above. Based on the detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43, the on-board controller 22 determines that the leveling work (removal of material 705) is complete when it determines that the cutting blade 20E of the excavation work machine 20 has moved to a position higher than the upper end of the embankment 703.

[0111] If the height Hb of the embankment 703 from the ground 706 is known, the on-board controller 22 may determine that the leveling work (removal of material 705) is complete if it determines that the height difference between the lower surface 19B of the running gear 19 that contacts the ground 706 and the cutting blade 20E exceeds the height Hb. The lower surface 19B of the running gear 19 includes the lower surface of the tracks. The position sensor 41 of the bulldozer 4 can detect height (altitude) in the global coordinate system. The on-board controller 22 can calculate the position (height) of the lower surface 19B in the global coordinate system based on the detection data of the position sensor 41 and the known dimensions of the bulldozer 4 (the height difference between the position where the position sensor 41 is installed on the vehicle body 18 and the lower surface 19B).

[0112] Furthermore, the on-board controller 22 may determine whether the leveling work (removal of material 705) has been completed when it determines, based on the detection data from the position sensor 41, that the bulldozer 4 is located near the embankment 703.

[0113] As described above, there are multiple materials 705. When the onboard controller 22 determines that the leveling work by the excavating machine 20 has been completed for each of the multiple materials 705, it determines that the leveling work by the bulldozer 4 in the bulldozer operating area 74 has been completed.

[0114] Furthermore, it may be determined that the leveling work of the bulldozer 4 in the bulldozer operating area 74 is completed when the removal of the last of the multiple materials 705 is completed. It may also be determined that the leveling work of the bulldozer 4 in the bulldozer operating area 74 is completed when the removal of the last of the multiple materials 705 is started. It may also be determined that the leveling work of the bulldozer 4 in the bulldozer operating area 74 is completed at a point in time between the start and end of the removal of the last of the multiple materials 705 (for example, just before the end of the removal of the last material 705). The onboard controller 22 can determine the start and end times of the removal of the last material 705, the end of the removal of the last material 705, and the point in time between the start and end of the removal of the last material 705, based on the relative position of the excavation work machine 20 of the bulldozer 4 and the material 705.

[0115] After the onboard controller 22 determines that the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, it sends work completion notification data to the control server 11 to notify that the leveling work of the excavating machine 20 on the material 705 target has been completed. Based on the work completion notification data sent from the onboard controller 22, the determination unit 56 of the control server 11 can determine whether or not the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed.

[0116] The detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43 may be transmitted from the onboard controller 22 to the control server 11. The determination unit 56 may determine, based on the detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43, whether the cutting blade 20E of the excavation work machine 20 has moved to a position higher than the upper end of the embankment 703, and then determine whether the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed.

[0117] <Work site management method> Figure 16 is a flowchart showing the work site 1 management method according to the first embodiment. The soil removal point setting unit 51 sets a plurality of soil removal points 72 in the soil removal area 7 (step S1).

[0118] The division area setting unit 53 sets up multiple division areas 73 in the soil removal area 7 based on the soil removal point 72. The division area setting unit 53 sets up the division areas 73 so that the soil removal point 72 is located inside each division area 73. The division area setting unit 53 determines the size of the division areas 73 based on the vehicle data of the bulldozer 4 and the dump truck 2 and the size of the soil removal area 7 (step S2).

[0119] The operating area designation unit 54 designates a bulldozer operating area 74 from among the multiple divided areas 73 where the bulldozer 4 will perform leveling work. The operating area designation unit 54 also designates a dump truck operating area 75 from among the multiple divided areas 73 where the dump truck 2 will perform soil removal work. For example, as explained with reference to Figure 10, if all soil removal points 72 in the first divided area 731 are soil removal points 722, and the soil removal points 72 in the second divided area 732 include soil removal points 721, the operating area designation unit 54 designates the first divided area 731 as the bulldozer operating area 74 and the second divided area 732 as the dump truck operating area 75 (step S3).

