Work machine management system and method for managing work machine

Abstract

This work machine management system includes a processor. The processor sets a parameter used for safety control of a remotely operated work machine, identifies a communication status of the work machine, and changes the parameter on the basis of the communication status.

Description

Work machine management system and work machine management method

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

[0002] In the technical field related to work machines, remotely operated work vehicles as disclosed in Patent Document 1 are known. In Patent Document 1, a work target is imaged by an imaging device provided on the work vehicle. An image captured by the imaging device is transmitted to a remote control room. Operation signals for remotely operating the work vehicle are restricted according to the image transmission status.

[0003] Japanese Unexamined Patent Publication No. 2019-068346

[0004] Safety control for ensuring the safety of work machines may be implemented in some cases. If the communication status of a remotely operated work machine deteriorates, it may become difficult to ensure safety. If excessive safety control is implemented to ensure safety even when communication status deteriorates, the productivity of the work site may decrease.

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

[0006] According to the present disclosure, a work machine management system is provided. The management system includes a processor. The processor sets parameters used for safety control of a remotely operated work machine, recognizes the communication status of the work machine, and changes the parameters based on the communication status.

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

[0008] Figure 1 is a schematic diagram showing a work site according to the embodiment. Figure 2 is a schematic diagram showing a management system and remote control system according to the embodiment. Figure 3 is a hardware configuration diagram showing a control server according to the embodiment. Figure 4 is a block diagram showing the management system and remote control system according to the embodiment. Figure 5 is a diagram for explaining the operation of a bulldozer according to the embodiment. Figure 6 is a diagram for explaining the operation of a bulldozer according to the embodiment. Figure 7 is a diagram for explaining the driving data of a dump truck according to the embodiment. Figure 8 is a diagram for explaining the location area of ​​a bulldozer according to the embodiment. Figure 9 is a flowchart showing a method for acquiring the communication status between an on-board controller and a remote controller according to the embodiment. Figure 10 is a diagram for explaining the first correlation data according to the embodiment. Figure 11 is a diagram for explaining the relationship between delay time and distance threshold according to the embodiment. Figure 12 is a diagram for explaining the relationship between delay time and location area according to the embodiment. Figure 13 is a diagram for explaining the second correlation data according to the embodiment. Figure 14 is a flowchart showing a bulldozer management method according to the embodiment.

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

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

[0011] At work site 1, a dump truck 2, a type of 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.

[0012] 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.

[0013] A loading area 6, a soil removal area 7, and a transport route 8 are provided at the work site 1. The loading area 6, soil removal area 7, and transport route 8 are work areas where a dump truck 2, an excavator 3, a bulldozer 4, and a motor grader 5 can operate, respectively.

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

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

[0016] The transport path 8 refers to the road on which the dump truck 2 travels. The transport path 8 leads to the loading area 6 and the soil removal area 7, respectively. The transport path 8 is provided to connect at least the loading area 6 and the soil removal area 7. A dump truck 2 heading towards at least one of the loading area 6 and the soil removal area 7 travels along the transport path 8. 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.

[0017] [Management System and Remote Control System] Figure 2 is a schematic diagram showing the management system 9 and remote control system 10 according to the embodiment. The management system 9 manages the work site 1. The management system 9 manages the dump truck 2, shovel 3, bulldozer 4, and motor grader 5, respectively. In Figure 2, the 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.

[0018] 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).

[0019] The dump truck 2 comprises a body 14, a running gear 15, a dump body 16, and an on-board controller 17. The body 14 is supported by the running gear 15. The running gear 15 supports the body 14 and travels around the work site 1. The running gear 15 includes four wheels on which tires are mounted. The running gear 15 is driven by power generated by an engine (not shown). The running gear 15 is braked by the operation of a brake device (not shown). The running gear 15 turns by a steering device (not shown).

[0020] The dump body 16 is the component into which the cargo is loaded. The dump body 16 is supported by the vehicle body 14. The dump body 16 performs dumping and lowering operations. Dumping operation refers to the operation of moving the dump body 16 away from the vehicle body 14 and tilting it in the dumping direction. Lowering operation refers to the operation of moving the dump body 16 closer to the vehicle body 14. When loading operations are performed, the dump body 16 performs a lowering operation. When soil removal operations are performed, the dump body 16 performs a dumping operation.

[0021] The on-board controller 17 includes a computer. The control server 11 and the on-board controller 17 of the dump truck 2 communicate wirelessly via the communication system 12.

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

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

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

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

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

[0027] The tilt cylinder 21C and the lift cylinder 21D each 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. As the tilt cylinder 21C extends and retracts, the tilt angle of the shank 21A changes. The tilt cylinder 21C moves the ripper point at the lower end of the shank 21A in the front-rear direction. As the lift cylinder 21D extends and retracts, the shank 21A moves in the up-down direction.

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

[0029] The bulldozer 4 may be remotely operated by an operator located outside the bulldozer 4, or it may be a manned work machine operated by an operator riding in the driver's cab of the bulldozer 4, or it may be an unmanned work machine that operates without operator intervention. In this embodiment, the bulldozer 4 is remotely operated by a remote control system 10. At least a part of the remote control system 10 is located in a remote control room 23. The remote control room 23 is located outside the bulldozer 4. The remote control room 23 is installed in a remote location away from the work site 1. The remote control system 10 comprises a remote control device 24, a display device 25, and a remote controller 27.

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

[0031] The display device 25 is located in the remote control room 23. The display device 25 displays captured images of the work site 1. The display device 25 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED). The operator operates the remote control device 24 while checking the captured images of the work site 1 displayed on the display device 25. The bulldozer 4 is remotely controlled by the remote control device 24.

