WO2014141928A1 - Système de planification de chemin de distribution - Google Patents

Système de planification de chemin de distribution Download PDF

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Publication number
WO2014141928A1
WO2014141928A1 PCT/JP2014/055327 JP2014055327W WO2014141928A1 WO 2014141928 A1 WO2014141928 A1 WO 2014141928A1 JP 2014055327 W JP2014055327 W JP 2014055327W WO 2014141928 A1 WO2014141928 A1 WO 2014141928A1
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WIPO (PCT)
Prior art keywords
route
dimensional
path
state
interference
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PCT/JP2014/055327
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English (en)
Japanese (ja)
Inventor
紀輔 藤井
洋一 野中
敦子 榎本
順一 金子
司 一條
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株式会社日立製作所
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Publication of WO2014141928A1 publication Critical patent/WO2014141928A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/04—Manufacturing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Definitions

  • the present invention relates to a computer information processing technique, and more particularly, to a technique for planning a route for carrying in or carrying out an object such as a part, material, or equipment from a space and a structure such as a building.
  • Patent Document 1 JP-A 06-168303 (Patent Document 1) is given as an example of prior art relating to route planning.
  • Patent Document 1 describes that an installation plan that can easily examine an optimal installation procedure for a large number of minimum installation units is described.
  • Patent Document 1 is obtained from dividing arrangement graphic information into minimum installable units, associating work steps of installation minimum units, carrying-in route, interference confirmation, calculation of work time, etc., and animation display, and these examination results. It describes that the optimization of the installation procedure is output by a computer.
  • Patent Document 1 describes that an installation procedure plan in which installation work is performed efficiently and safely can be efficiently created.
  • the route planning function uses the object data, the structure data, the carry-in device data, etc. to plan a plurality of route candidates that connect the start point and the end point, and the position of the object on the route.
  • Targets that do not interfere with the target object and the surrounding structure based on the result of determining the interference state between the target object and the surrounding structure for the path candidate and the posture candidate. It describes outputting one or more efficient route information including the posture of an object.
  • the technology of this application is to calculate a posture that does not interfere by simultaneously processing interference judgments in a large number of posture candidates of an object by parallel arithmetic processing using GPGPU (General-purpose computing-on graphics-processing units). Is described.
  • GPGPU General-purpose computing-on graphics-processing units
  • the three-dimensional shape data of the object and the three-dimensional shape of the structure such as a plant are used.
  • a process of determining and checking the state of interference is performed by calculating an overlapping area between the two.
  • a structure such as a plant has a large or enormous number of elements such as a three-dimensional CAD object constituting the structure. Since the process of interference determination using the three-dimensional shape data and the path generation including the interference determination according to the prior art needs to perform the interference determination process on a large number of objects of the three-dimensional structure, As the number of objects of the three-dimensional structure increases, there is a problem that the calculation amount of the computer increases and the calculation time increases.
  • FIG. 29 shows a problem of increase in calculation time in the above-described conventional technology.
  • the calculation time required for the interference determination process increases in proportion to the number of three-dimensional structure objects to be calculated. Therefore, it is required that this calculation time can be shortened to 2902, for example.
  • An object of the present invention relates to a state of interference between an object and a structure on the route, for a carry-in route planning system, that is, a system for generating or planning a route for loading and unloading an object in a space inside the structure. It is an object of the present invention to provide a technique capable of shortening the calculation time of the entire process including the process of determining whether or not.
  • a representative form of the present invention is a carry-in route planning system or the like, and has the following configuration.
  • a carry-in route planning system is a route for moving a three-dimensional object for carry-in / out in a space inside a three-dimensional structure as a processing unit realized by a program process using a computer.
  • a path generation unit for generating a plurality of states including a posture state or a translational state of the three-dimensional object, and a state of the three-dimensional object as a tangential direction of the path
  • a first projection processing unit which obtains data of a two-dimensional object by projecting onto a first projection plane which is a plane perpendicular to the plane, and the three-dimensional structure is perpendicular to the tangential direction of the path
  • a second projection processing unit that obtains data of a two-dimensional structure by projecting onto a second projection plane that is a flat surface, the data of the two-dimensional object, and the data of the two-dimensional structure are superimposed.
  • the interference determination unit obtains interference determination result data by determining a state of interference between the object and the structure by calculating a region where the region of the object and the region of the structure overlap or approach each other. And an output unit that outputs information including the interference determination result data.
  • the output unit stores information including the route including the state of the object in which the object and the structure do not interfere with each other in a storage unit, and displays the information on a screen of a user interface.
  • the output unit stores information including the route including the state of the object in which the object and the structure interfere with each other in a storage unit and displays the information on a screen of a user interface.
  • the carry-in route planning system includes a coordinate conversion unit that performs coordinate conversion processing on the shape of the structure and the object so that a curved route included in the route is converted into a straight route.
  • the first projection processing unit projects the state of the three-dimensional object after the coordinate conversion processing onto the first projection plane
  • the second projection processing unit is configured to project the three-dimensional object after the coordinate conversion processing. Are projected onto the second projection plane.