[0120] The operating area designation unit 54 transmits first notification data to the remote controller 27 indicating that the first divided area 731 has been designated as the bulldozer operating area 74 and the second divided area 732 has been designated as the dump truck operating area 75 (step S4).

[0121] The display control unit 63 displays data on the display device 25 indicating that 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. By checking the display device 25, the operator can recognize that the divided area 73 to be leveled is the first divided area 731. The operator can operate the remote control device 24 so that the bulldozer 4 enters the first divided area 731, which has been designated as the bulldozer operating area 74, in order to perform leveling work in the first divided area 731 after the soil removal work has been completed.

[0122] The virtual wall setting unit 55 sets a virtual wall 76 in the first divided area 731 (bulldozer operating area 74) when the bulldozer 4 is inside the first divided area 731 (bulldozer operating area 74) and the dump truck is outside the first divided area 731 (bulldozer operating area 74) (step S5).

[0123] The virtual wall setting unit 55 sets a virtual wall 76 in the first divided area 731 after the dump truck 2 has left the first divided area 731 and the bulldozer 4 has entered the first divided area 731. The bulldozer 4 performs at least one of the following tasks inside the virtual wall 76: embankment formation work in the first divided area 731 and leveling work in the first divided area 731.

[0124] The driving data generation unit 52 generates a driving path 69 based on the soil removal points 72 in the second divided area 732 (step S6). The driving data generation unit 52 generates the driving path 69 so that soil removal work is performed at the unremoved soil points 721 in the second divided area 732. The driving data generation unit 52 generates the driving path 69 so that at least a portion of the driving path 69 is located inside the second divided area 732 (dump truck operating area 75). The driving data generation unit 52 generates the driving path 69 so that the dump truck 2 does not enter the first divided area 731 (bulldozer operating area 74). The driving data generation unit 52 generates the driving path 69 so that the driving path 69 does not enter inside the virtual wall 76. The dump truck 2 performs soil removal work at each of the multiple unremoved soil points 721 in the second divided area 732 (dump truck operating area 75).

[0125] The virtual wall setting unit 55 transmits second notification data to the remote controller 27 indicating that a virtual wall 76 has been set in the first divided area 731 and that a travel path 69 has been generated (step S7). The display control unit 63 causes the display device 25 to display display data indicating that a virtual wall 76 has been set in the first divided area 731 and that a travel path 69 has been generated.

[0126] The display control unit 63 causes the surrounding image of the bulldozer 4, captured by the imaging device 44, to be displayed on the display device 25.

[0127] After the leveling work in the first divided area 731 is completed, the onboard controller 22 of the bulldozer 4 sends work completion notification data to the control server 11 to notify the control server 11 that the leveling work in the first divided area 731 has been completed.

[0128] The virtual wall setting unit 55 acquires work completion notification data. The virtual wall setting unit 55 acquires a soil discharge completion signal from the on-board controller 17 of the dump truck 2. The virtual wall setting unit 55 acquires detection data from the position sensor 31 of the dump truck 2 (step S8).

[0129] The virtual wall setting unit 55 determines whether or not the conditions for releasing the virtual wall 76 are met (step S9). The conditions for releasing the virtual wall 76 include obtaining work completion notification data indicating that the leveling work of the bulldozer 4 has been completed, that the soil removal work of the dump truck 2 in the second divided area 732 has been completed, and that the dump truck 2 has left the second divided area 732. The virtual wall setting unit 55 can determine whether or not the dump truck 2 has left the second divided area 732 based on the detection data from the position sensor 31 of the dump truck 2.

[0130] If it is determined in step S9 that the release condition is not met (step S9: No), the virtual wall 76 setting is continued. If it is determined in step S9 that the release condition is met (step S9: Yes), the virtual wall setting unit 55 releases the virtual wall 76 setting (step S10).

[0131] The virtual wall setting unit 55 sends a third notification data to the remote controller 27 indicating that the setting of the virtual wall 76 in the first divided area 731 has been canceled (step S11).

[0132] The display control unit 63 causes the display device 25 to display data indicating that the setting of the virtual wall 76 in the first divided area 731 has been canceled.