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

[0033] The control server 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.

[0034] [Computer] Figure 3 is a hardware configuration diagram showing a control server 11 according to an embodiment. The control server 11 includes a computer 30. The computer 30 has a processor 30A such as a CPU (Central Processing Unit), a main memory 30B including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 30C, an input / output interface 30D including input / output circuits, and a communication interface 30E including communication circuits. 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.

[0035] 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 includes a processor 30A, main memory 30B, storage 30C for storing computer programs 30F, input / output interface 30D, and communication interface 30E.

[0036] Figure 4 is a block diagram showing the management system 9 and remote control system 10 according to the embodiment. The dump truck 2 has a traveling device 15, a dump body 16, a position sensor 31, a compass sensor 32, a speed sensor 33, and an on-board controller 17. The bulldozer 4 has a traveling device 19, an excavating work machine 20, a ripper work machine 21, a position sensor 41, a posture sensor 42, an obstacle sensor 43, and an imaging device 44.

[0037] 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.

[0038] The orientation sensor 32 detects the orientation of the dump truck 2. The orientation of the dump truck 2 includes the azimuth angle relative to a reference azimuth. The reference azimuth is, for example, north. An inertial measurement unit (IMU) is an example of the orientation sensor 32. The orientation sensor 32 may also include a calculator that calculates the orientation from position data detected by two GNSS antennas installed on the dump truck 2. The calculator can calculate the orientation from a vector connecting the two GNSS antennas. The orientation sensor 32 may also detect the tilt angle of the dump truck 2 with respect to the horizontal plane. If 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.

[0039] The speed sensor 33 detects the travel speed of the dump truck 2. The speed sensor 33 detects the travel speed of the dump truck 2 by, for example, detecting the rotational speed of the drive shaft connected to the wheels of the running gear 15.

[0040] The position sensor 41 detects the position of the bulldozer 4. The position sensor 41 is located on the body 18 of the bulldozer 4. The position sensor 41 detects the position of the bulldozer 4 using the Global Navigation Satellite System (GNSS). The position sensor 41 includes a GNSS receiver located on the body 18. The position sensor 41 detects the position of the bulldozer 4 in a global coordinate system.

[0041] The attitude sensor 42 detects the attitude of the bulldozer 4. The attitude sensor 42 detects the attitude of the bulldozer 4 at least when the position sensor 41 has detected the position of the bulldozer 4. The attitude sensor 42 is positioned on the vehicle body 18. The attitude of the bulldozer 4 includes the tilt of the vehicle body 18. The attitude of the bulldozer 4 includes the tilt angle of the vehicle body 18 with respect to the horizontal plane. An inertial measurement unit (IMU) is exemplified as the attitude sensor 42. The attitude sensor 42 is capable of detecting the tilt angle of the vehicle body 18 with respect to the horizontal plane.

[0042] The obstacle sensor 43 detects obstacles around the bulldozer 4 without contact. As shown in Figure 2, the obstacle sensor 43 is positioned at the front of the bulldozer 4's body 18. The obstacle sensor 43 may also be positioned at the rear of the body 18. The obstacle sensor 43 detects objects by emitting energy waves. Examples of the obstacle sensor 43 include a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light, a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves, and an ultrasonic sensor (Ultrasonic Sensor) that detects objects by emitting ultrasonic waves. The obstacle sensor 43 can detect the presence or absence of an object, its relative position to the object (relative distance and direction), and its relative velocity to the object.

[0043] The imaging device 44 images an imaging target. The imaging device 44 is disposed on the vehicle body 18. As shown in FIG. 2, in the embodiment, the imaging device 44 is disposed on an upper portion of the vehicle body 18. The imaging target of the imaging device 44 includes the work site 1 of the bulldozer 4. The imaging target of the imaging device 44 includes the ground of the work site 1 around the bulldozer 4 and objects around the bulldozer 4. A captured image of the work site 1 captured by the imaging device 44 is a peripheral image showing an image around the bulldozer 4. The peripheral image of the bulldozer 4 is displayed on the display device 25 of the remote control room 23. An RGB camera is exemplified as the imaging device 44. Note that the imaging device 44 may be an RGB-D camera or a hyperspectral camera.

[0044] A processor 30A of an on-vehicle controller 22 of the bulldozer 4 has a plurality of functional units. The functional units of the processor 30A of the on-vehicle controller 22 include an image encoding unit 61, an image transmission unit 62, a returned image reception unit 63, a communication status identification unit 64, an operation signal reception unit 65, and an operation control unit 66. A main memory 30B of the on-vehicle controller 22 includes a transmission image storage unit 67.

[0045] The image encoding unit 61 encodes (compresses) the peripheral image captured by the imaging device 44, and generates an encoded image which is the encoded peripheral image.

[0046] The image transmission unit 62 divides the encoded image captured by the imaging device 44 and encoded by the image encoding unit 61 into a plurality of packets, and transmits the divided packets to the remote controller 27 via a predetermined streaming protocol. The image transmission unit 62 stores the transmitted encoded image in the transmission image storage unit 67 in association with a transmission time of a last packet.

[0047] The returned image reception unit 63 receives a packet returned from the remote controller 27 in response to the packet transmitted by the image transmission unit 62. The packet received by the returned image reception unit 63 is identical to the packet transmitted by the image transmission unit 62.

