JP2021077167A - Movement process presentation device, movement process presentation method, movement process presentation program and recording medium - Google Patents

Abstract

To facilitate verification of interference in movement of a mobile object.SOLUTION: A movement process presentation device (10) comprises: a movement path creation part (12) which creates a movement path of a mobile object including structure at a place different from an installation position, and at least one conveyance vehicle for conveying the structure to the installation position; and a movement state presentation part (13) which presents an assumed state of movement of the mobile object on the created movement path by a mobile object model in which the mobile object is represented by a three-dimensional model. The movement path creation part (12) interpolates a path between two adjacent points based on positions and orientations of the mobile object model at a plurality of points including a starting point, an end point and at least one relay point, which are specified to determine the movement path.SELECTED DRAWING: Figure 2

Description

The present invention relates to a moving process presenting device that presents a moving process for moving a structure at a location different from the installation position to the installation position.

Conventionally, when it is difficult to secure a ground yard near the erection position in the erection work of bridges, etc., a large-scale block is assembled in the ground yard secured in another place and then moved to the erection place for erection. The collective erection method is adopted.

Generally, in the erection work by the collective erection method, the blocks are moved according to a predetermined route by a transport vehicle such as a multi-axle bogie. Since a multi-axle bogie carries a heavy object, it is difficult to move quickly at the conversion point (curve) because the axle is moved while changing the orientation setting little by little. However, when the construction time is limited, it is required to move the transport vehicle as fast as possible.

In addition, when determining the movement route, some typical positions on the drawing (two-dimensional) are determined, and the route is determined based on the positions. In particular, when moving a large heavy object, if the obstacles existing around the position are not sufficiently considered when determining a typical position, there will be a problem of contact with the obstacle during the actual movement. There is a risk.

In response to such a problem, for example, Patent Document 1 discloses a bridge erection simulation system that can examine the interference problem of a crane in construction by a crane vent method and enable a bridge design drawing that is more suitable for site conditions. There is. Further, in Patent Document 1, by creating a model in which a vent model can be mounted on a vehicle such as a multi-axle bogie, the bridge erection simulation system can be applied to a bridge erection design drawing using a mobile vent. It is stated that.

Japanese Unexamined Patent Publication No. 2017-16489

However, Patent Document 1 does not disclose that when determining the above-mentioned movement route, a position other than a typical position is determined in consideration of the position of an obstacle. Therefore, even with the system disclosed in Patent Document 1, there is a problem that interference during movement cannot be easily verified.

One aspect of the present invention is an object of easily verifying interference during movement of a moving body.

In order to solve the above problems, the moving process presentation device according to one aspect of the present invention includes a structure located at a location different from the installation position and at least one transport vehicle for transporting the structure to the installation position. By a movement route creation unit that creates a movement path of a moving body including the above, and a moving body model in which the moving body is represented by a three-dimensional model, the assumed movement state of the moving body in the created movement path is displayed. The moving body model including a moving state presenting unit for presenting, and the moving route creating unit at a plurality of points including a start point and an end point and at least one relay point designated for determining the moving route. Interpolates the path between two adjacent points based on their position and orientation.

In order to solve the above problems, the moving process presentation method according to another aspect of the present invention includes a structure located at a position different from the installation position and at least one transport vehicle for transporting the structure to the installation position. A moving path creation step for creating a moving path of a moving body including the above, and a moving body model in which the moving body is represented by a three-dimensional model in a state of expected movement of the moving body in the created moving path. The moving body at a plurality of points including a start point and an end point and at least one relay point designated for determining the movement route in the movement route creation step, including a movement state presentation step presented by. Interpolates the path between two adjacent points based on the position and orientation of the model.

According to one aspect of the present invention, interference during movement of a moving body can be easily verified.

It is a block diagram which shows the hardware structure of the moving process presenting apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows the system configuration of the said moving process presenting apparatus. It is a figure which shows the movement route management window which is displayed on the display of the movement process presentation apparatus. It is a figure which shows the route screen which showed the movement route of the moving body model which the said movement route creation part makes a CAD part create. It is a figure which shows the example of the movement path when the moving body moves forward. It is a figure which shows the example of the movement path when the said moving body moves backward. It is a figure which shows the example of the movement path when the said moving body is oblique. It is a figure which shows another example of the movement path when the said moving body is oblique. It is a figure explaining the path interpolation method when the said moving body is oblique. It is a figure which shows the erection site screen which shows the plan view of the erection site provided by the CAD part. It is a figure which shows the 3D simulation screen displayed by the CAD part. It is a figure which shows the movement path created in the initial state of a simulation. It is a figure which shows the movement path as a result of having performed the process of changing each element which determines the movement path with respect to the movement path shown in FIG. It is a figure for demonstrating the number of interpolations of the point interpolated by the movement path creation part. It is a figure for demonstrating the method of calculating the position and direction of the moving body model based on the positioning data by the GPS information conversion unit in the moving process presenting apparatus. It is a figure for demonstrating the method of comparing the positioning position of a moving body with the moving position of the corresponding moving body in the moving path by the position comparison part in the moving process presenting apparatus. It is a figure for demonstrating the joint method which predicts the future position of a moving body by the position prediction part in the movement process presentation apparatus. It is a figure for demonstrating the component addition method which predicts the future position of a moving body by the position prediction part in the movement process presentation apparatus. It is a figure for demonstrating the difference method which predicts the future position of a moving body by the position prediction part in the movement process presentation apparatus.