[0133] The determination unit 56 determines whether or not to terminate the work of the bulldozer 4 (step S12).

[0134] If it is determined in step S12 that the bulldozer 4 should continue its work (step S12: No), the process returns to step S3. For example, if the bulldozer 4 is to perform leveling work on the second divided area 732 after the soil removal work has been completed, the operating area designation unit 54 sends notification data to the remote controller 27 indicating that the second divided area 732 has been designated as the bulldozer operating area 74. The display control unit 63 displays display data on the display device 25 indicating that the second divided area 732 has been designated as the bulldozer operating area 74. By checking the display device 25, the operator can operate 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 perform leveling work on the second divided area 732.

[0135] If it is determined in step S12 that the work of the bulldozer 4 is finished (step S12: Yes), the process ends.

[0136] <Effects> As described above, the processor 30A of the control server 11 includes an operating area designation unit 54 that designates a bulldozer operating area 74 in which the bulldozer 4 will work within the soil removal area 7 of the work site 1, and a determination unit 56 that determines whether or not the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, based on the relative position of the excavation work machine 20 of the bulldozer 4 and the embankment 703 on which the material 705 present in the bulldozer operating area 74 is accumulated.

[0137] According to the embodiment, the determination unit 56 can properly recognize that the leveling work of the bulldozer 4 has been completed based on the relative position of the excavation work machine 20 and the embankment 703. Since the completion of the leveling work of the bulldozer 4 is properly recognized, the next operation can be started smoothly. When the determination unit 56 recognizes that the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, the operating area designation unit 54 can designate the bulldozer operating area 74 where the leveling work has been completed as the dump truck operating area 75. When the determination unit 56 recognizes that the leveling work of the bulldozer 4 in the first divided area 731 (bulldozer operating area 74) has been completed, the operating area designation unit 54 can designate the second divided area 732 where the soil removal work has been completed as the bulldozer operating area 74. When the determination unit 56 recognizes that the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, the virtual wall setting unit 55 can release the setting of the virtual wall 76. After the completion of the leveling work by bulldozer 4 is properly recognized, the next task can be started smoothly, thereby suppressing a decrease in productivity at work site 1.

[0138] The processor 30A of the control server 11 includes a division area setting unit 53 that sets up a plurality of division areas 73 in the soil removal area 7 where the bulldozer 4 and dump truck 2 work, an operation area designation unit 54 that designates the first division area 731 where the bulldozer 4 works from the plurality of division areas 73, and a virtual wall setting unit 55 that sets up a virtual wall 76 in the first division area 731 that restricts the bulldozer 4 from moving out of the first division area 731 and the dump truck 2 from entering the first division area 731 when the bulldozer 4 is inside the first division area 731 and the dump truck 2 is outside the first division area 731.

[0139] According to this embodiment, when a bulldozer 4 and a dump truck 2 are working simultaneously in the soil removal area 7, the virtual wall 76 is set up to suppress contact between the bulldozer 4 and the dump truck 2. As a result, the decrease in the work efficiency of both the bulldozer 4 and the dump truck 2 is suppressed.

[0140] Dump truck 2 is an unmanned dump truck that operates without a driver. The processor 30A of the control server 11 is equipped with a driving data generation unit 52 that generates a driving path 69 for dump truck 2. The driving data generation unit 52 generates the driving path 69 so that dump truck 2 does not enter the first divided area 731. This suppresses contact between the bulldozer 4 working in the first divided area 731 and dump truck 2.

[0141] The divided area setting unit 53 determines the size of the divided area 73 based on the vehicle data of the bulldozer 4 and the dump truck 2 and the size of the soil discharge area 7. The vehicle data includes the external dimensions of the bulldozer 4 and the dump truck 2, the minimum turning radius, and at least one of the external dimensions of the work equipment on one or both of the bulldozer 4 and the dump truck 2. This allows the bulldozer 4 and the dump truck 2 to work smoothly within the divided area 73.