[0048] The communication status specifying unit 64 reproduces an encoded image from the packet received by the return image receiving unit 63, and specifies the communication status of the peripheral image based on the reproduced encoded image and the encoded image stored in the transmission image storage unit 67. The communication status specifying unit 64 collates the encoded image reproduced from the received packet with the encoded image stored in the transmission image storage unit 67, and identifies the encoded image that is identical to the received encoded image. The transmission image storage unit 67 stores the encoded image transmitted from the image transmission unit 62 in association with the transmission time at which the encoded image was transmitted. The communication status specifying unit 64 calculates the difference between the transmission time stored in the transmission image storage unit 67 in association with the encoded image transmitted from the image transmission unit 62 and the reproduction time at which the encoded image is reproduced from the received packet (the reception time at which reception of all packets constituting the encoded image is completed) as the round-trip delay time of the image. The communication status specifying unit 64 divides the round-trip delay time of the image by 2 to calculate the one-way delay time of the image. The one-way delay time of an image refers to the delay time from when a peripheral image is captured by the imaging device 44 to when it is displayed on the display device 25. Since an operator performs remote operation by visually recognizing the peripheral image displayed on the display device 25, the longer the one-way delay time of the image, the lower the operability.

[0049] When no packet loss occurs, the one-way delay time of an image is equal to the one-way delay time of a single packet. On the other hand, when packet retransmission or the like occurs due to packet loss, the worse the communication environment (the higher the error rate), the larger the one-way delay time of the image is compared to the one-way delay time of a single packet. The one-way delay time of an image is information representing the transmission status of the image.

[0050] The operation signal receiving unit 65 receives an operation signal for remotely operating the bulldozer 4 from the remote controller 27.

[0051] The operation control unit 66 outputs a control command for operating at least one of the traveling device 19, the excavation work machine 20, and the ripper work machine 21 based on the operation signal received by the operation signal receiving unit 65.

[0052] The motion control unit 66 controls the travel device 19 based on the relative distance Da between the bulldozer 4 and objects in its vicinity. When the relative distance Da between the bulldozer 4 and the object falls below a predetermined distance threshold Ds, the motion control unit 66 outputs a braking command as a control command to brake the travel device 19 of the bulldozer 4. That is, as the bulldozer 4 approaches the object, the relative distance Da gradually decreases and reaches the distance threshold Ds, at which point the automatic brake of the travel device 19 is activated. The distance threshold Ds may be a distance determined according to the travel speed of the bulldozer 4. The engine speed of the bulldozer 4 may be reduced before the automatic brake is activated. The automatic brake may be activated after the travel speed of the bulldozer 4 has decreased due to the reduction in the engine speed of the bulldozer 4.

[0053] Figure 5 is a diagram illustrating the operation of a bulldozer 4 according to an embodiment. The object includes an obstacle 200 in the path of the bulldozer 4. The obstacle sensor 43 detects the obstacle 200 without contact. The motion control unit 66 calculates the relative distance Da between the bulldozer 4 and the obstacle 200 in the path of the bulldozer 4 based on the detection data from the obstacle sensor 43. When the relative distance Da between the bulldozer 4 and the obstacle 200 falls below a predetermined distance threshold Ds, the motion control unit 66 outputs a braking command to brake the travel device 19 of the bulldozer 4. That is, as the bulldozer 4 travels towards the obstacle 200, the relative distance Da between the bulldozer 4 and the obstacle 200 gradually decreases until it reaches the distance threshold Ds, at which point the automatic brake of the travel device 19 is activated. By activating the automatic brake, contact between the bulldozer 4 and the obstacle 200 is avoided.

[0054] Figure 6 is a diagram illustrating the operation of a bulldozer 4 according to an embodiment. The object includes a dump truck 2 traveling around the bulldozer 4. The position of the dump truck 2 is detected by a position sensor 31. The position of the bulldozer 4 is detected by a position sensor 41. The detection data from the position sensor 31 that detected the position of the dump truck 2 is transmitted from the onboard controller 17 to the control server 11. The operation control unit 66 acquires the detection data from the position sensor 31 from the control server 11. Based on the detection data from the position sensor 31 that detected the position of the dump truck 2 and the detection data from the position sensor 41 that detected the position of the bulldozer 4, the operation control unit 66 can calculate the relative distance Da between the bulldozer 4 and the dump truck 2. The operation control unit 66 may also calculate the relative distance Da between the bulldozer 4 and the dump truck 2 based on the detection data from the obstacle sensor 43.

[0055] The motion control unit 66 outputs a braking command to brake the running gear 19 of the bulldozer 4 when the relative distance Da between the bulldozer 4 and the dump truck 2 falls below a predetermined distance threshold Ds. In other words, when the relative distance Da between the bulldozer 4 and the dump truck 2 gradually decreases and reaches the distance threshold Ds, the automatic brake of the running gear 19 is activated. By activating the automatic brake, contact between the bulldozer 4 and the dump truck 2 is avoided.

[0056] The object may also be another bulldozer 4 traveling in the vicinity of the bulldozer 4. The motion control unit 66 can calculate the relative distance Da between the bulldozer 4 and the other bulldozer 4 by receiving detection data from the position sensor 31 mounted on the other bulldozer 4. The object may also be an excavator 3 or a motor grader 5 traveling in the vicinity of the bulldozer 4.

[0057] 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 image receiving unit 71, an image return unit 72, a display control unit 73, an image decoding unit 74, an operation signal input unit 75, and an operation signal transmission unit 76.

[0058] The image receiving unit 71 receives packets containing encoded images divided according to a predetermined streaming protocol from the on-board controller 22 of the bulldozer 4.

[0059] The image return unit 72 returns the received packet as is to the on-board controller 22 of the bulldozer 4.

[0060] The display control unit 73 reconstructs the encoded image from the received packet and has the image decoding unit 74 decode the reconstructed encoded image. The image decoding unit 74 decodes the encoded image and reconstructs the original surrounding image. The display control unit 73 displays the surrounding image decoded by the image decoding unit 74 on the display device 25.