  • the state planning unit plans a state in which the object is rotated by a predetermined angle unit around a rotation axis of a coordinate system that defines the posture of the object at a point on the path as the state of the object.
  • the state planning unit translates the object in a unit of a predetermined distance within a plane perpendicular to the tangential direction of the path at a point on the path as a state of translation of the object.
  • an object and structure on a route are related to a carry-in route planning system, that is, a system for generating or planning a route for carrying in and out an object in a space inside the structure.
  • the calculation time of the whole process including the process which determines the state of interference with an object can be shortened.
  • FIG. 2 is a diagram illustrating a configuration example of hardware and software of a main calculation device and a terminal device of the carry-in route planning system of FIG. 1. It is a figure which shows the form at the time of comprising the carrying-in route planning system of FIG. 1 with one apparatus. It is a figure which shows the block configuration of the interference determination processing function which is one of the processing functions which the route planning function of a carrying-in route planning system has. It is a figure which shows the example of a flow of the whole process by the route planning function of a carrying-in route planning system. It is a figure which shows the example of a display of the user interface screen in a terminal device.
  • (A)-(d) is a figure which shows the example and coordinate system of a target object.
  • (A)-(c) is a figure which shows the example of the setting of the margin space of a target object.
  • position of a target object is shown. It is a figure which shows 1st examples, such as a structure and a path
  • FIG. 18 is a diagram illustrating a configuration example of a YZ plane of each projection plane in FIGS.
  • (A) is a figure which shows the example of a coordinate transformation process. It is a figure which shows the example which performs a parallel projection process with respect to the path
  • FIG. 1 It is a figure which shows the example which uses the movement of a diagonal direction with respect to the direction of the original path
  • (A)-(c) is a figure which shows the example of the plan of the state of the attitude
  • (A)-(d) is a figure which shows the example which searches a path
  • (A)-(d) is a figure which shows the example which projects the state of the attitude
  • the system according to the present embodiment is a carry-in route planning system used for applications such as the design, construction, and preventive maintenance of structures such as plants, and the start and end points of carry-in / out of objects such as materials.
  • this function includes a function of automatically generating a route in which an object that is a moving object does not interfere with a structure in the middle of the route.
  • This function also includes a function that allows the user to check whether the object interferes with a structure in the middle of the route and output the result to the screen.
  • this function includes a function for generating an efficient path including a state due to rotation and translation of a three-dimensional object.
  • this function includes a function for generating the path in consideration of the characteristics of the loading means used for loading and unloading the object.
  • the path planning function of the system determines or confirms a state including an angle that defines the position and posture of an object in an arbitrary path for loading and unloading the object within the structure.
  • Two-dimensional image data obtained by projecting the shapes of the three-dimensional objects of the target object and the surrounding structures onto a plane perpendicular to the tangential direction of the path is obtained. It can be said that the amount of processing data is compressed from three dimensions to two dimensions during this projection.
  • the path planning function performs a process of determining the state of interference between the object region and the surrounding structure region in the projection plane in the two-dimensional image data.
  • the interference determination process requires a smaller amount of processing data and speeds up the calculation than the process of determining the state of interference by comparing three-dimensional data as in the prior art. Therefore, the overall calculation time for the route plan is shortened.
  • FIG. 1 shows a configuration example of a system according to an embodiment of the present invention.
  • the entire system according to an embodiment includes a carry-in route planning system 1, an object 31, a structure 32, a carry-in device 33, a design device 50, and the like.
  • the carry-in route planning system 1 has a configuration in which the main computing device 10 and the terminal device 20 are connected via a communication network.
  • the main computing device 10 and the terminal device 20 include a route planning function F1 and a GUI display function F2, and these functions are realized as, for example, a known client server system.
  • the main computer 10 is in charge of the main calculation processing and control processing of this system.
  • the main computing device 10 performs main processing related to the route planning function F1 and the GUI display function F2.
  • the terminal device 20 transmits a processing request to the main computing device 10 as necessary, and the main computing device 10 responds to the terminal device 20 with processing result data corresponding thereto.
  • the main computing device 10 and the terminal device 20 are integrated into one device is possible.
  • the route planning function F1 includes an interference determination processing function (FIG. 4), which will be described later, and performs processing such as that shown in FIG.
  • the GUI display function F2 has a function of controlling a display screen serving as a graphical user interface (GUI).
  • GUI graphical user interface
  • a carry-in worker UA and a route planner UB are included.
  • the carry-in worker UA is a person who carries out a work in / out, a person who gives a work instruction, or the like.
  • the route planner UB is a person who plans a route for carry-in / out, or a person who instructs the plan or work remotely.
  • the carry-in worker UA is, for example, near the object 31 and the carry-in device 33 in the space inside the structure 32 and carries the terminal device 20 for use.
  • the route planner UB operates the main computing device 10, the terminal device 20, and the design device 50, for example.
  • the object 31 is a moving object to be carried in and out, and includes parts, materials, equipment, and the like, for example, piping.
