DETERMINATION SYSTEM OF WORK SITE AND DETERMINATION METHOD OF WORK SITE

DESCRIPTION

Technical Field

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

Background Art

[0002]In a technical field related to a work machine, slot dozing as disclosed in Patent Literature 1 is known.

PATENT ART LITERATURE

Patent Literature

SUMMARY OF INVENTION

Problem to be Solved by Invention

[0004]For example, depending on topography of a work site, implementing slot dozing may be difficult.

[0005]An object of the present disclosure is to determine propriety of implementation of slot dozing.

Means for Solving the Problem

[0006]According to the present disclosure, provided is a determination system of a work site including: a current topography data reception unit that receives current topography data of a work site where a bulldozer performs slot dozing; and a determination unit that determines propriety of implementation of the slot dozing on a basis of an inclination angle of at least a part of an excavation lane of the slot dozing.

Effects of Invention

[0007]According to the present disclosure, propriety of implementation of slot dozing can be determined.

BRIEF DESCRIPTION OF DRAWINGS

[0008]FIG. 1 is a diagram schematically illustrating a management system for a work site according to an embodiment.

[0009]FIG. 2 is a side view schematically illustrating a work machine according to the embodiment.

[0010]FIG. 3 is a plan view schematically illustrating a three-dimensional sensor and an obstacle sensor according to the embodiment.

[0011]FIG. 4 is a diagram schematically illustrating an example of operation of the work machine according to the embodiment.

[0012]FIG. 5 is a block diagram illustrating a determination system for the work machine according to the embodiment.

[0013]FIG. 6 is a diagram for describing stored data stored in a current topography data storage unit according to the embodiment.

[0014]FIG. 7 is a diagram for describing a method of calculating an inclination angle of an excavation lane according to the embodiment.

[0015]FIG. 8 is a diagram for describing a method of calculating a position of an obstacle according to the embodiment.

[0016]FIG. 9 is a diagram illustrating display data displayed on a display device according to the embodiment.

[0017]FIG. 10 is a flowchart illustrating a display method of a work site according to the embodiment.

[0018]FIG. 11 is a flowchart illustrating a display method of a work site according to the embodiment.

[0019]FIG. 12 is a block diagram illustrating a computer system according to the embodiment.

DESCRIPTION OF EMBODIMENTS

[0020]Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. Components of the embodiments described below can be appropriately combined. Furthermore, some components may not be used.

Management System

[0021]FIG. 1 is a diagram schematically illustrating a management system 1 for a work site according to an embodiment. In the embodiment, the work site is a mine. The mine refers to a place or a business site where minerals are mined. As the mine, a metal mine where metal is mined, a non-metal mine where limestone is mined, and a coal mine where coal is mined are exemplified. A plurality of work machines 2 operates at the work site. In the embodiment, the work machines 2 are bulldozers. The work machines 2 perform predetermined work at the work site. Examples of the work performed by the work machines 2 include excavating work, dozing work, and leveling work.

[0022]The management system 1 includes a management device 3 and a communication system 4. The management device 3 includes a computer system. The management device 3 is disposed outside the work machines 2. The management device 3 is installed in a control facility 5 at the work site. The management device 3 manages the work site and the work machines 2. There is an administrator in the control facility 5. Examples of the communication system 4 include the Internet, a mobile phone communication network, a satellite communication network, and a local area network (LAN). Examples of the local area network include Wi-Fi (registered trademark), which is one standard of wireless LAN.

[0023]Each of the work machines 2 includes a control device 6 and a wireless communication device 4A. The control device 6 includes a computer system. The wireless communication device 4A is connected to the control device 6. The communication system 4 includes the wireless communication device 4A connected to the control device 6 and a wireless communication device 4B connected to the management device 3. The management device 3 and the control device 6 of the work machine 2 wirelessly communicate with each other via the communication system 4.

Work Machine

[0024]FIG. 2 is a side view schematically illustrating the work machine 2 according to the embodiment. As illustrated in FIG. 2, the work machine 2 includes a vehicle body 7, a traveling device 8, an excavation implement 9, a ripper implement 10, a position sensor 11, an inclination sensor 12, a three-dimensional sensor 13, and an obstacle sensor 14. The vehicle body 7 includes an engine room 15. An engine 16 is housed in the engine room 15. The engine 16 is a driving source of the work machine 2. The traveling device 8 travels while supporting the vehicle body 7. The traveling device 8 includes a pair of crawler belts 17. The work machine 2 travels by rotation of the crawler belts 17.