[Embodiment]
An embodiment of the present invention will be described below with reference to FIGS. 1 to 19.

<Overview of moving process presentation device>
The outline of the moving process presentation device 10 will be described. FIG. 1 is a block diagram showing a hardware configuration of the moving process presentation device 10 according to the present embodiment.

Structures such as large-scale girder blocks (large blocks) are assembled at a location (ground yard) different from the erection position (installation position), and are transported to the erection position by a transport vehicle. The moving process presentation device 10 shown in FIG. 1 has a function of creating a moving path of a moving body including a transport vehicle and a structure mounted on the transport vehicle. The movement process presentation device 10 has a movement state presentation function (movement simulation function) that simulates the state of movement on the movement path created by the moving body in 3D.

The transport vehicle may be a single trailer or a plurality of multi-axle bogies. The multi-axle bogie can change the orientation of each axle by 360 °. Therefore, the direction of the multi-axle bogie does not always match the direction of travel.

Further, the movement process presentation device 10 has a position comparison function for comparing the actual positioning position of the moving body acquired from GPS (Global Positioning System) with the moving position of the corresponding moving body in the created movement route.

Further, the moving process presenting device 10 predicts the future position (future position) of the moving body after a predetermined time from the current position by using the current position of the moving body based on the current positioning position of the moving body. It has a position prediction function that compares the future position with the position of a moving object on the movement path.

In the present embodiment, for convenience, the position of the moving body is determined not only by the position indicating a point on the moving path but also by the position of each part of the large moving body (particularly, the part that specifies the outer shape of the moving body). Also included. However, in the following description, the position and orientation may be specified.

<Details of moving process presentation device>
The moving process presentation device 10 is composed of a computer. The computer may be, for example, a computer that implements a general-purpose OS (Operating System) and has a function of executing an application program.

As shown in FIG. 1, the moving process presentation device 10 includes a CPU (Central Processing Unit) 1, a main memory 2, a ROM (Read Only Memory) 3, an auxiliary storage device 4, an input device 5, and a display 6. And a CAD (Computer Aided Design) unit 7.

The CPU 1 is a processing device for realizing the processing performed by the model creation unit 11, the movement route creation unit 12, the movement state presentation unit 13, and the cooperation display processing unit 14 (see FIG. 2), which will be described later. When executing the process, the CPU 1 receives data from the main memory 2, the auxiliary storage device 4, the input device 5, and the like, performs calculation or processing on the data, and then displays the data on the auxiliary storage device 4, the display 6, and the like. Output.

The main memory 2 is a memory that constitutes a main storage device in a computer, and is composed of, for example, a DRAM (Dynamic Random Access Memory).

The ROM 3 stores programs that are indispensable for the operation of the computer, such as a BIOS (Basic Input Output System) that is executed when the computer is started up or reset.

The auxiliary storage device 4 is a large-capacity storage device that stores an OS, various programs, various data, and the like, and is composed of an HDD (Hard Disc Drive), an SSD (Solid State Drive), and the like.

The input device 5 is a device for performing an input operation by a user, and is equipped with various input devices such as a mouse and a keyboard. The input device 5 receives an input operation for the model creation unit 11, the movement route creation unit 12, the movement state presentation unit 13, and the cooperation display processing unit 14 (see FIG. 2), which will be described later.

The display 6 is a device used to output an image generated inside the computer when the OS and the program are executed.

The CAD unit 7 is a functional part realized by the CPU 1 executing a CAD application program stored in the main memory 2. The CAD unit 7 performs processing such as adding processing to a drawing of a construction site, a drawing for simulating the movement of a moving body, and the like as necessary, and changing the display state of these figures. The figure processed by the CAD unit 7 is displayed on the display 6.

The input device 5 and the display 6 may be devices mounted on the main body of the computer, or may be devices connected to the computer as external devices so as to be able to communicate with each other by wire or wirelessly. Such an external device operates integrally with the computer by being connected to the computer.

Subsequently, the details of the moving process presentation device 10 will be described. FIG. 2 is a block diagram showing a system configuration of the moving process presentation device 10.

As shown in FIG. 2, the movement process presentation device 10 includes a model creation unit 11, a movement route creation unit 12, a movement state presentation unit 13, and a cooperative display processing unit 14.

The model creation unit 11 creates a 3D model (three-dimensional model) necessary for the movement state presentation process by the movement state presentation unit 13, which will be described later. The model creation unit 11 displays a window (not shown) on the display 6 in order to create a model. This window is configured to allow you to model mobile vents, including transport vehicles. Specifically, the model creation unit 11 constructs the detailed structure of the moving vent by the macro function using the registered parts. The model creation unit 11 also creates a model of a moving body configured by placing a large block to be moved on a moving vent. The model creation unit 11 stores model information about the created model in the auxiliary storage device 4.

The moving vent is composed of a foundation beam portion and an intermediate pedestal portion based on a multi-axle bogie that can move in all directions in which the size of the loading platform and the load can be changed by connecting the transport vehicles. The foundation beam portion distributes the load to the upper beam portion that supports the girder and the multi-axle bogie. The intermediate pedestal portion has a lifter capable of moving a large block up and down to a predetermined height as needed. The size of the moving vent is determined in consideration of the length of the space under the girder of the erection place, the supporting state of the receiving point, the stable state at the time of moving, and the like.