  • the structure 32 is a space, a building, or the like into which the object 31 is carried in and out, for example, a plant to be constructed. It should be noted that the structure 32 may change the state of the overall shape of the structure 32 by moving a part of the structure 32 according to the progress of the construction. For example, by setting the object 31 as a part of the structure 32 at the end point of the route, the shape of the structure 32 is updated.
  • the carry-in device 33 is a device for carrying in / out and moving the object 31 inside the structure 32 as one of the carry-in means, and examples thereof include a carriage, a crane, a hoist, and a chain. In addition, a person is included as a carrying-in means.
  • the carry-in device 33 moves the object 31 or changes the angle of the posture of the object 31 by operating, for example, rotation of a crane or expansion and contraction of a chain. In addition, when a person carries the target object 31 directly, the carrying-in apparatus 33 is not necessary.
  • the carry-in device 33 has a unique three-dimensional shape and characteristics relating to movement and the like.
  • the present system may set an object in which the three-dimensional shape of the carry-in device 33 is integrated with the three-dimensional shape of the object 31. Thereby, calculation time can be shortened by simplification of calculation.
  • the carry-in device 33 the user U can select and set a carry-in means to be used for a moving object on the screen of the system.
  • the design device 50 includes a design SW (software) 51 corresponding to a known CAD or CAM.
  • the design device 50 is used by the route planner UB or another designer.
  • the design device 50 creates or acquires data information including moving object data D1, structure data D2, and carry-in means data D3 using the design SW 51, and manages it in a design DB (database) 55 that is a storage means.
  • the design device 50 and the main computing device 10 may be integrated.
  • the moving object data D1 includes data such as a three-dimensional CAD object of the object 31, and two-dimensional image data.
  • the structure data D2 includes data such as a three-dimensional CAD object of the structure 32, two-dimensional image data, and the like.
  • the structure data D2 includes design drawing data of a building such as a plant to be designed and constructed, for example.
  • the carry-in means data D3 includes data such as a three-dimensional CAD object of the carry-in means such as the carry-in device 33, data of characteristics of the carry-in device 33 described later, and the like.
  • the usage example of this system is as follows.
  • the carry-in worker UA displays information on the screen of the terminal device 20 such as a route for carrying in / out the object 31 inside the structure 32.
  • the terminal device 20 displays the state of the traveling direction on the route from the current position of the target object 31 and the carry-in worker UA on the screen in three dimensions or two dimensions.
  • the carry-in worker UA designates the structure 32 on the screen, and the structure 32 and the object Request a check on the state of interference with the object 31.
  • the terminal device 20 requests the main computing device 10 to check the interference state.
  • the main computing device 10 If the requested interference state has already been calculated, the main computing device 10 reads out and responds to the interference determination result data. If not, the main computing device 10 performs interference determination processing for the requested interference state. Is executed, and the interference determination result data is returned. Then, on the screen of the terminal device 20, the carry-in worker UA indicates whether or not the interference occurs, and if the interference occurs, information such as the location of the occurrence is two-dimensional or three-dimensional. It can be confirmed as information. Similarly to the above usage example, the route planner UB displays various information similar to the above usage example on the screen of the main computing device 10 or the terminal device for the route planner UB connected thereto. It is possible to plan routes and check the state of interference.
  • FIG. 2 shows a configuration example of hardware and software of the main computer 10 and the terminal device 20 of the carry-in route planning system 1 of FIG.
  • the main computing device 10 is a server computer equipped with a GPGPU 219 that is a parallel computing unit.
  • the main computing device 10 is a single server, but may be configured by connecting a plurality of servers. Further, the main computing device 10 may implement a similar parallel computing function by accessing a cloud computing service on the communication network 90 instead of the parallel computing by the GPGPU 219.
  • the terminal device 20 is a tablet PC equipped with a touch sensor and a liquid crystal display.
  • the terminal device 20 communicates with the main computer 10 via the communication network 90 and uses functions of the main computer 10.
  • the terminal device 20 displays various information such as the object 31, the structure 32, and the route on the display screen serving as the graphical user interface (GUI) as described later.
  • GUI graphical user interface
  • the route planning function F1 of the main computing device 10 plans the route of carry-in / out using the processing of the CPU 211 and the parallel calculation processing of the GPGPU 219 in response to an instruction input from the user U or a request from the terminal device 20. Perform calculation processing.
  • the route planning function F ⁇ b> 1 of the main computing device 10 uses the GPGPU 219 based on an instruction from the CPU 211 to perform parallel arithmetic processing on a number of routes related to the route plan.
  • the main computer 10 acquires each data including moving object data D1, structure data D2, and carry-in means data D3 necessary for the route plan from the design device 50, and is stored in the storage means inside the main computer 10. It is managed by a certain storage device 217.
  • the moving object data D1 includes the position and state set for each individual object 31 and various attribute information.
  • the structure data D2 includes positions and states set for each structure 32 and various attribute information.
  • the carrying-in means data D3 includes the position and state set for each structure 32 and various attribute information.