[0025]The excavation implement 9 performs excavating work, dozing work, or leveling work of a work target. The excavation implement 9 is attached to the vehicle body 7. At least a part of the excavation implement 9 is disposed in front of the vehicle body 7. The excavation implement 9 includes an excavation blade 18, a lift frame 19, a tilt cylinder 20, and a lift cylinder 21.

[0026]The excavation blade 18 is disposed in front of the vehicle body 7. The excavation blade 18 includes a cutting blade 18A. The lift frame 19 supports the excavation blade 18. One end portion of the lift frame 19 is connected to the back surface of the excavation blade 18 via a rotation mechanism. The other end portion of the lift frame 19 is connected to the vehicle body 7 via a rotation mechanism. Note that the other end portion of the lift frame 19 may be connected to the traveling device 8 via a rotation mechanism.

[0027]Each of the tilt cylinder 20 and the lift cylinder 21 operates the excavation blade 18. The tilt cylinder 20 is driven to tilt the excavation blade 18. The lift cylinder 21 is driven to move the excavation blade 18 in the up-and-down direction. One end portion of the tilt cylinder 20 is connected to the back surface of the excavation blade 18 via a rotation mechanism. The other end portion of the tilt cylinder 20 is connected to the upper surface of the lift frame 19. As the tilt cylinder 20 extends and contracts, the tilt angle of the excavation blade 18 changes. One end portion of the lift cylinder 21 is connected to the lift frame 19 via a rotation mechanism. The other end portion of the lift cylinder 21 is connected to the vehicle body 7 via a rotation mechanism. The excavation blade 18 moves in the up-and-down direction by extension and contraction of the lift cylinder 21.

[0028]The ripper implement 10 performs ripping work including cutting or crushing of a work target. The ripper implement 10 is attached to the vehicle body 7. At least a part of the ripper implement 10 is disposed behind the vehicle body 7. The ripper implement 10 includes a shank 22, a ripper arm 23, a tilt cylinder 24, a lift cylinder 25, and a beam 26. The shank 22 is disposed behind the vehicle body 7. The shank 22 includes a ripper point 22A. The ripper point 22A is included at the tip of the shank 22. The ripper arm 23 supports the shank 22. The ripper arm 23 connects the vehicle body 7 and the shank 22. One end portion of the ripper arm 23 is connected to a rear portion of the vehicle body 7 via a rotation mechanism. The other end portion of the ripper arm 23 is connected to the beam 26. The beam 26 is rotatably connected to the ripper arm 23. The shank 22 is connected to the ripper arm 23 via the beam 26.

[0029]Each of the tilt cylinder 24 and the lift cylinder 25 operates the shank 22. Each of the tilt cylinder 24 and the lift cylinder 25 is connected to the vehicle body 7. The tilt cylinder 24 is driven to tilt the shank 22. The lift cylinder 25 is driven to move the shank 22 in the up-and-down direction. One end portion of the tilt cylinder 24 is connected to the beam 26 via a rotation mechanism. The other end portion of the tilt cylinder 24 is connected to the rear portion of the vehicle body 7. The tilt angle of the shank 22 changes by extension and contraction of the tilt cylinder 24. The tilt cylinder 24 moves the shank 22 in the front-and-rear direction. One end portion of the lift cylinder 25 is connected to the beam 26 via a rotation mechanism. The other end portion of the lift cylinder 25 is connected to the rear portion of the vehicle body 7. The shank 22 moves in the up-and-down direction by extension and contraction of the lift cylinder 25. The lift cylinder 25 moves the shank 22 in the up-and-down direction.

[0030]The ripper implement 10 pierces a work target with the ripper point 22A. The work target is cut or crushed by the traveling device 8 traveling in a state where the work target is pierced with the ripper point 22A. While the traveling device 8 is traveling, the shank 22 may be moved in the up-and-down direction and the front-and-rear direction.

[0031]The position sensor 11 detects the position of the work machine 2. The position of the work machine 2 is detected using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects a position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the earth. The position sensor 11 includes a GNSS receiver. The position sensor 11 detects the position of the work machine 2 in the global coordinate system. The position sensor 11 is disposed on the vehicle body 7.