The movement route creation unit 12 creates a route for moving the moving body from the ground yard in which the large block is assembled to the erection position. The movement route creation unit 12 interpolates the movement route between the two designated points based on the positions and directions of the moving body at a plurality of points (designated points) designated in advance by the user. As designated points, a start point and an end point of the movement route and at least one relay point are designated.

In the interpolation of the movement route, the movement route creation unit 12 defines at least one point (interpolation point) between two adjacent designated points as an intermediate point, and specifies the position and direction of the moving body at this point. The movement route creation unit 12 provides the CAD unit 7 and the movement state presentation unit 13 with route information about the created movement route. The CAD unit 7 displays a 3D image of the movement route on the display 6 based on the route information.

Based on the route information created by the movement route creation unit 12, the movement state presentation unit 13 simulates the expected movement state of the moving body in the movement route by using a 3D model based on the model information. The moving state presenting unit 13 presents the moving state of the moving body from the start point to the end point of the position and orientation of the moving body on the moving path based on the model information and the route information stored in the auxiliary storage device 4. An image showing the transition is created by the CAD unit 7 and displayed on the display 6.

The cooperative display processing unit 14 includes a GPS information receiving unit 15, a GPS information conversion unit 16, a position comparison unit 17, and a position prediction unit 18.

The GPS information receiving unit 15 receives positioning data transmitted from each of the plurality of GPS sensors 8 mounted on the mobile body. The GPS information receiving unit 15 receives positioning data as an NMEA signal via a preset serial port among the serial ports included in the moving process presentation device 10. The GPS sensor 8 is preferably arranged at a position corresponding to each top of the outer shape representing the moving body so that the direction of the moving body can be detected.

The GPS information conversion unit 16 converts GPS information through the following three steps. The GPS information conversion unit 16 converts the positioning data from latitude / longitude coordinates to large coordinates (survey system) in the first stage, and converts the positioning data from large coordinates to small coordinates (mathematical system) in the second stage. In the third stage, the positioning data is converted from the small coordinates to the position and orientation of the moving body.

In the first stage, the GPS information conversion unit 16 obtains the latitude and longitude of the positioning data based on the function provided by the Geospatial Information Authority of Japan for the Cartesian coordinate system selected by the Cartesian coordinate system number for each construction input in advance by the user. Convert from coordinates to large coordinates. In the second stage, the GPS information conversion unit 16 converts the positioning data from the large coordinates to the small coordinates by the matrix calculated from the mapping data in which the large coordinates and the small coordinates are associated with each other for each construction. In the third stage, the GPS information conversion unit 16 minimizes the error between the conversion results of the first and second stages for each GPS sensor 8 and the centers of gravity (centers of gravity) of the positions of the plurality of GPS sensors 8. Calculated using the least squares method as the positioning position using the angle component selected for.

The position comparison unit 17 acquires a position and a direction representing the positioning position of the moving body from the GPS information conversion unit 16 when the moving body is actually moving. The position comparison unit 17 is a position (movement position) of each point where the mobile model corresponding to the positioning position moves in the movement path based on the acquired positioning position and the route information stored in the auxiliary storage device 4. ) And compare. The position comparison unit 17 causes the CAD unit 7 to create an image in which the moving body model at the positioning position and the moving body model on the moving path coexist, and displays the comparison result between the positioning position and the moving position on the display 6. ..

The position prediction unit 18 uses at least the positioning position (current position) of the moving body based on the current positioning data to predict the future position of the moving body after a predetermined time from the current position. The position prediction unit 18 compares the predicted future position with the position of the moving body model on the movement path. The position prediction unit 18 uses any one of the joint method, the component addition method, and the difference method described later to determine the future position. Predict.

<Operation of moving process presentation device>
(Movement route creation process)
The movement route creation step performed by the movement route creation unit 12 will be described. FIG. 3 is a diagram showing a movement route management window 100 displayed on the display 6. FIG. 4 is a diagram showing a route screen 200 showing a movement route R of a moving body to be created by the movement route creation unit 12 in the CAD unit 7.

The movement route creation unit 12 displays the movement route management window 100 shown in FIG. 3 on the display 6 in order to create the movement route. The movement route management window 100 has an operation area 101 and a setting area 102.

The operation area 101 includes a process bar 101a, a slider 101b, a start time display box 101c, a current time display box 101d, an end time display box 101e, a play button 101f, a pause button 101g, and a stop button 101h. have.

The process bar 101a linearly represents the range (length) of the path of each process. In the process bar 101a, the process bars 101a are classified by being colored differently according to each process. The slider 101b is operated by a user to change the position of each process of the moving body model M (moving body model) moving on the moving path R on the route screen 200 (see FIG. 4) described later. It is provided so that it can be moved along the.

The start time display box 101c is provided to display the time when the moving body starts moving. The current time display box 101d is provided to display the time when the moving body is currently moving. The end time display box 101e is provided to display the time when the moving body has finished moving.

The play button 101f is an operation button for causing the CAD unit 7 to perform a display operation of moving the moving body model M on the moving path R on the path screen 200. The pause button 101g is an operation button for temporarily stopping the movement operation. The stop button 101h is an operation button for stopping the movement operation.

The setting area 102 is an area in which a plurality of setting screens are displayed, and a route information setting screen, a GPS setting screen, and the like are displayed. Each setting screen is selected by clicking a tab. The route information setting screen is provided for displaying various information for creating a movement route and accepting changes in various information. The GPS setting screen is provided for registering the position of the GPS sensor 8 mounted on the moving body.