[0142] The operating area designation unit 54 designates the divided area 73 (second divided area 732) where the dump truck 2 has finished working as the divided area 73 where the bulldozer 4 will work. This prevents contact between the bulldozer 4 and the dump truck 2 when both the dump truck 2 and the bulldozer 4 need to work in the same divided area 73.

[0143] The virtual wall setting unit 55 sets a virtual wall 76 in the first divided area 731 after the dump truck 2 has left the first divided area 731 and the bulldozer 4 has entered the first divided area 731. As a result, the virtual wall 76 is properly set in the first divided area 731 when the bulldozer 4 is inside the first divided area 731 and the dump truck 2 is outside the first divided area 731.

[0144] The conditions for releasing the virtual wall 76 include the generation of input data indicating that the bulldozer 4 has finished leveling the ground, 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. As a result, when the virtual wall 76 is released, contact between the bulldozer 4 and the dump truck 2 is suppressed.

[0145] After the setting of the virtual wall 76 is released, the operating area designation unit 54 designates the second division area 732 as the division area 73 where the bulldozer 4 will work, and designates a division area 73 where the dump truck 2 will work from a division area 73 different from the first division area 731 and the second division area 732. As a result, the bulldozer 4 and the dump truck 2 can sequentially perform work in each of the multiple division areas 73.

[0146] In this embodiment, the dump truck 2 is a transport machine that carries cargo. The operation of the dump truck 2 includes soil removal work to discharge the cargo. The operation of the bulldozer 4 includes leveling work to level the ground in the divided area 73 after the soil removal work has been completed. The divided area setting unit 53 designates the divided area 73 such that a plurality of adjacent soil removal points 72 are located inside the divided area 73. This allows the dump truck 2 to efficiently perform soil removal work at each of the plurality of soil removal points 72 set in one divided area 73 while suppressing contact with the bulldozer 4. The bulldozer 4 can efficiently perform leveling work in one divided area 73 while suppressing contact with the dump truck 2.

[0147] [Second Embodiment] A second embodiment will now be described. In the following description, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and the descriptions of those components will be simplified or omitted.

[0148] Figure 17 is a schematic side view showing a bulldozer 4 performing leveling work according to the second embodiment. The bulldozer 4 according to the second embodiment has a three-dimensional sensor 45 capable of detecting the three-dimensional shape of the work site 1. The three-dimensional sensor 45 is located at the front of the vehicle body 18. Examples of the three-dimensional sensor 45 include a laser sensor (LiDAR: Light Detection and Ranging) that detects the three-dimensional shape of the object to be detected by emitting laser light, and a stereo camera. The on-board controller 22 may determine whether or not the leveling work has been completed based on the detection data of the three-dimensional sensor 45. The three-dimensional shape of the embankment 703 before the material 705 is deposited is known. After the leveling work of the bulldozer 4 is completed, the three-dimensional shape of the embankment 703 is detected by the three-dimensional sensor 45. The on-board controller 22 can determine whether the leveling work is complete (whether the material 705 has been removed from the embankment 703) by comparing the three-dimensional shape of the embankment 703 detected by the three-dimensional sensor 45 with the three-dimensional shape of the embankment 703 before the known material 705 was deposited. The detection data from the three-dimensional sensor 45 may be transmitted to the control server 11. The determination unit 56 of the control server 11 may determine whether the leveling work is complete based on the detection data from the three-dimensional sensor 45. In addition, the on-board controller 22 may determine that the leveling work is complete when it determines that the embankment 703 is above a predetermined height based on the three-dimensional shape of the embankment 703 detected by the three-dimensional sensor 45. The predetermined height is, for example, about the same as the radius of the tires of the dump truck 2.

[0149] Alternatively, a camera for imaging the work site 1 may be provided on the bulldozer 4 instead of the 3D sensor 45, or in combination with the 3D sensor 45. The on-board controller 22 may determine whether or not the leveling work is completed based on the camera's detection data. After the bulldozer 4 completes the leveling work, an image of the embankment 703 is captured by the camera. The on-board controller 22 may determine whether or not the leveling work is completed by processing the captured image of the embankment 703.