[0032]The inclination sensor 12 detects the inclination of the vehicle body 7. The inclination sensor 12 detects an inclination angle of the vehicle body 7 with respect to the horizontal plane. The inclination sensor 12 includes an inertial measurement unit (IMU). The inclination sensor 12 is disposed on the vehicle body 7.

[0033]The three-dimensional sensor 13 detects a three-dimensional shape of a detection target. The three-dimensional sensor 13 detects the three-dimensional shape of the detection target in a non-contact manner with the detection target. The detection target of the three-dimensional sensor 13 includes a work site. The three-dimensional sensor 13 detects a three-dimensional shape of the work site. The three-dimensional shape of the work site includes the topography of the work site. The three-dimensional sensor 13 detects a distance to the surface of the detection target. The three-dimensional sensor 13 detects the three-dimensional shape of the surface of the detection target by detecting the relative distance of each of a plurality of detection points on the surface of the detection target. The three-dimensional data indicating the three-dimensional shape of the detection target includes point cloud data including a plurality of detection points. The three-dimensional data includes the relative distance and the relative position between the three-dimensional sensor 13 and each of the plurality of detection points defined in the detection target. The three-dimensional data includes height data of each of the plurality of detection points. Examples of the three-dimensional sensor 13 include a laser sensor (light detection and ranging (LIDAR)) that detects a detection target by emitting laser light. Note that the three-dimensional sensor 13 may be a three-dimensional camera such as a stereo camera. The three-dimensional sensor 13 is disposed on the vehicle body 7.

[0034]The obstacle sensor 14 detects an obstacle of the work machine 2 that exists at the work site. The obstacle sensor 14 detects an obstacle in a non-contact manner with the obstacle. Examples of the obstacle sensor 14 include a radar sensor (radio detection and ranging (RADAR) ) that detects an obstacle by emitting radio waves. Note that the obstacle sensor 14 may be an infrared sensor that detects an obstacle by emitting infrared light. The obstacle sensor 14 is disposed on the vehicle body 7.

[0035]FIG. 3 is a plan view schematically illustrating the three-dimensional sensor 13 and the obstacle sensor 14 according to the embodiment. As illustrated in FIG. 3, the three-dimensional sensor 13 includes a detection range 130. The three-dimensional sensor 13 detects three-dimensional data of a detection target disposed in the detection range 130. In the embodiment, the three-dimensional sensor 13 includes a three-dimensional sensor 13F that detects three-dimensional data in front of the vehicle body 7 and a three-dimensional sensor 13B that detects three-dimensional data behind the vehicle body 7. The detection range 130 of the three-dimensional sensor 13 includes a detection range 130F of the three-dimensional sensor 13F and a detection range 130B of the three-dimensional sensor 13B. At least a part of the detection range 130F is defined in front of the excavation implement 9. At least a part of the detection range 130B is defined behind the ripper implement 10.

[0036]As illustrated in FIG. 3, the obstacle sensor 14 includes a detection range 140. The obstacle sensor 14 detects an obstacle disposed in the detection range 140. In the embodiment, the obstacle sensor 14 detects an obstacle behind the vehicle body 7. The obstacle sensor 14 includes an obstacle sensor 14L disposed on the left side of the center of the vehicle body 7 in the left-and-right direction and an obstacle sensor 14R disposed on the right side. The detection range 140 of the obstacle sensor 14 includes a detection range 140L of the obstacle sensor 14L and a detection range 140R of the obstacle sensor 14R. At least a part of the detection range 140L and at least a part of the detection range 140R are defined behind the vehicle body 7. At least a part of the detection range 140L is defined on the left side of the vehicle body 7. At least a part of the detection range 140R is defined on the right side of the vehicle body 7.