  • the user U uses a function of a known laser scanner or the like provided in the terminal device 20 or another device to image the internal space of the structure 32, so that the three-dimensional structure 32 at that point in time is captured.
  • the situation may be acquired as data.
  • the captured data is transmitted from the terminal device 20 to the main computer 10, and the main computer 10 reflects the data in the structure data D2.
  • the main computing device 10 includes a CPU 211, a RAM 212, a ROM 213, an input device 214, an output device 215, a communication I / F (interface) device 216, a storage device 217, a display computing unit 218, a GPGPU 219, and a bus. Composed.
  • the CPU 211 loads the program and data of this embodiment from the ROM 213 and the storage device 217 to the RAM 212 and executes the processing, thereby realizing the server side route planning function F1 and the like.
  • the input device 214 and the output device 215 include a keyboard, a display, and its input / output interface control processing unit.
  • the communication I / F device 216 performs interface processing for the communication network 90.
  • the storage device 217 is a secondary storage device such as a disk or a card.
  • the GPGPU 219 is configured by a GPGPU board or the like.
  • the display computing unit 218 is configured by a graphic board or the like.
  • the terminal device 20 includes a CPU 221, a RAM 222, a ROM 223, an input device 224, an output device 225, a communication I / F device 226, a storage device 227, a display computing unit 228, a bus, and the like.
  • the CPU 221 loads the program and data of this embodiment from the ROM 223, the storage device 227, and the like to the RAM 222 and executes the processing, thereby realizing the path planning function F1 on the client side.
  • the input device 224 and the output device 225 include a touch panel and its input / output interface control processing unit.
  • the communication I / F device 226 performs interface processing for the communication network 90.
  • the storage device 227 is a secondary storage device such as a disk or a card.
  • the display computing unit 228 is configured by a graphic board or the like.
  • FIG. 3 shows an embodiment in which the carry-in route planning system 1 is configured by a single device.
  • the computing device 300 includes a control unit 310, a storage unit 320, an input unit 330, a display unit 340, a communication unit 350, and a bus.
  • the control unit 310 includes a projection plane calculation unit 311, a two-dimensional image calculation unit 312, an interference region calculation unit 313, a movement distance calculation unit 314, an attitude change point calculation unit 315, and a screen output unit 316.
  • the storage unit 320 includes a moving object three-dimensional shape information storage unit 321, a structure three-dimensional shape information storage unit 322, a carry-in means information storage unit 323, a route information storage unit 324, a moving object two-dimensional image information storage unit 325, and a structure.
  • a two-dimensional image information storage unit 326, an interference area storage unit 327, a movement distance storage unit 328, and a posture change point storage unit 329 are included.
  • the moving object three-dimensional shape information storage unit 321 stores information corresponding to the moving object data D1.
  • the structure three-dimensional shape information storage unit 322 stores information corresponding to the structure data D2.
  • the carry-in means information storage unit 323 stores information corresponding to the carry-in means data D3.
  • the route information storage unit 324 stores information corresponding to route data D4 described later.
  • the moving object two-dimensional image information storage unit 325 stores information corresponding to moving object two-dimensional data D5 described later.
  • the structure two-dimensional image information storage unit 326 stores information corresponding to structure two-dimensional data D6 described later.
  • the projection plane calculation unit 311 performs a process of calculating a plane perpendicular to the tangential direction of the path, for example, as a process of calculating a projection plane related to a projection process from 3D data to 2D data.
  • the two-dimensional image calculation unit 312 performs processing for calculating image data of a two-dimensional projection plane by projection processing from three-dimensional data to two-dimensional data.
  • the interference region calculation unit 313 calculates a region where the region of the moving object and the region of the object overlap or approach each other within the two-dimensional projection plane as an interference region, and stores the interference region in the interference region storage unit 327. .
  • the movement distance calculation unit 314 calculates a distance that the moving object on the route can move without interference with the structure, and stores the movement distance in the movement distance storage unit 328.
  • the posture change point calculation unit 315 calculates a position for changing the posture of the moving object on the route, and stores it in the posture change point storage unit 329.
  • the screen output unit 316 performs a process of displaying the various data information managed in the storage unit 320 on the user interface screen according to the operation of the user U.
  • FIG. 4 shows a block configuration of an interference determination processing function which is one of the processing functions of the route planning function F1 of the carry-in route planning system 1.
  • the interference determination processing function is a processing unit realized by computer program processing, such as a path generation unit 11, a coordinate conversion unit 12, a moving object projection processing unit 13, a structure projection processing unit 14, an interference determination unit 15, and an output unit 16.
  • the posture changing unit 17 is included.
  • the interference determination processing function includes moving object data D1, structure data D2, carry-in means data D3, route data D4, moving object two-dimensional data D5, structure two-dimensional data D6, and interference determination result data as handled data information. D7, etc.
  • the moving object data D1 includes three-dimensional shape data of an object to be carried in and out that is a moving object, and includes, for example, three-dimensional CAD object data.