[0061] The operation signal input unit 75 receives operation signals from the remote control device 24. The operation signal transmission unit 76 transmits the input operation signals to the on-board controller 22 of the bulldozer 4.

[0062] 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 driving data generation unit 51, an authorized area generation unit 52, an existing area generation unit 53, a parameter setting unit 54, and a communication status recognition unit 55. The storage 30C of the control server 11 includes a correlation data storage unit 56.

[0063] The driving data generation unit 51 generates driving data indicating the driving conditions of the dump truck 2 in the work area. The driving conditions of the dump truck 2 include 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.

[0064] Figure 7 is a diagram illustrating the driving data of a dump truck 2 according to an embodiment. The driving data defines the driving conditions of the dump truck 2. The driving data of the dump truck 2 includes the driving point 81, the driving path 82, 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.

[0065] Multiple travel points 81 are set in the work area of ​​the work site 1. Each travel point 81 defines 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 81, the target direction and target travel speed of the dump truck 2 are set. The multiple travel points 81 are set at intervals. The intervals between the travel points 81 may be uniform or uneven.

[0066] The target position of dump truck 2 refers to the target position of dump truck 2 when it passes through point 81. The target heading of dump truck 2 refers to the target heading of dump truck 2 when it passes through point 81. The target travel speed of dump truck 2 refers to the target travel speed of dump truck 2 when it passes through point 81. The travel path 82 refers to a virtual line indicating the target travel route of dump truck 2. The travel path 82 is defined by a trajectory that passes through multiple points 81.

[0067] The permitted area generation unit 52 generates a permitted area 83 and a stopping point 84 for the dump truck 2, which are permitted to travel in that area. The permitted area 83 functions as a no-entry area, prohibiting other dump trucks 2 and bulldozers 4 traveling around the dump truck 2 from entering.

[0068] As shown in Figure 7, the permitted area 83 is set in the direction of travel of the dump truck 2. When the dump truck 2 is moving forward, at least a portion of the permitted area 83 is set in front of the dump truck 2. The permitted area 83 is set in a strip shape to include the travel path 82. The permitted area 83 is also set to include the dump truck 2. In the direction of the width of the dump truck 2, the width of the permitted area 83 is greater than the width of the dump truck 2. The stopping point 84 is set at the leading edge of the permitted area 83. The travel speed of the dump truck 2 is controlled so that the dump truck 2 can stop at the stopping point 84.

[0069] The driving data generated in the driving data generation unit 51 is transmitted to the on-board controller 17 of the dump truck 2. The on-board controller 17 controls the driving device 15 based on the driving data. Based on the detection data from the position sensor 31 and the detection data from the orientation sensor 32, the on-board controller 17 controls the driving device 15 so that the dump truck 2 travels according to the driving path 82. That is, 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 81 is reduced when passing through the driving point 81. 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 81 is reduced when passing through the driving point 81. Based on the detection data from the speed sensor 33, the on-board controller 17 controls the driving device 15 so that the dump truck 2 travels at the target driving speed. 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 81 and the target driving speed of the dump truck 2 set at the driving point 81 becomes small.

[0070] The presence area generation unit 53 generates a presence area 90 in which the bulldozer 4 is located. The presence area 90 functions as a no-entry area that prohibits other bulldozers 4 and dump trucks 2 traveling around the bulldozer 4 from entering.

[0071] Figure 8 is a diagram illustrating the presence area 90 of the bulldozer 4 according to the embodiment. As shown in Figure 8, the presence area 90 is generated so as to surround the bulldozer 4. In the embodiment, the presence area 90 is rectangular in shape within a plane parallel to the ground of the work site 1. When the bulldozer 4 moves, the presence area 90 moves together with the bulldozer 4. The presence area generation unit 53 generates the presence area 90 based on detection data from a position sensor 41 that detects the position of the bulldozer 4 and known external shape data of the bulldozer 4.

[0072] The parameter setting unit 54 sets parameters used for safety control of the remotely operated bulldozer 4. Safety control refers to control to ensure the safety of the bulldozer 4. Safety control includes collision prevention control to suppress contact between the bulldozer 4 and objects around the bulldozer 4. Safety control also includes vehicle speed suppression control to suppress the travel speed of the bulldozer 4.

[0073] The parameters include the size AR of the presence area 90. The size AR of the presence area 90 includes the external dimensions of the presence area 90. The size AR of the presence area 90 includes the area of ​​the presence area 90. The size AR of the presence area 90 includes the dimension La of the presence area 90 in the front-rear direction (direction of travel) of the bulldozer 4 and the dimension Wa of the presence area 90 in the left-right direction (vehicle width direction) of the bulldozer 4. The larger the size AR of the presence area 90, the lower the possibility of contact between the bulldozer 4 located inside the presence area 90 and other bulldozers 4 and dump trucks 2 located outside the presence area 90. In other words, the larger the size AR of the presence area 90, the greater the safety of the bulldozer 4 located inside the presence area 90.

[0074] For example, if the presence area 90 and at least a portion of the permitted area 83 overlap, the dump truck 2 will be stopped from moving. This prevents the dump truck 2 from entering the presence area 90.

[0075] The parameters include the distance threshold Ds, as explained with reference to Figures 5 and 6. The larger the distance threshold Ds, the earlier the automatic brakes will activate, thus reducing the likelihood of contact between the bulldozer 4 and an object. In other words, the larger the distance threshold Ds, the safer the bulldozer 4 becomes.