As various information set on the route information setting screen, a process number, a front position, a rear position, a route type, a route length, a route time, a stop time, a straight line length, and the like are provided for each line. Further, the route information setting screen displays the route length and the route time calculated when the route is interpolated by the movement route creation unit 12. The route length is the length of the route interpolated in each step. The route time is the travel time when the moving body moves on the route interpolated at a preset moving speed for each process, and is the moving time of the moving body calculated based on the above-mentioned route length. ..

The process number is a number assigned to each process of movement. The front position is the start position of the path of each process, and the rear position is the end position of the path of each process. The route type is a route type, and is selected from a forward route, a reverse route, and a diagonal route as described later. The stop time is the time when the moving body stops at the end position of each process. The straight line length is the straight line distance between the start position and the end position of the path of each process. The route length is the length of the route for each step according to the selected route type. The route time is the time for the moving body to move along the route of each process.

The above-mentioned various information may be set by being directly input to the setting area 102, or may be set by being copied from the process information set by the process creation unit (not shown) included in the moving process presenting device 10. May be done. The process creation unit sets information about each process such as the assembly process of the large block, the moving process of the large block, and the erection process of the large block in the groundwork yard.

The process creation unit inputs by operating the user's input device 5 (for example, a mouse) on the erection site screen 300 in a state where the CAD unit 7 displays the erection site screen 300 (see FIG. 10) described later on the display 6. Set the position and orientation of each point. For example, the position is input by a mouse-up operation of the mouse. Further, the orientation is defined by the position in which the mouse is moved and the mouse is moved up with respect to the input point of the position, that is, the moving direction of the mouse.

Further, each line corresponding to each process in which various information is displayed is colored in the same color as the process color shown in the process bar 101a. As a result, each process of the process bar 101a and each process in the setting area 102 are clearly associated with each other.

The movement route creation unit 12 creates route data classified for each process based on various information set in the setting area 102, and outputs the route data to the CAD unit 7 together with the position information of the slider 101b.

The CAD unit 7 creates a route screen 200 as shown in FIG. 4, for example, based on the route data. The CAD unit 7 color-codes the movement route R on the route screen 200 according to each process. In FIG. 4, for convenience, different colors for each process in the movement path R are represented by solid lines, broken lines, alternate long and short dash lines, and alternate long and short dash lines, respectively. Further, the CAD unit 7 creates route screen data by synthesizing the moving body model M at a position corresponding to the position information of the slider 101b on the moving route R. The CAD unit 7 gives the route screen data to the display 6 to display the route screen 200 on the display 6.

In FIG. 4, for convenience, the route screen 200 is intended to show the movement route R, and the moving body model M is simply shown by a transport vehicle.

Subsequently, the above-mentioned route types will be described.

FIG. 5 is a diagram showing an example of a movement path when the moving body moves forward. FIG. 6 is a diagram showing an example of the movement path of the moving body when the moving body moves backward. FIG. 7 is a diagram showing an example of a movement path when the moving body is oblique. FIG. 8 is a diagram showing another example of the movement path when the moving body is oblique.

As shown in FIG. 5, the forward route is a route in which the moving body model M advances in the forward direction of the transport vehicle. As shown in FIG. 6, the reverse route is a route in which the moving body model M travels in the forward direction of the transport vehicle. In FIGS. 5 and 6, the broken line arrow indicates the movement path R of the moving body model M, and the solid line arrow indicates the forward direction of the moving body model M. This also applies to FIGS. 7 and 8 described later.

The forward path and the reverse path are suitable when the movement is close to a straight line or when the movement is along a curve having a small curvature such as an S-shaped curve. A trailer is assumed as a transport vehicle that moves on a forward route and a reverse route. As shown in FIGS. 5 and 6, in the forward path and the reverse path, the orientation of the loading platform of the transport vehicle represented by the orientation of the moving body model M often changes significantly according to the moving path R, and the movement of the loading platform. Tends to be complicated.

The movement route creation unit 12 defines a forward path and a reverse path by a Bezier curve, and determines a control point based on the orientation at the start point and the end point and the distance from the start point and the end point. The movement route creation unit 12 determines the distance by the ratio to the distance between the start point and the end point. In the case of the forward path, the movement route creation unit 12 sets the direction to the traveling direction at the start point and vice versa at the end point, while in the case of the backward path, the direction is opposite to that of the forward path. The movement route creating unit 12 determines the direction of the transport vehicle based on the inclination of the Bezier curve and whether it is a forward route or a reverse route.

As shown in FIGS. 7 and 8, the oblique route is a route in which the moving body model M travels in the diagonal direction in the direction of the transport vehicle. The diagonal route is suitable when the carrier is a multi-axle bogie. As shown in FIGS. 7 and 8, the oblique path generally draws a trajectory close to a circle, so that the direction of the loading platform of the transport vehicle represented by the direction of the moving body model M has a small change with respect to the moving path R. The movement of the loading platform is simplified.

The movement route creation unit 12 defines an oblique route by a Bezier curve, determines two control points having positions and directions from each of two adjacent points, and based on the two points and the two control points. , Interpolate the waypoints on the Bezier curve. As a result, the circular orbit between the two points is approximated by a Bezier curve. Therefore, a smooth movement path can be created.

Next, the interpolation of the oblique route by the movement route creation unit 12 will be described. FIG. 9 is a diagram illustrating a route interpolation method in the case of a skewed route.