Operation of Work Machine

[0037]FIG. 4 is a diagram schematically illustrating an example of operation of the work machine 2 according to the embodiment. In the embodiment, the work machine 2 can perform slot dozing. The slot dozing refers to a construction method in which the work machine 2 excavates a work target while repeating forward movement and backward movement along a slot-shaped excavation lane formed in the work target. In the embodiment, the work machine 2 performs slot dozing by automatic control. As illustrated in FIG. 4, the work machine 2 performs slot dozing such that the current topography has a shape along a final design surface 27Z. In the example illustrated in FIG. 4, in the first excavation, the work machine 2 excavates a work target using the excavation implement 9 while moving forward from an excavation start point 27S so that the current topography has a shape along a first intermediate design surface 27A. After the first excavation is completed, the work machine 2 moves backward so as to return to the excavation start point 27S. In the second excavation, the work machine 2 excavates the work target using the excavation implement 9 while moving forward from the excavation start point 27S so that the current topography has a shape along a second intermediate design surface 27B. The work machine 2 repeats forward movement and backward movement until the current topography has a shape along the final design surface 27Z.

[0038]Note that the automatic control of the work machine 2 may be semi-automatic control performed in conjunction with manual operation by an operator, or may be full-automatic control performed without manual operation. In a case of the semi-automatic control, an operation device for manual operation may be mounted on the work machine 2 and subjected to boarding operation by an operator who rides on the work machine 2. An operation device for manual operation may be disposed outside the work machine 2 and remotely operated by an operator who exists outside the work machine 2.

Determination System

[0039]FIG. 5 is a block diagram illustrating a determination system 100 of the work machine 2 according to the embodiment. The management system 1 includes the determination system 100. The determination system 100 determines propriety of implementation of slot dozing. The determination system 100 includes the control device 6, the position sensor 11, the inclination sensor 12, the three-dimensional sensor 13, the obstacle sensor 14, the management device 3, an input device 40, and a display device 41. The control device 6 includes a position data acquisition unit 61, a three-dimensional data acquisition unit 62, an obstacle data acquisition unit 63, a current topography data creation unit 64, and a current topography data storage unit 65. The management device 3 includes a current topography data reception unit 31, an obstacle data reception unit 32, a current topography data creation unit 33, a current topography data storage unit 34, an excavation lane setting unit 35, a determination unit 36, and a display control unit 37.

[0040]The position data acquisition unit 61 acquires position data indicating the current position of the work machine 2. The current position of the work machine 2 includes detection data of the position sensor 11. The position data acquisition unit 61 acquires detection data of the position sensor 11 as position data.

[0041]The three-dimensional data acquisition unit 62 acquires three-dimensional data indicating a three-dimensional shape of a work site where the work machine 2 operates. The three-dimensional data of the work site includes detection data of the three-dimensional sensor 13. The three-dimensional data acquisition unit 62 acquires detection data of the three-dimensional sensor 13 as three-dimensional data. The position data acquisition unit 61 acquires posture data indicating the posture of the work machine 2. The posture of the work machine 2 includes detection data of the inclination sensor 12. The position data acquisition unit 61 acquires detection data of the inclination sensor 12 as the posture data.

[0042]The obstacle data acquisition unit 63 acquires obstacle data indicating an obstacle that exists at the work site. The obstacle data acquisition unit 63 acquires obstacle data indicating an obstacle that exists around the work machine 2. The obstacle data includes detection data of the obstacle sensor 14. The obstacle data acquisition unit 63 acquires detection data of the obstacle sensor 14 as the obstacle data. The obstacle data may include three-dimensional data indicating a three-dimensional shape of a detection target of the three-dimensional sensor 13. The obstacle data acquisition unit 63 may acquire, as the obstacle data, a position obtained by integrating representative points of a standing object detected from point cloud data included in the three-dimensional data and detection data of the obstacle sensor 14.

[0043]The current topography data creation unit 64 creates current topography data of the work site on the basis of the three-dimensional data acquired by the three-dimensional data acquisition unit 62, the position data indicating the current position of the work machine 2 acquired by the position data acquisition unit 61, and the posture data indicating the posture of the work machine 2 acquired by the position data acquisition unit 61. The current topography data creation unit 64 creates the current topography data of the work site on the basis of the detection data of the three-dimensional sensor 13, the detection data of the position sensor 11, and the detection data of the inclination sensor 12.

[0044]The current topography data storage unit 65 stores the current topography data of the work site created by the current topography data creation unit 64.

[0045]The current topography data reception unit 31 receives the current topography data of the work site from the current topography data storage unit 65 via the communication system 4. As described above, a plurality of work machines 2 exists at the work site. Each of the plurality of work machines 2 transmits the current topography data stored in the current topography data storage unit 65 to the management device 3 via the communication system 4. The current topography data reception unit 31 receives the current topography data transmitted from each of the plurality of work machines 2.