  • the structure data D2 includes three-dimensional shape data of a structure such as a plant, and includes, for example, three-dimensional CAD object data.
  • the carry-in means data D3 includes three-dimensional shape data of carry-in means such as a carry-in device, and includes, for example, three-dimensional CAD object data.
  • the route data D4 includes data information of a plurality of routes including at least points and lines. When each route includes a plurality of partial routes, the route data D4 also includes information of the partial routes.
  • the moving object two-dimensional data D5 includes projection plane image data including information on the shape of the moving object on the two-dimensional projection plane.
  • the structure two-dimensional data D6 includes projection plane image data including information on the shape of the structure on the two-dimensional projection plane.
  • the interference determination result data D7 includes information such as the presence / absence of interference between the state of the moving object and the surrounding structure on the route and the position where the interference occurs as interference determination result data.
  • the route generation unit 11 receives the moving object data D1, the structure data D2, and the carry-in means data D3, generates a plurality of routes, and outputs them as route data D4.
  • the coordinate conversion unit 12 performs a coordinate conversion process on the three-dimensional structure of the structure data D2 and the corresponding three-dimensional moving object of the moving object data D1 with respect to the partial route including the curve based on the route data D4.
  • the moving object projection processing unit 13 uses a three-dimensional object of the moving object of the moving object data D1 as a projection plane on a plane perpendicular to the tangential direction of the route, and parallel from three dimensions to two dimensions. Perform projection processing. Thereby, the moving object two-dimensional data D5 including the projection plane image data is obtained.
  • the structure projection processing unit 14 performs parallel projection processing from 3D to 2D using the 3D structure of the structure data D2 as a projection plane based on the path of the path data D4 and a plane perpendicular to the tangential direction of the path. I do. Thereby, the structure two-dimensional data D6 including the projection plane image data is obtained. In the projection plane image data, when there are a plurality of structures on the path, their shapes are projected onto one projection plane all at once.
  • the interference determination unit 15 uses the moving object two-dimensional data D5 and the structure two-dimensional data D6 to superimpose the two-dimensional moving object projection plane image and the two-dimensional structure projection plane image. In the two-dimensional plane, a process of determining the state of interference between the two-dimensional moving object and the two-dimensional structure is performed, for example, by calculating a region where the region overlaps the region of the two-dimensional structure. Thereby, the interference determination unit 15 obtains interference determination result data D7 including information on the location where the interference has occurred.
  • the interference determination result data D7 includes information on a path 401 without interference and information on a path 402 with interference.
  • the output unit 16 performs processing for saving the interference determination result data D7 in the storage unit, processing for displaying various information including interference occurrence location information on the user interface screen based on the interference determination result data D7, and the like.
  • the output unit 16 displays, for example, information on the interference-free route 401 and / or the interference-caused route 402 on the user interface screen. Note that the information on the interference-free route 401 and the interference-caused route 402 is reflected as a part of the route data D4.
  • the output unit 16 when displaying the information of the path without interference 401 or the path with interference 402 on the screen, the output unit 16 three-dimensionally displays each piece of information such as the structure, the path, the position and orientation of the target object, the presence / absence of interference, and the location where the interference occurs.
  • screen data collected in a two-dimensional format is generated and displayed.
  • the posture changing unit 17 refers to the interference determination result data D7, and when there is interference with a structure in the posture of the moving object on the route, the posture changing unit 17 uses the moving object data D1 to change the posture state of the moving object. Perform the change process.
  • the posture changing unit 17 is a state planning unit, and performs a process of planning a change state of the posture of the moving object as a candidate in order to search for a route that can avoid the interference.
  • the posture of the moving object is defined by the angle around each rotation axis ( ⁇ , ⁇ , ⁇ ) of the coordinate system of the object. In changing the posture angle, the posture changing unit 17 may plan the posture angle state of the moving object using a predetermined minimum angle unit such as 30 degrees, 45 degrees, or 90 degrees.
  • the posture changing unit 17 not only changes the posture angle but also changes the state of the moving object, while maintaining the posture angle, while moving the moving object in a plane perpendicular to the tangential direction of the path. It is possible to change or plan the state of moving the object in parallel. In this case, the posture changing unit 17 drafts the state of translation of the moving object using a predetermined minimum translation unit such as 10 pixels in the Y direction and 10 pixels in the Z direction when planning the state of translation. May be.
  • the posture changing unit 17 stores the posture information 411 or the parallel movement information 412 representing the state of the three-dimensional moving object designed as described above, and passes it to the moving object projection processing unit 13.
  • the moving object projection processing unit 13 updates the contents of the moving object two-dimensional data D5 by projecting the drafted state of the three-dimensional moving object onto a two-dimensional plane in the same manner as described above.
  • the interference determination unit 15 performs the interference determination on the proposed moving object state in the same manner as described above.
  • FIG. 5 shows an example of a flow of overall processing by the route planning function F1 of the carry-in route planning system 1.
  • S1 etc. represent processing steps. Details of each process will be described later.