[0150] The on-board controller 22 may determine whether the leveling work is complete by inputting the captured images of the embankment 703 into a machine learning model trained to determine whether the leveling work is complete. Alternatively, the camera detection data may be transmitted to the control server 11, and the determination unit 56 of the control server 11 may determine whether the leveling work is complete based on the camera detection data.

[0151] [Third Embodiment] A third embodiment will now be described. In the following description, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and the descriptions of those components will be simplified or omitted.

[0152] Figure 18 is a schematic diagram showing an example of a soil removal area 7 according to the third embodiment. As shown in Figure 18, the dump truck 2 may perform soil removal work so that multiple piles 704 are formed on the ground 706 of the soil removal area 7. The multiple piles 704 are formed regularly at intervals in the soil removal area 7. The bulldozer 4 can perform leveling work to smooth the multiple piles 704 formed on the ground 706 of the soil removal area 7. In this embodiment, the target of the bulldozer 4's work is the piles 704 formed by the cargo discharged to the soil removal point 72 set on the ground 706 of the soil removal area 7. There are multiple piles 704.

[0153] Figure 19 is a schematic plan view showing a bulldozer 4 performing land leveling work according to the third embodiment. Figure 20 is a schematic side view showing a bulldozer 4 performing land leveling work according to the third embodiment.

[0154] As shown in Figure 19, the multiple natural mounds 704 are provided at regular intervals in a first direction in a plane parallel to the ground 706 and in a second direction perpendicular to the first direction. The bulldozer 4 travels to level the multiple natural mounds 704 sequentially. The bulldozer 4 can level the natural mounds 704 by advancing while pressing the excavation blade 20A against a part of the natural mound 704.

[0155] As shown in Figure 20, when one bedrock 704 is leveled, a surface 707 of the leveled bedrock 704 is formed. The bulldozer 4 advances along the surface 707 and levels the next bedrock 704 with the excavation work machine 20. The bulldozer 4 travels along the surface 707 and levels multiple bedrocks 704 sequentially. Based on the size of the bedrock 704 and the spacing between adjacent bedrocks 704, the height difference Hs between the ground 706 and the surface 707 is derived in advance. The height difference Hs may be derived in advance by preliminary experiments or simulations, or it may be predicted by a prescribed algorithm based on the size of the bedrock 704 and the spacing between adjacent bedrocks 704.

[0156] As shown in Figure 20, when performing leveling work, the posture of the excavating machine 20 is adjusted so that the height of the cutting blade 20E matches the height of the lower surface 19B of the traveling device 19. The bulldozer 4 levels the ground 704 by moving forward with the height of the tip of the cutting blade 20E matching the height of the lower surface 19B of the traveling device 19. As described above, the on-board controller 22 can calculate the position (height) of the lower surface 19B in the global coordinate system based on the detection data of the position sensor 41. The on-board controller 22 can also calculate the position (height) of the tip of the cutting blade 20E in the global coordinate system based on the detection data of the position sensor 41, the detection data of the work machine posture sensor 43, the length of the lift frame 20B, and the dimensions of the excavating blade 20A.

[0157] Based on the detection data from the position sensor 41 and the work machine attitude sensor 43, the onboard controller 22 determines that the leveling work is complete when the bulldozer 4 has moved forward while the tip of the cutting blade 20E of the excavation work machine 20 and the lower surface 19B of the traveling device 19 are at a position higher than the ground 706 of the bulldozer operating area 74 before the soil removal work is performed by a specified value. The specified value is equal to the height difference Hs between the ground 706 and the surface 707.

[0158] The detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43 may be transmitted to the control server 11. Based on the detection data from the position sensor 41 and the detection data from the work machine attitude sensor 43, the determination unit 56 may determine that the leveling work is complete when the bulldozer 4 has moved forward while the tip of the cutting blade 20E of the excavation work machine 20 and the lower surface 19B of the traveling device 19 are at a position higher than the ground 706 of the bulldozer operating area 74 by a specified value.