[0046]The obstacle data reception unit 32 receives the obstacle data from the obstacle data acquisition unit 63 via the communication system 4. Each of the plurality of work machines 2 transmits the obstacle data to the management device 3 via the communication system 4. The obstacle data reception unit 32 receives the obstacle data transmitted from each of the plurality of work machines 2.

[0047]The current topography data creation unit 33 creates current topography data of the work site on the basis of the current topography data received by the current topography data reception unit 31. The current topography data creation unit 33 integrates the current topography data transmitted from each of the plurality of work machines 2 to create the current topography data of the work site. The current topography data storage unit 34 stores the current topography data created by the current topography data creation unit 33. Each of the plurality of work machines 2 transmits the current topography data to the management device 3 at predetermined time intervals. Each of the plurality of work machines 2 transmits the current topography data to the management device 3, for example, every second. The current topography data creation unit 33 creates the current topography data each time the current topography data is received. Each time the current topography data creation unit 33 creates the current topography data, the current topography data stored in the current topography data storage unit 34 is updated.

[0048]The excavation lane setting unit 35 sets an excavation lane of slot dozing. As described above, the work machines 2 can perform slot dozing at a work site. In slot dozing, each of the work machines 2 excavates a work target while repeating forward movement and backward movement along a slot-shaped excavation lane formed in the work target. The administrator can set the excavation lane by operating the input device 40. Examples of the input device 40 include a computer keyboard, a touch panel, and a mouse. The excavation lane setting unit 35 sets the excavation lane on the basis of input data generated by an operation on the input device 40.

[0049]The determination unit 36 determines propriety of implementation of slot dozing on the basis of the inclination angle of at least a part of the excavation lane of slot dozing.

[0050]The display control unit 37 causes the display device 41 to display the current topography data received by the current topography data reception unit 31. Examples of the display device 41 include a flat panel display such as a liquid crystal display and an organic EL display.

Stored Data

[0051]FIG. 6 is a diagram for describing stored data stored in the current topography data storage unit 65 according to the embodiment. As illustrated in FIG. 6, three-dimensional data of a work site includes height data of each of a plurality of detection points 28 defined on the surface of the topography of the work site. The position of each of the plurality of detection points 28 in the global coordinate system is determined on the basis of the current position of the work machine 2 when the three-dimensional data is acquired, the posture of the work machine 2, and the three-dimensional data. Note that the positions of the detection points 28 may be defined in the global coordinate system or may be defined in a predetermined coordinate system such as a local coordinate system set in the work machine 2. Time data indicating time is given to each of the plurality of detection points 28. The time indicated by the time data refers to the time when the three-dimensional data acquisition unit 62 acquires the detection point 28 or the time when the position data acquisition unit 61 acquires position data corresponding to the detection point 28. Note that the time of the time data may be regarded as the time when the three-dimensional sensor 13 detects the detection point 28. The time data is stored in association with each of the plurality of detection points 28. Further, attribute data indicating an attribute is given to each of the plurality of detection points 28. The attribute indicated by the attribute data refers to an attribute of the detection point 28. The attribute of the detection point 28 includes an attribute related to the topography of the work site and an attribute related to an obstacle that exists at the work site. The attribute data is stored in association with each of the plurality of detection points 28.

Method for Calculating Inclination Angle of Excavation Lane

[0052]FIG. 7 is a diagram for describing a method of calculating an inclination angle of the excavation lane 42 according to the embodiment. As described above, the excavation lane 42 is set by the administrator. The determination unit 36 calculates the inclination angle of the ground of the excavation lane 42 on the basis of the excavation lane 42 and the current topography data inside the excavation lane 42. The inclination angle of the excavation lane 42 includes an inclination angle of at least a part of the traveling direction (longitudinal direction) of the excavation lane 42. The inclination angle of the excavation lane 42 includes an inclination angle of at least a part of the width direction (lateral direction) of the excavation lane 42.