  • (S1) Condition setting and data input process S1 sets condition information related to the route planning function F1 based on the operation of the user U in the terminal device 20 or the like, and also includes the above-mentioned moving object data D1, structure data D2, Data such as carry-in means data D3 is input.
  • the main computer 10 manages the set condition information as the condition setting data D0.
  • the user U wants to execute route planning or interference determination, the user U selects and executes route planning or interference determination from a menu or the like on the screen.
  • the route generation processing S2 is performed by the route generation unit 11.
  • the route generation processing S2 automatically uses a plurality of routes connecting the start point and the end point as candidates using information on the start point and the end point selected by the operation of the user U or set by an automatic process. Generate the process.
  • the data thus generated is stored as route data D4. Note that the interference between the route and the structure is not determined at the time of S2, and the detailed route is determined in a later step. Therefore, the route generated at the time of S2 is a simple data structure composed of points and lines. The route is acceptable.
  • the route selection process S3 selects any one route from the plurality of routes generated in S2. At this time, if necessary, one route may be divided into a plurality of partial routes, and the same processing may be performed for each partial route so as to facilitate calculation.
  • a partial route is also composed of dots and lines, as is the case with the higher-level route. In the following description, the partial route is also simply referred to as a route.
  • the end point of the partial route is matched with the start point of the next partial route. If the match is impossible, a partial route connecting the end point of the partial route and the start point of the next partial route is added.
  • S4 to S17 are steps in which the processing for each route selected in S3 is similarly repeated.
  • the coordinate conversion process S5 is performed by the coordinate conversion unit 12.
  • the coordinate transformation process S5 is an absolute coordinate system (X, Y, X, Y) so that when a route or a partial route thereof has a curved route such as an arc, the curved route portion becomes a straight route.
  • the coordinate system is converted from Z) to a polar coordinate system ( ⁇ , Y, Z) or the like.
  • the coordinate conversion process S5 obtains converted three-dimensional shape data by performing a coordinate conversion process on the three-dimensional structure corresponding to the curve path portion and the corresponding three-dimensional moving object.
  • the coordinate conversion processing S5 needs to perform coordinate conversion of the corresponding three-dimensional moving object in accordance with the coordinate conversion of the three-dimensional structure.
  • (S6) Three-dimensional to two-dimensional projection processing S6 of the structure is performed by converting the three-dimensional shape of the structure in front of the moving object on the path into a two-dimensional plane that is perpendicular to the tangential direction of the path.
  • structure two-dimensional data D5 that is a projection plane image is obtained.
  • the projection processing of S6 constitutes the projection plane at the position of the end point in the linear route or the partial route. Since the curved path has already been converted to the straight path by the process of S5, the projection process of S6 is a linear parallel projection process, so that the calculation time is short. Further, in the projection process of S6, as described later, even when there are a plurality of structures on the path, the plurality of structures can be projected onto one projection plane at a time by one projection process. This can contribute to shortening the calculation time.
  • the planning process S7 of the three-dimensional state of the object includes the posture changing process by the posture changing unit 17 described above.
  • the above-described posture or parallel movement state is planned as the three-dimensional state of the target object that is a moving object.
  • the planning process S7 plans the rotation axis and the rotation angle for changing the posture, or the direction and distance of the translation.
  • the planning process S7 manages the planned posture information 411 or the parallel movement information 412 in association with the structure data D2.
  • the posture of the three-dimensional object at the position of the start point of the given route is maintained around each rotation axis ( ⁇ , ⁇ , ⁇ ) in the local coordinate system while maintaining the position.
  • a state in which the rotation is performed every predetermined angle unit is planned.
  • a three-dimensional object at the position of the start point of a given route is maintained in a predetermined direction and a predetermined direction within a plane perpendicular to the tangential direction of the route in the absolute coordinate system while maintaining the posture.
  • both the posture and the parallel movement are planned in the process of S7, but a mode in which only one of them is planned is also possible.
  • the object state selection process S8 selects an arbitrary one from the plurality of states planned in S7.
  • S9 to S13 are steps in which the process for each state selected in S8 is similarly repeated.
  • processing related to a plurality of states may be executed in parallel by using the above-described parallel calculation by the GPGPU 219.
  • a well-known parallel projection process can be used for the projection process of S6 and the projection process of S10.
  • S10 a form in which the projection plane of the moving object is the same as the projection plane of the structure created in S6 is also possible.
  • one projection plane image is obtained in which the moving object of S10 is superimposed on the projection plane image of the structure of S6.
  • information is added to the data after the projection processing or the association information is set so that it can be understood later which structure or which object state is projected. Keep it in control.
  • the two-dimensional projection plane interference determination process S11 In the two-dimensional projection plane interference determination process S11, the projection plane image data of the structure two-dimensional data D6 created in S6 and the projection plane image data of the moving object two-dimensional data D5 created in S10 are used. A process of determining the state of interference in a two-dimensional projection plane superimposed on one is performed. That is, the interference determination process S11 determines the presence / absence of interference and the location where interference occurs by calculating a region where the region of the moving object and the region of the target object overlap within the two-dimensional projection plane. In the process of S11, if there is an overlapping area, the result is that there is interference, and the position of the structure corresponding to the location is obtained.