[0076] The parameters include an upper limit Lm for the travel speed of the bulldozer 4. The operation control unit 66 controls the travel device 19 so that the travel speed of the bulldozer 4 does not exceed the upper limit Lm. Even if the remote control device 24 is operated to cause the travel speed of the bulldozer 4 to exceed the upper limit Lm, the operation control unit 66 controls the travel device 19 so that the travel speed of the bulldozer 4 does not exceed the upper limit Lm. The smaller the upper limit Lm, the less likely the bulldozer 4 is to come to a sudden stop, for example, if an unexpected object appears around the bulldozer 4, thus reducing the possibility of contact between the bulldozer 4 and the object. In other words, the smaller the upper limit Lm, the safer the bulldozer 4 is.

[0077] The communication status recognition unit 55 recognizes the communication status of the bulldozer 4. The communication status of the bulldozer 4 includes the communication status between the on-board controller 22 of the bulldozer 4 and the remote controller 27 that remotely operates the bulldozer 4. The communication status recognition unit 55 can acquire the communication status between the on-board controller 22 and the remote controller 27 from at least one of the on-board controller 22 and the remote controller 27.

[0078] The communication status between the on-board controller 22 and the remote controller 27 includes the delay time of the communication data between the on-board controller 22 and the remote controller 27. The communication data between the on-board controller 22 and the remote controller 27 includes images of the surrounding area of ​​the bulldozer 4 captured by the imaging device 44. The communication data between the on-board controller 22 and the remote controller 27 includes operation signals for remotely controlling the bulldozer 4.

[0079] [Communication Status] Figure 9 is a flowchart showing how to obtain the communication status between the in-vehicle controller 22 and the remote controller 27 according to the embodiment. The communication status includes the one-sided delay time of the image described above. In the following description, the one-sided delay time of the image will be appropriately referred to as delay time.

[0080] When the imaging device 44 of the bulldozer 4 captures a surrounding image, the image encoding unit 61 encodes the surrounding image captured by the imaging device 44 and generates an encoded image (step SA1). The image transmission unit 62 divides the encoded image into multiple packets and transmits each packet sequentially to the remote controller 27 (step SA2). When the image transmission unit 62 has transmitted all the packets related to one encoded image, it stores the transmission time of the last packet in the transmitted image storage unit 67 in association with that encoded image (step SA3).

[0081] The image receiving unit 71 of the remote controller 27 receives multiple packets related to the encoded image from the on-board controller 22 of the bulldozer 4 (step SA4). The image return unit 72 sequentially returns each packet to the on-board controller 22 of the bulldozer 4 as soon as it is received (step SA5).

[0082] The return image receiving unit 63 of the bulldozer 4 receives multiple return packets sent back by the remote controller 27 in step SA5 (step SA6). When all packets related to the encoded image have been received, the communication status identification unit 64 reconstructs the encoded image (step SA7). The communication status identification unit 64 compares the encoded image stored in the transmission image storage unit 67 with the encoded image reconstructed in step SA7 and identifies the transmission time of the encoded image (step SA8). The communication status identification unit 64 calculates the delay time (one-way delay time of the image) by dividing the difference between the identified transmission time and the time the encoded image was reconstructed in step SA7 (round-trip delay time of the image) by 2 (step SA9). Alternatively, the communication status identification unit 64 may calculate the one-way delay time of the image after subtracting the time it takes for the remote controller 27 to receive and send back the image from the round-trip delay time of the image.

[0083] The communication status identification unit 64 transmits the delay time calculated in step SA9 to the control server 11 (step SA10). The communication status recognition unit 55 of the control server 11 acquires the delay time transmitted from the communication status identification unit 64 (step SA11). As a result, the communication status recognition unit 55 can recognize the delay time of the surrounding image as part of the communication status between the in-vehicle controller 22 and the remote controller 27.

[0084] In step SA4, once all packets related to the encoded image have been received, the display control unit 73 reconstructs the encoded image. The display control unit 73 then instructs the image decoding unit 74 to decode the reconstructed encoded image. Once the image decoding unit 74 decodes the encoded image, the display control unit 73 displays the decoded peripheral image on the display device 25.

[0085] When the decoded surrounding image is displayed on the display device 25 and the remote control device 24 is operated by the operator, the operation signal input unit 75 receives an operation signal from the remote control device 24. The operation signal transmission unit 76 transmits the input operation signal to the on-board controller 22 of the bulldozer 4. The operation signal receiving unit 65 of the bulldozer 4 receives the operation signal from the remote controller 27. Based on the operation signal received by the operation signal receiving unit 65, the operation control unit 66 operates at least one of the traveling device 19, the excavating work machine 20, and the ripper work machine 21.

[0086] In the example described with reference to Figure 9, the on-board controller 22 of the bulldozer 4 is responsible for determining the delay time of the surrounding image. The remote controller 27 may also determine the delay time of the surrounding image. For example, the remote controller 27 may receive an encoded image containing the transmission time from the on-board controller 22 and determine the difference between the image reception time and the transmission time stored in the image as the delay time of the surrounding image.

[0087] Furthermore, the communication status is not limited to the one-sided delay time of the image. The communication status may also be determined based on the round-trip delay time of the image, the number of packets processed per unit time, the packet error detection rate, the number of packet retransmissions, and the number of lost packets. Alternatively, the one-sided delay time may be determined based on the operation signal.

[0088] [Parameter Changes] The communication status recognition unit 55 determines that the communication status is good if the delay time of the surrounding image is less than the first delay threshold. That is, the communication status recognition unit 55 determines that the communication data is not delayed if the delay time is less than the first delay threshold. The communication status recognition unit 55 determines that the communication data is delayed if the delay time of the surrounding image is greater than or equal to the first delay threshold and less than the second delay threshold. The communication status recognition unit 55 determines that the communication data has been interrupted if the delay time is greater than or equal to the second delay threshold. The first delay threshold is a value smaller than the second delay threshold. The first and second delay thresholds can be set arbitrarily.