As shown in FIG. 9, the distance between the start point P0 and the end point P1 is D, the direction of the moving body at the start point P0 (the angle with respect to the straight line passing through the start point P0 and the end point P1) is θ0, and the direction of the moving body at the end point P1 is Let it be θ1. The angle difference dθ between the directions θ0 and θ1 is represented by dθ = │θ1-θ0│.

First, the movement path creation unit 12 divides the angle difference dθ into two equal parts about the above straight line, and from the angle dθ / 2, the angle θ0'of the control point P0'with respect to the start point P0 and the control point P1'with respect to the end point P1. Obtain the angle θ1'. Next, the movement route creation unit 12 calculates the above-mentioned ratio p for the angle θ for obtaining the control point based on the following equation.

p (θ) = 5.6 × 10 ^-8 θ ³ 1.9 × 10 ^-6 θ ² +3.8 × 10 ^-4 θ +0.3
The movement route creation unit 12 multiplies the ratios p0, p1 calculated for each of the above angles θ0'and θ1' by the distance D, so that the distances p0 · D and the end point P1 of the control points P0'with respect to the start point P0 are multiplied. The distance p1 · D of the control point P1 ′ with respect to is obtained. In this way, the position of the control point is specified.

In the case of the forward route and the reverse route, the movement route creation unit 12 calculates the distance distance p · D with the above ratio p as a fixed value (for example, 0.4).

The movement route creation unit 12 sets the coordinates P (t, P0, P0', P1', P1) of the interpolation points on the Bezier curve based on the four points of the start point P0, the end point P1 and the control points P0', P1'. Calculate based on the formula.

P (t, P0, P0', P1', P1)
= (1-t) ³ P0 + 3 (1-t) ² tP0'+ 3 (1-t) t ² P1'+ t ³ P1
In the above equation, t is a parameter that takes a value from 0 to 1.

Further, the movement route creating unit 12 interpolates the direction θ (t) of the moving body relatively simply based on the following equation.

θ (t) = (1-t) θ0 + tθ1
The movement route creation unit 12 uses two adjacent points based on a plurality of points including a start point, an end point, and at least one relay point set in advance in the movement route management window 100, using the above method. Interpolate the route by generating positions and orientations for new points between points.

As described above, the movement route creation unit 12 is based on the positions and orientations of the moving body model at a plurality of points including the start point and the end point and at least one relay point designated for determining the movement route. Interpolate the path between two adjacent points.

As a result, the movement route is created by interpolation by designating the positions and directions of the moving body at a plurality of points in advance. Therefore, it is not necessary to specify the position and orientation of the moving body at the intermediate point.

(Movement state presentation process)
The moving state presenting step performed by the moving state presenting unit 13 will be described. FIG. 10 is a diagram showing a erection site screen 300 showing a plan view of the erection site provided by the CAD unit 7. FIG. 11 is a diagram showing a 3D simulation screen 400 displayed by the CAD unit 7. FIG. 12 is a diagram showing a movement path created in the initial state of the simulation. FIG. 13 is a diagram showing a movement route as a result of performing a process of changing each element that determines the movement route with respect to the movement route shown in FIG. FIG. 14 is a diagram for explaining the number of interpolations of the points interpolated by the movement route creating unit 12.

Here, an example of simulating each process of the movement path in the oblique path will be described.

First, the movement state presentation unit 13 acquires the route information created by the movement route creation unit 12 based on various information, and the CAD unit 7 shows the erection site screen 300 as shown in FIG. 10 and the erection site screen 300 as shown in FIG. 3D simulation screen 400 and the like are created.

The CAD unit 7 creates the erection site screen 300 based on the drawing data of the erection site, and synthesizes the movement route on the erection site screen 300 based on the movement route data acquired from the route information. The CAD unit 7 gives the data of the erection site screen 300 created in this way to the display 6, and causes the display 6 to display the erection site screen 300. As shown in FIG. 10, the movement route R is shown on the erection site screen 300.

Further, the CAD unit 7 creates a 3D simulation screen 400 based on the data of the three-dimensional drawing of the erection site, and on the background image displayed on the 3D simulation screen 400 based on the data of the movement route acquired from the route information. Synthesize the movement route to. Further, the CAD unit 7 moves on the image displayed on the 3D simulation screen 400 based on the data of the moving body model M acquired from the model information of the auxiliary storage device 4 and various information acquired from the route information. A moving body model M that moves along the path R is synthesized.

The CAD unit 7 gives the data of the 3D simulation screen 400 created in this way to the display 6, and causes the display 6 to display the 3D simulation screen 400. As shown in FIG. 11, the movement path R is shown on the 3D simulation screen 400.

As shown in FIG. 12, the movement route R is created by interpolating the routes with respect to the preset points P01 to P05, and is shown on the erection site screen 300 and the 3D simulation screen 400. In this initial state, values such as start time, route type, moving speed of moving object, and stopping time are default values.

When changing these values, the user edits various information by performing an operation of changing the values that need to be changed in the movement route management window 100. In the moving state presenting unit 13, the moving route creating unit 12 sets the changed value, creates new route information, and delivers it to the moving state presenting unit 13. The movement state presentation unit 13 performs a simulation operation using the erection site screen 300 and the 3D simulation screen 400 based on the new movement route R based on the received route information.