[0159] Figure 21 is a schematic plan view showing a bulldozer 4 performing leveling work according to the third embodiment. As shown in Figure 21, in a plane parallel to the ground 706, the width Ws of the natural ground 704 may be greater than the width Wb of the excavation blade 20A. In the state shown in Figure 21, the bulldozer 4 can level a portion of the natural ground 704 by moving forward from the initial position along the first track Tr1. After leveling a portion of the natural ground 704, the bulldozer 4 moves backward to the initial position. Having moved backward to the initial position, the bulldozer 4 can level another portion of the natural ground 704 by moving forward from the initial position along the second track Tr2, which is different from the first track Tr1. Even if the width Ws of the natural ground 704 is greater than the width Wb of the excavation blade 20A, the bulldozer 4 can level the natural ground 704 by moving forward along the first track Tr1 and the second track Tr2, respectively. The onboard controller 22 can recognize that the leveling work is complete by recognizing that the bulldozer 4 has traveled according to the first track Tr1 and the second track Tr2, respectively.

[0160] [Other Embodiments] In the above-described embodiment, the setting of the virtual wall 76 may be canceled or the bulldozer operating area 74 may be designated as the dump truck operating area 75 based on the relative position between the excavating work machine 20 of the bulldozer 4 and the embankment 703 on which the material 705 is accumulated in the bulldozer operating area 74. That is, the setting of the virtual wall 76 may be canceled or the bulldozer operating area 74 may be designated as the dump truck operating area 75 based on the relative position between the excavating work machine 20 of the bulldozer 4 and the embankment 703 on which the material 705 is accumulated in the bulldozer operating area 74, without determining whether or not the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed.

[0161] Furthermore, when the bulldozer 4 performs an excavation operation to remove the material 705 remaining on the embankment 703 with the excavation blade 20A while advancing toward the embankment 703, a load may be placed on the excavation work machine 20 or the travel device 19 of the bulldozer 4. In the above embodiment, the on-board controller 22 may determine whether the excavation operation is complete based on the load on the excavation work machine 20 or the travel device 19. For example, the on-board controller 22 can determine that the excavation operation is complete if it determines, based on the detection data of the position sensor 41, that the bulldozer 4 is near the embankment 703 and that the load on the excavation work machine 20 or the travel device 19 is greater than or equal to a predetermined value. The on-board controller 22 can calculate the load on the excavation work machine 20 based on the detection data of a sensor (not shown) that detects the hydraulic pressure of the hydraulic cylinders (tilt cylinder 20C and lift cylinder 20D) of the excavation work machine 20. The on-board controller 22 can calculate the load on the running gear 19 based on detection data from a sensor (not shown) that detects the rotational speed of the tracks of the running gear 19.

[0162] In the above-described embodiment, the on-board controller 22 may determine, based on the vehicle data of the bulldozer 4, that an earth-cutting operation is being performed to remove the material 705 remaining on the embankment 703 with the excavation blade 20A, and determine whether the leveling work is complete or not. For example, the on-board controller 22 can determine, based on the vehicle data of the bulldozer 4, that an earth-cutting operation is being performed using a known work estimation discrimination model. The detection values ​​of multiple sensors equipped on the bulldozer 4 may be included in the vehicle data. The on-board controller 22 may generate a work estimation discrimination model using the detection values ​​of multiple sensors when the earth-cutting operation is being performed as training data, and use the learned work estimation discrimination model to determine whether the earth-cutting operation is being performed, and determine whether the leveling work is complete or not. The work estimation discrimination model is trained to take the detection values ​​of multiple sensors as input and output whether or not an earth-cutting operation is being performed on the material 705.

[0163] In the above embodiment, the remotely controlled work machine is a bulldozer 4. However, the remotely controlled work machine is not limited to a bulldozer 4. The remotely controlled work machine may be an excavator 3 or a motor grader 5. The remotely controlled work machine may also be a wheel loader (not shown).

[0164] In the above embodiment, at least a portion of the functional parts of the remote controller 27 may be provided on the control server 11. At least a portion of the functional parts of the control server 11 may be provided on the remote controller 27.