[0089] The parameter setting unit 54 modifies the parameters used for safety control based on the communication status recognized by the communication status recognition unit 55. If the communication status is the delay time of the surrounding image, the parameter setting unit 54 modifies the parameters to correspond to the delay time. In this embodiment, correlation data showing the relationship between the delay time and the parameters is pre-stored in the correlation data storage unit 56. The parameter setting unit 54 modifies the parameters based on the delay time of the surrounding image recognized by the communication status recognition unit 55 and the correlation data stored in the correlation data storage unit 56.

[0090] Figure 10 is a diagram illustrating the first correlation data CD1 according to the embodiment. As shown in Figure 10, the parameters of the first correlation data CD1 increase as the delay time increases. The parameters include the distance threshold Ds, which was described with reference to Figures 5 and 6, and the size AR of the presence area 90, which was described with reference to Figure 8. If the delay time is less than the first delay threshold, the communication data is considered not to be delayed. If the delay time is greater than or equal to the second delay threshold, the communication data is considered to be interrupted. If the delay time is greater than or equal to the first delay threshold and less than the second delay threshold, the communication data is considered to be delayed. Within the range of greater than or equal to the first delay threshold and less than the second delay threshold, the parameters increase as the delay time increases. In this embodiment, the delay time and the parameters are proportional.

[0091] Figure 11 is a diagram illustrating the relationship between delay time and distance threshold Ds according to the embodiment. As shown in Figures 10 and 11, the parameter setting unit 54 sets the distance threshold Ds to an initial value Ds0 when there is no delay time (when the delay time is less than the first delay threshold). When there is a delay time (when the delay time is greater than or equal to the first delay threshold and less than the second delay threshold), the parameter setting unit 54 increases the distance threshold Ds as the delay time increases. When the delay time is the first delay time, the parameter setting unit 54 sets the distance threshold Ds to a first value Ds1. When the delay time is the second delay time which is greater than the first delay time, the parameter setting unit 54 sets the distance threshold Ds to a second value Ds2 which is greater than the first value Ds1.

[0092] Figure 12 is a diagram illustrating the relationship between the delay time and the presence area 90 according to the embodiment. As shown in Figures 10 and 12, the parameter setting unit 54 sets the size AR of the presence area 90 to the initial value AR0 when there is no delay time (when the delay time is less than the first delay threshold). The parameter setting unit 54 increases the size AR of the presence area 90 as the delay time increases when there is a delay time (when the delay time is greater than or equal to the first delay threshold and less than the second delay threshold). The parameter setting unit 54 sets the size AR of the presence area 90 to the first value AR1 when the delay time is the first delay time. The parameter setting unit 54 sets the size AR of the presence area 90 to the second value AR2 when the delay time is the second delay time which is greater than the first delay time.

[0093] Figure 13 is a diagram illustrating the second correlation data CD2 according to the embodiment. As shown in Figure 13, the parameters of the second correlation data CD2 decrease as the delay time increases. The parameters include the upper limit Lm of the travel speed of the bulldozer 4. If the delay time is less than the first delay threshold, the communication data is considered not to be delayed. If the delay time is greater than or equal to the second delay threshold, the communication data is considered to have been interrupted. If the delay time is greater than or equal to the first delay threshold and less than the second delay threshold, the communication data is considered to be delayed. Within the range of greater than or equal to the first delay threshold and less than the second delay threshold, the parameters decrease as the delay time increases. In this embodiment, the delay time and the parameters are proportional.

[0094] The parameter setting unit 54 sets the upper limit Lm of the bulldozer 4's travel speed to the initial value Lm0 if there is no delay time (if the delay time is less than the first delay threshold). If there is a delay time (if the delay time is greater than or equal to the first delay threshold and less than the second delay threshold), the parameter setting unit 54 decreases the upper limit Lm as the delay time increases. If the delay time is the first delay time, the parameter setting unit 54 sets the upper limit Lm to the first value Lm1. If the delay time is the second delay time which is greater than the first delay time, the parameter setting unit 54 sets the upper limit Lm to the second value Lm2 which is smaller than the first value Lm1.

[0095] [Management Method] Figure 14 is a flowchart showing the management method of the bulldozer 4 according to the embodiment. The communication status recognition unit 55 of the control server 11 acquires the delay time of the surrounding image (step SA11). As explained with reference to Figure 9, the communication status recognition unit 55 acquires the delay time of the surrounding image from the on-board controller 22 of the bulldozer 4.

[0096] The communication status recognition unit 55 determines whether or not a communication delay has occurred based on the delay time of the surrounding image (step SA12). The communication status recognition unit 55 determines that a communication delay has occurred if the delay time of the surrounding image is equal to or greater than the first delay threshold.

[0097] If it is determined in step SA12 that no communication delay has occurred (step SA12: No), the parameter setting unit 54 sets the parameters to their initial values ​​(step SA13).

[0098] If it is determined in step SA12 that a communication delay has occurred (step SA12: Yes), the parameter setting unit 54 sets the parameters based on the delay time of the surrounding image acquired in step SA11 and the correlation data stored in the correlation data storage unit 56 (step SA14).

[0099] The parameter setting unit 54 transmits the parameters set in step SA13 or step SA14 to the on-board controller 22 of the bulldozer 4 (step SA15). The on-board controller 22 of the bulldozer 4 uses the parameters set in step SA13 or step SA14 to perform safety control of the bulldozer 4.