In the new movement route R shown in FIG. 13, the start time, the route type, the movement speed, and the stop time are changed. Regarding the route type, the oblique route is changed to the forward route in the process from the point P02 to the point P03. As a result, in the corresponding process, the movement route creation unit 12 interpolates the route according to the forward route. As for the end time, the movement route creation unit 12 automatically calculates and indicates the time according to the change of the start time, the movement speed, and the stop time.

The movement route creation unit 12 stores the route information created based on the various information updated in this way in the auxiliary storage device 4. The movement route creation unit 12 determines the number of interpolation points to be interpolated in the movement route creation as shown in FIG.

Specifically, as shown in FIG. 14, the movement route creating unit 12 interpolates the interpolation points Pn1 to Pn10 between the two preset set points Pn and Pn + 1. In FIG. 14, the circles represent the positions of the set points Pn, Pn + 1 and the interpolation points Pn1 to Pn10, and the arrows in the circles represent the directions. The movement route creation unit 12 calculates the points of the interpolation points Pn1 to Pn10 based on the following equation.

MAX (1, C1 * D / V + C2 * φ / ω)
In the above equation, D represents the distance (m) between the two set points Pn and Pn + 1, V represents the speed (m / s) of the carrier, and φ represents the angular difference between the set points Pn and Pn + 1. It represents the absolute value (rad), and ω represents the average rotational angular velocity (rad / s) of the carrier. Further, in the above equation, MAX (a, b) indicates that the larger one of a and b is acquired. C1 and C2 are constants, and the default values are C1 = 2.0 and C2 = 1.0, respectively.

In the above equation, the term C2 * φ / ω is provided because the moving body may rotate at one point, and if the angle difference is large, interpolation of the interpolation point is required.

The term C1 * D / V in the above equation is provided for the purpose of interpolating the interpolation points at substantially equal time intervals (0.5 seconds when C1 = 2). As a result, the position acquisition by the GPS sensor 8 is performed at equal time intervals. Therefore, when comparing the positioning position and the moving position, it is possible to prevent the density difference of the interpolated points interpolated by the moving path. The term C2 * φ / ω in the above equation is provided for the purpose of correcting so that the interpolation points can be interpolated more densely because the vector change is large when the curvature of the movement path is large.

As described above, the moving state presenting unit 13 presents the assumed moving state of the moving body in the created moving path by the moving body model in which the moving body is represented by a three-dimensional model. Thereby, the position and orientation of the moving body can be easily confirmed by the moving body model. Therefore, it is possible to facilitate the verification of interference during transportation of a structure, particularly a large structure such as a large block.

(Position comparison process)
The position comparison step performed by the position comparison unit 17 will be described. FIG. 15 is a diagram for explaining a method of calculating the position and orientation of the mobile model M based on the positioning data by the GPS information conversion unit 16. FIG. 16 is a diagram for explaining a method of comparing the positioning position of the moving body with the moving position of the corresponding moving body in the moving path by the position comparing unit 17.

The GPS information conversion unit 16 calculates the current positioning position of the mobile model M according to the procedure shown in FIG.

First, as shown in FIG. 15A, the positions of a plurality of GPS sensors 8 mounted on each part of the moving body are registered in advance. Registration of the position of the GPS sensor 8 is performed, for example, on the above-mentioned GPS setting screen displayed in the setting area 102 in the movement route management window 100. In the example shown in FIG. 15A, the mounting positions G1 to G4 in which the four GPS sensors 8 are mounted on the top (corner portion) of the mobile model M are represented.

As shown in FIG. 15B, the GPS information receiving unit 15 waits for the reception of positioning data from the four GPS sensors 8. Here, it is assumed that the GPS information receiving unit 15 cannot receive the positioning data (individual positioning position S4) from the GPS sensor 8 because the GPS sensor 8 mounted on the mounting position G4 fails or the like. Therefore, the GPS information receiving unit 15 receives the positioning data (individual positioning positions S1 to S3) from the three GPS sensors 8 mounted on the mounting positions G1 to G3 of the four GPS sensors 8. In this case, as shown in FIG. 15C, the GPS information conversion unit 16 pairs the individual positioning positions S1 to S3 based on the received positioning data with the mounting positions G1 to G3, respectively.

Next, as shown in FIG. 15D, the GPS information conversion unit 16 moves the moving body model M necessary for the average of the mounting positions G1 to G3 and the average of the individual positioning positions S1 to S3 to match. Generate the distance T (dx, Dy). The moving distance T also includes a directional component. The GPS information conversion unit 16 moves the moving body model M by a moving distance T.

Further, as shown in FIG. 15 (E), the GPS information conversion unit 16 centers one end of the mobile model M (here, one end on the mounting position G1 side) around the average position of the individual positioning positions S1 to S3. Rotate in 1 ° increments. As a result, the GPS information conversion unit 16 calculates the rotation angle Φ that minimizes the error of each of the individual positioning positions S1 to S3. Then, as shown in FIG. 15 (F), the GPS information conversion unit 16 acquires the positioning position S0 based on the moving distance T and the rotation angle Φ.

The position comparison unit 17 selects a movement position corresponding to the positioning position S0 provided by the GPS information conversion unit 16 from the movement positions of the points where the moving body model M moves. The position comparison unit 17 gives the CAD unit 7 a moving body model M at the positioning position S0 and a moving body model M at the calculated moving position in order to compare the positioning position S0 and the selected moving position. Have the CAD unit 7 create a comparison screen to be displayed at the same time. The CAD unit 7 generates a comparison screen and displays it on the display 6.