[0165] In the above-described embodiment, 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 virtual wall setting unit 55 and the determination unit 56 may be provided on the on-board controller 17 of the dump truck 2. In this case, the on-board controller 22 transmits work completion notification data to the dump truck 2. The determination unit 56 provided on the on-board controller 17 of the dump truck 2 determines whether the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed based on the work completion notification data transmitted from the on-board controller 22 of the bulldozer 4. If the determination unit 56 determines that the leveling work of the bulldozer 4 in the bulldozer operating area 74 has been completed, the virtual wall setting unit 55 provided on the on-board controller 17 of the dump truck 2 may change at least a portion of the virtual wall 76. If the on-board controller 17 of the dump truck 2 determines that the leveling work of the bulldozer 4 has been completed, it may perform soil removal work in the bulldozer operating area 74.

[0166] In the above embodiment, a virtual wall 76 is set up in the bulldozer operating area 74 after the dump truck 2 has left the bulldozer operating area 74 and the bulldozer 4 has entered the bulldozer operating area 74. The virtual wall 76 does not have to be set up. If the virtual wall 76 is not set up, the soil removal work by the dump truck 2 and the leveling work by the bulldozer 4 may be carried out simultaneously in the bulldozer operating area 74.

[0167] In the embodiments described above, each of the multiple functional units of the remote controller 27 may be configured by a separate computer (hardware). Each of the functional units of the control server 11 may be configured by a separate computer (hardware). The multiple functional units of the remote controller 27 and the multiple functional units of the control server 11 may be configured by a single computer (hardware).

[0168] 1...Work site, 2...Dump truck (unmanned vehicle), 3...Excavator (working machine), 4...Bulldozer (working machine), 5...Motor grader (working machine), 6...Loading area, 7...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...Running gear, 16...Dump body, 17...On-board controller, 18...Vehicle body, 19...Running gear, 19B...Underside, 20...Excavating work machine, 20A...Excavating blade 20B...Lift frame, 20C...Tilt cylinder, 20D...Lift cylinder, 20E...Cutting blade, 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, 27...Remote controller, 28...Driver's seat, 29...Communication system, 30...Computer, 30A...Processor, 30B...Main memory, 30C...S Tray, 30D... Input / Output Interface, 30E... Communication Interface, 30F... Computer Program, 31... Position Sensor, 32... Direction Sensor, 33... Speed ​​Sensor, 41... Position Sensor, 42... Vehicle Attitude Sensor, 43... Work Machine Attitude Sensor, 44... Imaging Device, 45... 3D Sensor, 51... Soil Discharge Point Setting Unit, 52... Driving Data Generation Unit, 53... Divided Area Setting Unit, 54... Operating Area Specification Unit, 55... Virtual Wall Setting Unit, 56... Judgment Unit, 61... Operation Signal Transmission Unit, 62... Image Acquisition Unit, 63...Display control unit, 69...Travel path, 70...Travel point, 70E...Departure point, 70S...Entry point, 71...Switchback point, 72...Earth removal point, 73...Division area, 74...Bulldozer operating area, 75...Dump truck operating area, 76...Virtual wall, 701...Downward cliff, 702...Edge, 703...Embankment, 704...Natural ground, 705...Material, 706...Ground, 707...Surface, 721...Unremoved earth point, 722...Earth removed earth point, 731...First division area, 732...Second division area, 733...Third division area.

Claims

1. A work site management system comprising a processor, wherein the processor designates a first working area in the work area of ​​a work site where a work machine operates, and determines whether or not the work of the work machine in the first working area has been completed based on the relative position between the work machine and the work object present in the first working area.

2. The work site management system according to claim 1, wherein there are multiple work targets in the first work area, and the processor determines that the work of the work machine in the first work area has been completed when it determines that the work of the work machine has been completed for each of the multiple work targets.