  • processing of S11 is not limited to calculating a region where the region of the moving object and the region of the structure overlap in the plane, as described later, and the region of the moving object and the region of the structure are predetermined in the surface. It is also possible to determine that there is interference when the distance is within the distance.
  • the processing of S11 can be realized by publicly known image processing inside a two-dimensional plane, and comparison processing between three-dimensional objects is not necessary, so that it can be realized at high speed.
  • the interference determination unit 15 When there is interference in S11, the interference determination unit 15 easily obtains the distance from the position of the target object on the path to the position of the structure where the interference occurs using the path data D4 and the like. Can do. Therefore, the interference determination unit 15 may store the distance in the interference determination result data D7 as carry-in distance information.
  • the carry-in distance indicates how far the object can be carried in without being interfered with the surrounding structure in the same posture on the given route.
  • the output unit 16 stores information including the interference determination result of S11 as interference determination result data D7.
  • the interference determination result data D7 there is information on the no-interference path 401 when there is no interference between the state of the moving object and the structure, and when there is interference between the state of the moving object and the structure. Both of the information of the path 402 with interference are stored as snapshots. Thereby, information on each state can be read and referenced later from the interference determination result data D7. For example, when the inside of the structure is being carried in, the interference state can be immediately displayed on the screen of the terminal device 20 and confirmed.
  • the interference-free path 401 may be stored as the interference determination result data D7. Only the information may be stored.
  • S14 determines whether all the processes for the plurality of states of the moving object planned for a certain route have been completed for the processes of S9 to S13. If not (N), the process returns to S8. If completed (Y), the process proceeds to S15. When returning to S8, another state that has not yet been selected is selected.
  • Interference-free result output processing S15 is the first output processing by the output unit 16. If the interference-free route 401 is obtained as a result of S9 to S13, the information is used as part of the route data D4. reflect.
  • the interference-free path 401 indicates that the moving object can be moved on the path without interference by changing the moving object to the posture or the parallel movement state at the starting point of the path.
  • Interference result output processing S16 is the second output processing by the output unit 16.
  • the information is used as part of the route data D4. reflect.
  • the path with interference 402 indicates that interference occurs on the path when the moving object is changed to the posture or the parallel movement state at the starting point of the path.
  • output processing of S15 and S16 may display the information on the user interface screen in real time.
  • S18 The process of S18 determines whether all the processes for a plurality of routes in the processes of S4 to S17 are completed. If not completed (N), the process returns to S3, and is completed (Y) Advances to S19. When returning to S3, another unselected route is selected.
  • the route evaluation process S19 which will be described in detail later, is performed by performing an evaluation process from a predetermined viewpoint on a plurality of route candidates including the interference-free route 401 in the route data D4 obtained up to S18. Ranking multiple route candidates. In the route evaluation process S19, ranking is performed by assigning evaluation points to each of a plurality of routes by an algorithm corresponding to a predetermined viewpoint that is set in advance or specified by the user U, for example.
  • the route evaluation processing S19 determines which route is efficient among the plurality of interference-free routes 401 by the above-described evaluation processing, and outputs the recommendation as a recommendation in order from the efficient route to the user U based on the ranking of the result. can do.
  • the viewpoint of the evaluation process a route that can move without changing the posture of the object as much as possible on the route from the start point to the end point is regarded as high evaluation.
  • the viewpoint of the said evaluation process may be previously incorporated in the program which comprises the route planning function F1 as a predetermined algorithm, and may be selectable from several viewpoints by the user U setting operation.
  • a mode in which the route evaluation process S19 is not performed is also possible.
  • the process of assigning evaluation points in the route evaluation process S19 may be executed during each of the above-described processing steps. For example, it is possible to count the corresponding evaluation points at the time of the change of the angle of the posture or the parallel movement.
  • the output unit 16 performs a process for storing the final result information up to S19 in the storage unit and a process for displaying the information on the user interface screen.
  • the final result information is collectively configured as the route plan data D8 based on the route data D4, and stored in the storage unit.
  • the result output process S20 generates screen data for displaying information corresponding to the route plan data D8 on the user interface screen of the main computing device 10 or the terminal device 20, and displays the screen data on the user interface screen. Process.
  • the route plan data D8 is, for example, a plan for moving a target object in a state including each posture from the start point to the end point of the route using a carrying-in means within the structure for each of a plurality of routes. Contains information expressed in a three-dimensional format.
  • the user U can refer to and confirm the contents of the route plan data D8 on the screen, which can be effectively used for selecting and changing the route for actual use, changing the design of the structure, and the like.
  • the route plan data D8 may be data that summarizes the information of the route 401 without interference, may be data that summarizes the information of the route 402 with interference, or may be data that summarizes both pieces of information.
  • the route plan data D8 includes the ranking information of the plurality of routes when there is a ranking of the plurality of routes in S19.