[0053]In a case where the inclination angle in the traveling direction is calculated, a determination area for determining the inclination angle is set as the traveling direction. In the example illustrated in FIG. 7, the determination area is an area between a first position 43 and a second position 44 set in the excavation lane 42. In the traveling direction of the excavation lane 42, the first position 43 and the second position 44 are set at different positions. The determination unit 36 calculates an inclination angle between the first position 43 and the second position 44 on the basis of the current topography data. The inclination angle of the determination area is a difference between the height of the first position 43 and the height of the second position 44. After calculating the inclination angle of the determination area between the first position 43 and the second position 44, the determination unit 36 moves the determination area by a predetermined distance Um in the traveling direction. After moving the determination area by the predetermined distance Um in the traveling direction, the determination unit 36 calculates the inclination angle of the determination area after the movement. The determination unit 36 repeats movement of the determination area in the traveling direction and calculation of the inclination angle of the determination area after the movement. As a result, the inclination angle is calculated for each of a plurality of determination areas set in the traveling direction of the excavation lane 42. Furthermore, the determination unit 36 also calculates the inclination angle in the width direction of the excavation lane 42. The determination unit 36 calculates the inclination angle in the width direction in the determination area set at each of different positions in the traveling direction. As a result, the inclination angle is calculated for each of the plurality of determination areas set for each of the traveling direction and the width direction of the excavation lane 42.

[0054]The determination unit 36 determines propriety of implementation of slot dozing on the basis of the inclination angle calculated for each of the determination areas in each of the traveling direction and the width direction of the excavation lane 42. For example, if the inclination angle in the width direction is equal to or larger than a predetermined threshold, the determination unit 36 determines that slot dozing cannot be performed in the excavation lane 42. The threshold is, for example, 30 degrees with respect to the horizontal plane. Note that the determination unit 36 may determine that slot dozing cannot be performed in the excavation lane 42 if the inclination angle in the traveling direction is equal to or larger than a predetermined threshold.

Method of Calculating Position of Obstacle

[0055]FIG. 8 is a diagram for describing a method of calculating a position of an obstacle according to the embodiment. The obstacle data reception unit 32 receives obstacle data indicating an obstacle that exists at a work site. The obstacle data reception unit 32 receives the obstacle data from each of the plurality of work machines 2. The obstacle data indicates a position of a part of an obstacle.

[0056]As illustrated in FIG. 8, a plurality of parts 45 of one obstacle may be detected by different obstacle sensors 14. In the example illustrated in FIG. 8, the obstacle data reception unit 32 may receive obstacle data indicating a first part 45A of an obstacle detected by a first obstacle sensor 14, or the first obstacle sensor 14 and a first three-dimensional sensor 13, obstacle data indicating a second part 45B of the obstacle detected by the second obstacle sensor 14, or the second obstacle sensor 14 and the second three-dimensional sensor 13, and obstacle data indicating a third part 45C of the obstacle detected by the third obstacle sensor 14, or the third obstacle sensor 14 and the third three-dimensional sensor 13. In a case where a plurality of pieces of obstacle data indicating a plurality of respective parts 45 of one obstacle is received, the obstacle data reception unit 32 integrates the plurality of pieces of obstacle data into one piece of obstacle data. In the embodiment, if the relative distance of a plurality of pieces of obstacle data is equal to or less than a predetermined value determined in advance, the obstacle data reception unit 32 integrates the parts 45 indicated by the plurality of pieces of obstacle data into one position. If the relative distance between the plurality of pieces of obstacle data is equal to or less than the predetermined value, the obstacle data reception unit 32 determines the barycentric position of the plurality of pieces of obstacle data as the position of the obstacle.

Display Device

[0057]FIG. 9 is a diagram illustrating display data displayed on the display device 41 according to the embodiment. As illustrated in FIG. 9, the display control unit 37 causes the display device 41 to display the current topography data received by the current topography data reception unit 31. The display control unit 37 causes the display device 41 to display the excavation lane 42 set by the excavation lane setting unit 35 together with the current topography data. In the example illustrated in FIG. 9, a first excavation lane 42A and a second excavation lane 42B are displayed on the display device 41.

[0058]The display control unit 37 causes the display device 41 to display a first predetermined area 46 in which the inclination angle in the traveling direction is equal to or larger than a threshold in the excavation lane 42 in a first display mode. In the example illustrated in FIG. 9, the first predetermined area 46 exists in the second excavation lane 42B. The first predetermined area 46 is displayed in yellow, for example. Further, the display control unit 37 causes the display device 41 to display a second predetermined area 47 in which the inclination angle in the width direction is equal to or larger than a threshold in the excavation lane 42 in a second display mode. In the example illustrated in FIG. 9, the second predetermined area 47 exists in the first excavation lane 42A. The second predetermined area 47 is displayed in red, for example.