3. The work machine comprises a work machine sensor for detecting the position of the work machine, and an on-board controller for transmitting work completion notification data to notify that work by the work machine on the work target has been completed based on the detection data of the work machine sensor, wherein the processor determines whether or not work by the work machine in the first working area has been completed based on the work completion notification data transmitted from the on-board controller, the work site management system according to claim 2.

4. The work site management system according to claim 1, wherein the processor sets a plurality of divided areas in the work area, designates a second working area from the plurality of divided areas in which an unmanned vehicle will work, and designates the second working area in which the unmanned vehicle has finished working as the first working area.

5. The work site management system according to claim 4, wherein the processor sets a virtual wall in the first work area that restricts the work machine from moving out of the first work area and the unmanned vehicle from entering the first work area, while the work machine is inside the first work area and the unmanned vehicle is outside the first work area.

6. The work site management system according to claim 5, wherein the processor sets the virtual wall in the first work area after the unmanned vehicle has left the first work area and the work machine has entered the first work area.

7. The work site management system according to claim 5, wherein the processor modifies at least a portion of the virtual wall when it determines that the work of the work machine in the first working area has been completed.

8. The work site management system according to claim 4, wherein the processor designates the first working area where the work of the work machine has been completed as the second working area.

9. The work site management system according to claim 4, wherein the unmanned vehicle performs soil removal work to discharge the load, and the work of the work machine includes leveling work to shape the work target after the soil removal work has been completed.

10. A work site management system according to claim 9, wherein the soil removal point where the soil removal work is performed is set in the divided area, the work target is an embankment adjacent to the soil removal point, the work machine has a work machine sensor for detecting the position of the work machine, and the processor determines that the leveling work is completed when, after the soil removal work has been performed, the work machine has moved to a position higher than the upper end of the embankment based on the detection data of the work machine sensor.

11. A work site management system according to claim 9, wherein the soil removal point where the soil removal work is performed is set in the divided area, the work target is the ground formed by the load discharged at the soil removal point, the work machine has a work machine sensor for detecting the position of the work machine, and the processor determines, after the soil removal work has been performed, that the leveling work has been completed if it determines, based on the detection data of the work machine sensor, that the work machine is at a position higher by a specified value than the ground of the first working area before the soil removal work was performed.

12. A method for managing a work site, comprising: designating a first operating area in the work area of ​​the work site where a work machine will perform its work; and determining whether the work of the work machine in the first operating area has been completed based on the relative position of the work machine and the work object located in the first operating area.

13. The work site management method according to claim 12, wherein there are multiple work targets in the first work area, and when it is determined that work by the work machine has been completed on each of the multiple work targets, it is determined that the work of the work machine in the first work area has been completed.

14. The work machine comprises a work machine sensor for detecting the position of the work machine, and an on-board controller for transmitting work completion notification data to notify that work by the work machine on the work target has been completed based on the detection data of the work machine sensor, wherein the method for managing a work site according to claim 13 determines whether or not work by the work machine in the first working area has been completed based on the work completion notification data transmitted from the on-board controller.

15. A method for managing a work site according to claim 12, comprising setting up a plurality of divided areas in the work area, designating a second working area from the plurality of divided areas in which an unmanned vehicle will work, and designating the second working area in which the work of the unmanned vehicle has been completed as the first working area.

16. A method for managing a work site according to claim 15, comprising setting a virtual wall in the first work area that restricts the work machine from moving out of the first work area and the unmanned vehicle from entering the first work area, while the work machine is inside the first work area and the unmanned vehicle is outside the first work area.

17. A method for managing a work site according to claim 16, wherein the unmanned vehicle leaves the first working area, the work machine enters the first working area, and then the virtual wall is set up in the first working area.

18. A method for managing a work site according to claim 16, wherein, when it is determined that the work of the work machine in the first working area has been completed, at least a portion of the virtual wall is modified.

19. The method for managing a work site according to claim 15, wherein the first working area after the work of the work machine has been completed is designated as the second working area.

20. The method for managing a work site according to claim 15, wherein the unmanned vehicle performs soil removal work to discharge the cargo, and the work of the work machine includes leveling work to shape the work target after the soil removal work has been completed.

Images