This makes it possible to confirm whether or not the actual position of the moving body based on the positioning data matches the position on the planned course indicated by the moving path. Further, when the actual position of the moving body does not match the position on the planned course, it is possible to confirm how much the actual moving locus of the moving body deviates from the moving path.

In the position comparison unit 17, the time when the moving body model M starts moving on the moving path (first time) and the time when the positioning data is acquired when the actual moving body starts moving (second time). May be synchronized with.

From this, it is possible to know whether or not the position of the moving body based on the positioning data lags from the position of the corresponding moving body on the moving path. Therefore, it is possible to quickly confirm whether or not the transportation work of the large block is proceeding according to the planned time determined by the movement route.

Alternatively, the position comparison unit 17 may select a moving position close to the positioning position as the moving position corresponding to the positioning position. Therefore, the position comparison unit 17 calculates the moving position as shown in FIG.

For example, the position comparison unit 17 moves the interpolation point Pt1 closest to the moving body model Mr at the positioning position S0 (the position difference L between the two is the smallest) among the interpolation points between the start point P0 and the end point P1. Select as position. Alternatively, the position comparison unit 17 may use the moving body model M of each interpolation point with respect to the direction of the actual moving body (moving body model Mr) at the positioning position S0 among the interpolation points between the start point P0 and the end point P1. The interpolation point Pt2 at which the angle formed by the directions is the smallest (the angle difference Θ between the two is the smallest) is determined as the moving position.

The position comparison unit 17 may select the movement position by appropriately combining the above-mentioned method for selecting the movement position based on the distance and the above-mentioned method for selecting the movement position based on the orientation.

The position comparison unit 17 selects whether to determine the moving position based on the distance L or the angle Θ by evaluating using the evaluation value E obtained by the following evaluation formula.

E = (0.1 + Θ) × √ (0.1 + (L / Lmax))
In the above equation, Lmax is the maximum value of the distance difference L for the entire movement path R. It can be evaluated that the smaller the evaluation value E obtained by the above equation, the better the corresponding moving position corresponds to the positioning position. In the above equation, the evaluation value E becomes smaller when the angle difference Θ becomes smaller than when the distance difference L becomes smaller.

By selecting the moving position based on the distance difference L, as shown in FIG. 16, the moving body model Mr at the positioning position and the moving body model M1 at the moving position closest to the positioning position are compared. This makes it possible to easily confirm whether or not the moving body is moving in the planned course.

By selecting the moving position based on the angle difference Θ, as shown in FIG. 16, the moving body model Mr at the positioning position and the moving body model M2 at the moving position where the directions of the moving body model Mr are closest are compared. To do. This makes it possible to select an appropriate moving position rather than selecting a moving position based on the distance difference L. For example, when comparing the positioning position and the moving position at a point where the curvature of the curve of the moving path is small, even if the distance difference L between the positioning position and the moving position is a little large at that point, if the angle difference Θ is small, the relevant position is concerned. It is considered that the moving position corresponds well to the positioning position.

The position comparison unit 17 synchronizes the above-mentioned first time and second time, and displays a comparison between the positioning position S0 and the movement position (first movement position) on the comparison screen. Alternatively, the position comparison unit 17 causes the comparison screen to display the movement position (second movement position) selected as a result of comparing the moving body model Mr at the positioning position S0 with each interpolation point by the distance. Alternatively, the position comparison unit 17 causes the comparison screen to display the moving position (third moving position) selected as a result of comparing the moving body model Mr at the positioning position S0 with each interpolation point in the orientation.

The position comparison unit 17 may display the first to third movement positions together with the positioning position S0 on individual comparison screens, and display a plurality of comparison screens among these comparison screens at the same time. Further, the position comparison unit 17 may display only one screen selected from the above-mentioned individual comparison screens.

The position comparison unit 17 selects the movement position based on either the distance L or the angle Θ using the evaluation value E, but the movement position is not limited to this, and either the distance L or the angle Θ is selected for each process in the movement path. It may be set whether to select the movement position based on. By appropriately setting the moving position selection method for each process, it is possible to select a moving position having a smaller error from the positioning position according to the shape of the moving path and the like.

(Position prediction process)
The position prediction process performed by the position prediction unit 18 will be described. FIG. 17 is a diagram for explaining a joint method of predicting the future position of the moving body by the position prediction unit 18. FIG. 18 is a diagram for explaining a component addition method for predicting the future position of the moving body by the position prediction unit 18. FIG. 19 is a diagram for explaining a difference method for predicting the future position of the moving body by the position prediction unit 18.

The position prediction unit 18 predicts the future position (future position) of the moving body based on any one of the following joint method, component addition method, and difference method. In addition, in FIGS. 17 to 19, for convenience, different reference numerals are added in order to express the transition of time even in the same mobile model.

As shown in FIG. 17, the position prediction unit 18 uses the joint method to move the mobile model Mr2 at the current positioning position (current position) and the movement at the past positioning position (past position) retroactively from the present by a predetermined time. The future position is predicted based on the positional relationship with the body model Mr1. Specifically, the position prediction unit 18 shows the moving body model Mr2 (shown by the two-point chain line in FIG. 17) when the moving body model Mr1 (shown by the two-point chain line in FIG. 17) is superimposed on the moving body model Mr2. ) Is predicted as the position of the mobile model Mr3 after a predetermined time from the present.

According to the above joint method, it is effective for predicting the behavior of an object having a large frictional resistance such as a tire.