[0059]The first predetermined area 46 is regarded as a cliff that exists in the second excavation lane 42B. The display control unit 37 causes the display device 41 to display a first symbol 48 indicating the position of the cliff that exists in the second excavation lane 42B of slot dozing together with the current topography data. The first symbol 48 may be, for example, a yellow triangle icon. The display control unit 37 displays the first symbol 48 at the center of the second excavation lane 42B in the width direction. In the example illustrated in FIG. 9, a plurality of first predetermined areas 46 exists in the traveling direction of the second excavation lane 42B. The display control unit 37 displays the first symbol 48 at the position of a cliff closest to the excavation start point 27S of slot dozing among the plurality of cliffs (first predetermined areas 46) that exists in the second excavation lane 42B. In a case where there is one cliff that exists in the second excavation lane 42B, the display control unit 37 may display the first symbol 48 at the position of the cliff.

[0060]The display control unit 37 causes the display device 41 to display a second symbol 49 indicating the position of an obstacle that exists at the work site. The second symbol 49 may be, for example, a red triangle icon. As described with reference to FIG. 8, if the relative distance between the plurality of pieces of obstacle data is equal to or less than the predetermined value, the display control unit 37 displays the second symbol 49 at the barycentric position of the plurality of pieces of obstacle data. If the relative distance of the plurality of pieces of obstacle data is equal to or less than the predetermined value, the display control unit 37 may display the second symbol 49 at any position in an area obtained by integrating the parts 45 indicated by the plurality of pieces of obstacle data into one position.

[0061]As described above, if the inclination angle in the width direction of the excavation lane 42 is equal to or larger than a threshold, the determination unit 36 determines that slot dozing cannot be performed. In the example illustrated in FIG. 9, if the inclination angle of the second predetermined area 47 of the first excavation lane 42A is equal to or larger than the threshold, the determination unit 36 determines that slot dozing cannot be performed in the first excavation lane 42A. The display control unit 37 causes the display device 41 to display unavailability display data 50 indicating that it is determined that slot dozing cannot be performed. In the example illustrated in FIG. 9, the display control unit 37 causes the display device 41 to display character data indicating that slot dozing cannot be performed in the first excavation lane 42A as the unavailability display data 50. In the example illustrated in FIG. 9, the display control unit 37 may display the first symbol 48 at the position of the second predetermined area 47 closest to the excavation start point 27S of slot dozing.

Display Method

[0062]Each of FIG. 10 and FIG. 11 is a flowchart illustrating a display method for a work site according to the embodiment. As illustrated in FIG. 10, the current topography data reception unit 31 receives the current topography data from each of the plurality of work machines 2 (step SA1). The determination unit 36 calculates the inclination angle of the excavation lane 42 set by the excavation lane setting unit 35 on the basis of the current topography data received in step SA1 (step SA2). The determination unit 36 determines whether the inclination angle in the traveling direction of the excavation lane 42 is equal to or larger than a threshold (step SA3). In parallel with the processing of step SA3, the determination unit 36 determines whether the inclination angle in the width direction of the excavation lane 42 is equal to or larger than a threshold (step SA6).

[0063]If it is determined in step SA3 that the inclination angle in the traveling direction of the excavation lane 42 is not equal to or larger than the threshold (step SA3: No), and if it is determined in step SA6 that the inclination angle in the width direction of the excavation lane 42 is not equal to or larger than the threshold (step SA6: No), the processing returns to step SA1.

[0064]In step SA3, if it is determined that the inclination angle in the traveling direction of the excavation lane 42 is equal to or larger than the threshold (step SA3: Yes), the display control unit 37 causes the display device 41 to display the first predetermined area 46 in which the inclination angle in the traveling direction is equal to or larger than the threshold in the first display mode (step SA4). Further, the display control unit 37 causes the display device 41 to display the first symbol 48 indicating the position of a cliff that exists in the excavation lane 42 (step SA5).