[0100] The operation control unit 66 of the onboard controller 22 activates the automatic brake of the travel device 19 when the relative distance Da between the bulldozer 4 and objects around the bulldozer 4 falls below the distance threshold Ds set in step SA13 or step SA14. The operation control unit 66 of the onboard controller 22 controls the travel device 19 so that the travel speed of the bulldozer 4 does not exceed the upper limit Lm set in step SA13 or step SA14.

[0101] The existence area 90 of size AR set in step SA13 or step SA14 is set on the bulldozer 4. The onboard controller 17 of the dump truck 2 reduces the driving speed of the dump truck 2 or stops the dump truck 2 from driving if at least a part of the permitted area 83 overlaps with the existence area 90.

[0102] The communication status recognition unit 55 determines whether or not to terminate the parameter changes based on the communication status (step SA16). If it is determined in step SA16 to continue the parameter changes based on the communication status (step SA16: No), the process returns to step SA11. If it is determined in step SA16 to terminate the parameter changes based on the communication status (step SA16: Yes), the process ends. For example, the communication status recognition unit 55 can determine to terminate the parameter changes based on the communication status when a predetermined time has elapsed since it was determined that a communication delay has occurred, or when it is no longer determined that a communication delay has occurred based on the delay time of the surrounding image.

[0103] [Effects] As described above, in this embodiment, the processor 30A of the control server 11 includes a parameter setting unit 54 for setting parameters used for safety control of the remotely operated bulldozer 4, and a communication status recognition unit 55 for recognizing the communication status of the bulldozer 4. The parameter setting unit 54 changes the parameters based on the communication status.

[0104] According to the embodiment, when communication conditions are good, the parameters used for safety control are set to their initial values. If communication conditions deteriorate, the parameters used for safety control are changed to ensure safety. The parameters are changed to correspond to the delay time. In the embodiment, the parameters are changed so that the delay time of the communication data and the parameters are proportional. The larger the delay time, the more safety is ensured by changing the parameters. This ensures safety at worksite 1 while suppressing a decrease in productivity at worksite 1.

[0105] In this embodiment, when communication conditions are good, the distance threshold Ds becomes shorter. If the distance threshold Ds is long despite good communication conditions, there is a higher probability that the automatic brake of the bulldozer 4 will activate unnecessarily even though the bulldozer 4 and the object are far apart. If the automatic brake of the bulldozer 4 activates unnecessarily, the productivity of the work site 1 may decrease. In this embodiment, when communication conditions are good, the distance threshold Ds is short, so the decrease in productivity of the work site 1 is suppressed. If communication conditions deteriorate, the distance threshold Ds becomes longer. When communication conditions deteriorate, the timing of the display of the surrounding image on the display device 25 may be delayed, or the timing of the operation signal reaching the on-board controller 22 of the bulldozer 4 may be delayed. Therefore, if the distance threshold Ds is short, there is a higher probability that the timing of the automatic brake activation will be delayed. In this embodiment, when communication conditions deteriorate, the distance threshold Ds becomes longer, so the safety of the work site 1 is ensured.

[0106] In this embodiment, when communication conditions are good, the size AR of the presence area 90 becomes smaller. If the size AR of the presence area 90 is large despite good communication conditions, the dump truck 2 traveling around the bulldozer 4 is more likely to stop unnecessarily. If the dump truck 2 stops unnecessarily, the productivity of the work site 1 may decrease. In this embodiment, when communication conditions are good, the size AR of the presence area 90 is small, so the decrease in productivity of the work site 1 is suppressed. When communication conditions deteriorate, the size AR of the presence area 90 becomes larger. When communication conditions deteriorate, the timing of the display of the surrounding image on the display device 25 is delayed, and the timing of the operation signal reaching the on-board controller 22 of the bulldozer 4 is delayed. Therefore, if the size AR of the presence area 90 is small, the dump truck 2 is more likely to approach or come into contact with the bulldozer 4. In this embodiment, when communication conditions deteriorate, the size AR of the presence area 90 becomes larger, so the safety of the work site 1 is ensured.

[0107] In this embodiment, when communication conditions are good, the upper limit Lm of the bulldozer 4's travel speed increases. If the upper limit Lm is low despite good communication conditions, the bulldozer 4 is more likely to travel at an unnecessarily low speed. If the bulldozer 4 travels at an unnecessarily low speed, the productivity of the work site 1 may decrease. In this embodiment, when communication conditions are good, the upper limit Lm is high, so the decrease in productivity of the work site 1 is suppressed. If communication conditions deteriorate, the upper limit Lm decreases. When communication conditions deteriorate, the timing of the display of the surrounding image on the display device 25 may be delayed, or the timing of the operation signal reaching the on-board controller 22 of the bulldozer 4 may be delayed. Therefore, if the upper limit Lm is high, the safety of the bulldozer 4 is more likely to decrease. In this embodiment, when communication conditions deteriorate, the upper limit Lm decreases, so the safety of the work site 1 is ensured.

[0108] [Other Embodiments] In the above embodiment, the parameters are changed based on the communication status between the on-board controller 22 of the bulldozer 4 and the remote controller 27. The parameters may also be changed based on the communication status between the on-board controller 22 of the bulldozer 4 and the control server 11 that manages the bulldozer 4.

[0109] 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).

[0110] In the embodiment described above, all of the remotely controlled work machines were assumed to be bulldozers. The types of remotely controlled work machines may be different from each other. For example, the first work machine may be a bulldozer, the second work machine may be a motor grader 5, and the third work machine may be a wheel loader. In other words, different types of work machines may be remotely controlled by a single remote control device 24.

[0111] 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.

[0112] 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).