As shown in FIG. 18, the position prediction unit 18 changes the translational component and the angle component of the mobile model Mr2 of the current position with respect to the mobile model Mr1 of the past position with respect to the current position and the past position by the component addition method. Predict future position based on. Specifically, the position prediction unit 18 calculates the translation component and the angle component described above, and predicts the future position by adding the changes in the translation component and the angle component to the translation component and the angle component at the current position, respectively. To do.

According to the above component addition method, it is effective for predicting the behavior of an object having a high inertial force and a small frictional resistance.

As shown in FIG. 19, the position prediction unit 18 predicts the future position based on the difference from the position of the moving body model M2 on the moving path corresponding to the current position of the moving body model Mr2 by the difference method. Specifically, the position prediction unit 18 calculates the difference between the current position of the moving body model Mr2 and the position of the moving body model M2, and sets the position of the moving body model M3 on the moving path after a predetermined time from the present. On the other hand, the position having the difference is predicted as the future position.

According to the above difference method, the future position is predicted on the assumption that the difference between the current position and the position corresponding to the current position on the movement path is maintained after a predetermined time. This makes it possible to predict the position of the moving body ahead of the slow-moving moving body for a relatively short time (for example, 10 seconds).

As described above, the position prediction unit 18 uses at least the current position to predict the future position. Further, the position prediction unit 18 provides the CAD unit 7 with information and an image of the future position and the moving position in order to compare the future position with the moving position corresponding to the future position on the moving path. As a result, the CAD unit 7 creates an image showing the moving body model at the future position and the moving body model at the moving position corresponding to the future position, and displays the image on the display 6.

As a result, the position of the future moving body can be easily predicted from the relationship between the current position and other positions. If it is predicted that the moving body will come into contact with an obstacle due to a slight deviation of the moving body from the future position of the moving body, the contact can be avoided by correcting the deviation. it can.

[Example of realization by software]
The control block of the moving process presentation device 10 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software. The control block particularly corresponds to the model creation unit 11, the movement route creation unit 12, the movement state presentation unit 13, the GPS information conversion unit 16, the position comparison unit 17, and the position prediction unit 18.

In the latter case, the moving process presenting device 10 includes a computer that executes an instruction of a program (moving process presenting program) that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium on which the program is recorded. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, CPU1 can be used.

As the recording medium, a "non-temporary tangible medium", for example, ROM3 or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, the above program may be expanded in the main memory 2 composed of RAM (Random Access Memory).

Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program.

It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

[Additional notes]
The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims, and the embodiment obtained by appropriately combining the technical means disclosed in each embodiment is also available. It is included in the technical scope of the present invention.

10 Movement process presentation device 12 Movement route creation unit 13 Movement state presentation unit 17 Position comparison unit 18 Position prediction unit M Mobile model R Movement route Pn1 to Pn10 Interpolation points (intermediate points)

Claims (10)

A movement route creation unit that creates a movement route for a moving body including a structure located at a location different from the installation position and at least one transport vehicle that transports the structure to the installation position.
It is provided with a moving state presenting unit in which the moving body presents the assumed movement state of the moving body in the created movement path by the moving body model represented by the three-dimensional model.
The movement route creation unit is adjacent to each other based on the positions and orientations of the moving body model at a plurality of points including a start point and an end point and at least one relay point designated for determining the movement route. A movement process presentation device characterized by interpolating a route between two said points. The movement route creation unit determines two control points having a position and an orientation from each of the two adjacent points, and based on the two points and the two control points, an intermediate point on the Bezier curve. The moving process presenting apparatus according to claim 1, further comprising interpolating. The positioning position of the moving body obtained from the positioning data of the moving body acquired when the moving body is actually moving and the moving body model corresponding to the positioning position in the moving path move. The moving process presenting apparatus according to claim 1 or 2, further comprising a position comparing unit for comparing moving positions at each point. The position comparison unit is characterized in that the time when the moving body model starts moving on the moving path and the time when the positioning data is acquired when the moving body starts moving are synchronized. The moving process presentation device according to claim 3. The moving process presenting device according to claim 3 or 4, wherein the position comparison unit selects the moving position closest to the positioning position in the moving path as the moving position corresponding to the positioning position. The position comparison unit sets the moving position where the angle formed by the direction of the moving body model in the moving path is the smallest with respect to the direction of the moving body at the positioning position as the moving position corresponding to the positioning position. The moving process presenting device according to any one of claims 3 to 5, wherein the moving process presenting device is selected. Using at least the current position of the moving body based on the current positioning data, the future position of the moving body after a predetermined time from the current position is predicted, and the future position is determined by the moving body model on the moving path. The moving process presenting device according to any one of claims 3 to 6, further comprising a position predicting unit for comparing a position. A movement process presentation device for operating a computer as the movement process presentation device according to any one of claims 1 to 7, and a movement process presentation program for operating the computer as each part. A computer-readable recording medium on which the moving process presentation program according to claim 8 is recorded. A movement route creation step of creating a movement route of a moving body including a structure located at a place different from the installation position and at least one transport vehicle for transporting the structure to the installation position.
Including the moving state presentation step in which the moving body presents the assumed movement state of the moving body in the created movement path by the moving body model represented by the three-dimensional model.
Adjacent 2 adjacent to each other based on the position and orientation of the moving body model at a plurality of points including a start point and an end point and at least one relay point designated for determining the movement route in the movement route creation step. A method for presenting a moving process, which comprises interpolating a route between two said points.

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