[0065]In step SA6, if it is determined that the inclination angle in the width direction of the excavation lane 42 is equal to or larger than the threshold (step SA6: Yes), the display control unit 37 causes the display device 41 to display the second predetermined area 47 in which the inclination angle in the width direction is equal to or larger than the threshold in the second display mode (step SA7). Further, the display control unit 37 causes the display device 41 to display the unavailability display data 50 indicating that it is determined that slot dozing cannot be performed in the excavation lane 42 including the second predetermined area 47 (step SA8). Further, the display control unit 37 causes the display device 41 to display the first symbol 48 indicating the position of a cliff that exists in the excavation lane 42 (step SA5).

[0066]As illustrated in FIG. 11, the obstacle data reception unit 32 receives the obstacle data from each of the plurality of work machines 2 (step SB1). The obstacle data reception unit 32 determines whether an obstacle exists at the work site (step SB2). If it is determined in step SB2 that no obstacle exists (step SB2: No), the processing returns to step SB1. If it is determined in step SB2 that an obstacle exists (step SB2: Yes), the obstacle data reception unit 32 determines whether the relative distance of the plurality of pieces of obstacle data is equal to or less than a predetermined value (step SB3). If it is determined in step SB3 that the relative distance of the plurality of pieces of obstacle data is equal to or less than the predetermined value (step SB3: Yes), the obstacle data reception unit 32 calculates the barycentric position of the plurality of pieces of obstacle data (step SB5). The display control unit 37 displays the second symbol 49 at the barycentric position of the plurality of pieces of obstacle data (step SB4). If it is determined in step SB3 that the relative distance of the plurality of pieces of obstacle data is not equal to or less than the predetermined value (step SB3: No), the display control unit 37 displays the second symbol 49 on the basis of the positions of the plurality of pieces of obstacle data (step SB4).

Computer System

[0067]FIG. 12 is a block diagram illustrating a computer system 1000 according to the embodiment. Each of the management device 3 and the control device 6 described above includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input/output circuit. The functions of the management device 3 and the control device 6 described above are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, develops the computer program in the main memory 1002, and executes the above-described processing according to the program. Note that the computer program may be distributed to the computer system 1000 via a network.

[0068]According to the above-described embodiment, the computer system 1000 or the computer program can execute: receiving current topography data of a work site where the work machine 2 that is a bulldozer performs slot dozing; and determining propriety of implementation of the slot dozing on the basis of an inclination angle of at least a part of the excavation lane 42 of the slot dozing.

Effects

[0069]As described above, the determination system 100 for a work site according to the embodiment includes: the current topography data reception unit 31 that receives current topography data of a work site where the work machine 2 that is a bulldozer performs slot dozing; and the determination unit 36 that determines propriety of implementation of the slot dozing on the basis of an inclination angle of at least a part of the excavation lane 42 of the slot dozing. The determination system 100 may determine that implementation of slot dozing is unsuitable, for example, if the inclination angle is equal to or larger than a threshold. The determination system 100 may determine that implementation of slot dozing is suitable, for example, if the inclination angle is less than the threshold.

Other Embodiments

[0070]In the above-described embodiment, at least a part of the functions of the control device 6 may be included in the management device 3. At least a part of the functions of the management device 3 may be included in the control device 6.

[0071]In the above-described embodiment, for example, each of the position data acquisition unit 61, the three-dimensional data acquisition unit 62, the obstacle data acquisition unit 63, the current topography data creation unit 64, and the current topography data storage unit 65 may be formed by different hardware.

[0072]In the above-described embodiment, the display control unit 37 may cause the display device 41 to perform display at the position of the cliff determined on the basis of the three-dimensional data of the three-dimensional sensor 13 in the first display mode, the second display mode, or a third display mode. On the basis of the height data of the detection points included in the three-dimensional data, the control device 6 can determine that the position is a cliff if the topography has certain obliquity or more. The display control unit 37 may cause the display device 41 to perform display at the position of the cliff determined by the control device 6 in the first display mode, the second display mode, or the third display mode. The display control unit 37 may display the first symbol 48 at the position of a cliff closest to the excavation start point 27S of slot dozing among a plurality of cliffs (first predetermined area 46, second predetermined area 47, cliff determined by control device 6) that exists in the excavation lane 42.

[0073]In the above-described embodiment, the work machines 2 are bulldozers. The work machines 2 may be other work machines such as excavators, wheel loaders, or motor graders.

REFERENCE SIGNS LIST