[0113] 1...Work site, 2...Dump truck (unmanned vehicle), 3...Excavator, 4...Bulldozer (working machine), 5...Motor grader (working machine), 6...Loading area, 7...Soil removal area, 8...Transport 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, 20...Excavating work machine, 20A...Excavating bulldozer 20B...Lift frame, 20C...Tilt cylinder, 20D...Lift cylinder, 21...Ripper work machine, 21A...Shank, 21B...Ripper arm, 21C...Tilt cylinder, 21D...Lift cylinder, 21E...Beam, 22...On-board controller, 23...Remote control room, 24...Remote control device, 25...Display device, 27...Remote controller, 28...Driver's seat, 29...Communication system, 30...Computer, 30A...Processor, 30B...Main Memory, 30C...Storage, 30D...Input / Output Interface, 30E...Communication Interface, 30F...Computer Program, 31...Position Sensor, 32...Direction Sensor, 33...Speed ​​Sensor, 41...Position Sensor, 42...Attitude Sensor, 43...Obstacle Sensor, 44...Imaging Device, 51...Driving Data Generation Unit, 52...Permission Area Generation Unit, 53...Existence Area Generation Unit, 54...Parameter Setting Unit, 55...Communication Status Recognition Unit, 56...Correlation Data Storage Unit, 61... Image encoding unit, 62... Image transmission unit, 63... Returned image reception unit, 64... Communication status identification unit, 65... Operation signal reception unit, 66... ​​Operation control unit, 67... Transmitted image storage unit, 71... Image reception unit, 72... Image return unit, 73... Display control unit, 74... Image decoding unit, 75... Operation signal input unit, 76... Operation signal transmission unit, 81... Driving point, 82... Driving path, 83... Permitted area, 84... Stopping point, 90... Existence area, 200... Obstacle, AR... Size, Da... Relative distance, Ds... Distance threshold.

Claims

1. A management system for a work machine, comprising a processor, the processor setting parameters used for safety control of a remotely operated work machine, recognizing the communication status of the work machine, and changing the parameters based on the communication status.

2. The management system for a work machine according to claim 1, wherein the communication status includes the communication status between the on-board controller of the work machine and the remote controller for remotely operating the work machine.

3. The management system for a work machine according to claim 1, wherein the communication status includes the communication status between the on-board controller of the work machine and the control server that manages the work machine.

4. The communication status includes a delay time for the communication data, and the processor modifies the parameters to correspond to the delay time, the management system for a work machine according to claim 1.

5. The processor increases the parameter as the delay time increases, as described in claim 4.

6. The safety control includes control to suppress contact between the work machine and objects surrounding the work machine, the onboard controller of the work machine outputs a braking command to brake the work machine when the relative distance between the work machine and the object falls below a distance threshold, and the parameter includes the distance threshold, the management system for a work machine according to claim 5.

7. The management system for a work machine according to claim 6, wherein the object is another work machine or an unmanned vehicle, and the onboard controller calculates the relative distance based on detection data from a first position sensor that detects the position of the work machine and detection data from a second position sensor that detects the position of the object.

8. The management system for a work machine according to claim 6, wherein the object is an obstacle in the path of the work machine, and the onboard controller calculates the relative distance based on detection data from an obstacle sensor provided on the work machine that detects the object non-contact.

9. The safety control includes control to suppress contact between the work machine and an object in the vicinity of the work machine, wherein the object is another work machine or an unmanned vehicle, the processor generates a presence area that prohibits the entry of the object so as to surround the work machine, and the parameter includes the size of the presence area, the work machine management system according to claim 5.

10. The safety control includes control to suppress the travel speed of the work machine, the parameter includes an upper limit value for the travel speed of the work machine, and the processor reduces the upper limit value as the delay time increases, according to claim 4.

11. A method for managing a work machine, comprising: setting parameters used for safety control of a remotely operated work machine; recognizing the communication status of the work machine; and changing the parameters based on the communication status.

12. The method for managing a work machine according to claim 11, wherein the communication status includes the communication status between the vehicle-mounted controller of the work machine and a remote controller for remotely operating the work machine.

13. The method for managing a work machine according to claim 11, wherein the communication status includes the communication status between the on-board controller of the work machine and the control server that manages the work machine.

14. The method for managing a work machine according to claim 11, wherein the communication status includes the delay time of the communication data, and the parameters are changed to correspond to the delay time.

15. The method for managing a work machine according to claim 14, wherein the parameter is increased as the delay time increases.

16. The method for managing a work machine according to claim 15, wherein the safety control includes control to suppress contact between the work machine and objects in the vicinity of the work machine, the onboard controller of the work machine outputs a braking command to brake the work machine when the relative distance between the work machine and the object falls below a distance threshold, and the parameter includes the distance threshold.

17. The method for managing a work machine according to claim 16, wherein the object is another work machine or an unmanned vehicle, and the onboard controller calculates the relative distance based on detection data from a first position sensor that detects the position of the work machine and detection data from a second position sensor that detects the position of the object.

18. The method for managing a work machine according to claim 16, wherein the object is an obstacle in the path of the work machine, and the onboard controller calculates the relative distance based on detection data from an obstacle sensor provided on the work machine that detects the object non-contact.

19. The method for managing a work machine according to claim 15, wherein the safety control includes control to suppress contact between the work machine and an object in the vicinity of the work machine, the object being another work machine or an unmanned vehicle, and generating an area of ​​presence that prohibits the entry of the object so as to surround the work machine, and the parameter includes the size of the area of ​​presence.

20. The method for managing a work machine according to claim 14, wherein the safety control includes control to suppress the travel speed of the work machine, the parameter includes an upper limit value for the travel speed of the work machine, and the larger the delay time, the smaller the upper limit value.

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