  • the result output process S20 outputs a plurality of routes to the screen in order from the highest evaluation route.
  • the user U can confirm on the screen the path with the highest evaluation among the plurality of path candidates.
  • the user U can easily select an efficient route and can easily realize a low-cost plan.
  • the user U can check the stored route plan data D8 at any point in time by referring to the screen.
  • the result output process S20 may display information such as the presence / absence of interference, the location where the interference occurred, and a candidate route that can avoid the interference as information on the interference determination result on the screen.
  • the route planning function F1 prompts the user U to try changing the condition setting and the selection of the start point and the end point.
  • the user U moves the object to the position of the arrival point of the carry-in distance on the path, and moves the position to the new path. Can be set as the starting point. Accordingly, a route without interference can be searched by performing the process of FIG. 5 in the same manner for the route based on the new start point.
  • a route without interference cannot be obtained even if the setting of the start point and the end point is changed as described above, the result of the change is used as a design change by the user U. It is also possible to change the arrangement and change the size and type of the object or structure. For example, a path without interference can be searched for by a design change such as reducing the size of a pipe that is a moving object or reducing the size of a wall or a column that is a structure.
  • FIG. 6 shows a display example of a graphical user interface screen on the terminal device 20.
  • This screen displays information such as menu g1, carry-in route g2, posture g3, interference occurrence point g4, and carry-in possible distance g5 as application software corresponding to route planning function F1 of carry-in route planning system 1 An example is shown. From the menu g1, the user U can select and execute functions such as route generation, route confirmation, and interference check.
  • a structure, a moving object, a route, and the like are displayed in a three-dimensional or two-dimensional format.
  • the example of g2 is an example in which a certain selected route, that is, the route R1 from the point p1 to the point p5 is displayed including the related information.
  • the state of interference between the structure and the object may be displayed in another area or the like.
  • the state of the posture of the object associated with each route is displayed corresponding to the display of the carry-in route g2.
  • the posture state for example, information on an angle defining the posture may be displayed, or the posture state may be displayed as a three-dimensional or two-dimensional image.
  • g3 indicates that the posture at the time of movement in the partial path r1 from the point p1 to the point p2, for example, is ( ⁇ 1, ⁇ 1, ⁇ 1).
  • the interference state between the object and the structure is displayed on the two-dimensional projection plane for each partial route in the route of the carry-in route g2.
  • the two-dimensional region of the target object and the two-dimensional region of each structure existing on the path are superimposed and displayed within the two-dimensional projection plane, and the target object and the structure interfere with each other.
  • the example of g4 shows the display for each of the partial route r1, the partial route r2, and the partial route r3.
  • an image obtained by projecting the object is displayed on the path including the structure after the conversion by the coordinate conversion process.
  • the display of the interference occurrence location g4 the display of the structure and the target object on the two-dimensional projection plane is not only easy to understand not only the shape of each object but also the distance and thickness difference in the depth direction (for example, the X direction).
  • Information such as colors and coordinates may be added and displayed. For example, an object having a larger distance or thickness in the depth direction may be displayed with a gradation closer to black.
  • the display of the carry-in distance g5 displays the above-described information on the carry-in distance for each partial route in the route of the carry-in route g2. For example, in the partial route r1 from the start point p1 to the point p2, when there is interference with a structure in the middle of the route, the distance from the start point p1 to the point corresponding to the position of the structure is displayed as the carry-in distance. .
  • the present system is not limited to the screen example of FIG. 6 and can display various types of information on the screen as in the following example.
  • FIG. 7 shows an example of an object 31 that is a moving object, and a coordinate system.
  • A shows the case of piping bent in L shape as a three-dimensional object.
  • X, Y, Z indicates an absolute coordinate system or a worldwide coordinate system.
  • X, y, z indicates a relative coordinate system or a local coordinate system.
  • P or p indicates a point of the position coordinate of the object, for example, a point of the current position of the object on the route, a representative point of the object, or the like.
  • route is similarly shown by P thru
  • an arbitrary point in the three-dimensional object of the target object can be set.
  • one point on the surface of the three-dimensional object, the center point of the inscribed sphere inside the three-dimensional object, the center point of the circumscribed sphere outside the three-dimensional object, or The center of gravity of the object can be taken.
  • (B) shows the shape on the YZ plane corresponding to the object of (a).
  • (C) shows the shape of the XY plane corresponding to the object of (a).
  • (D) shows the shape of the XZ plane corresponding to the object of (a).
  • FIG. 8 shows an example of setting the margin space of the object 31.
  • the setting can be made on the screen by the user U in the above-described condition setting and data input processing S1 or the like.
  • FIG. 1 shows an example in which a margin space 801 is secured by performing an expansion process on the shape of the three-dimensional object of the object 31 (here, simply shown in two dimensions).
  • this expansion process at an arbitrary point on each surface (which may be a flat surface or a curved surface) constituting the object of the object 31, the surface is offset by taking a predetermined distance outside the normal line.
  • the three-dimensional shape obtained as a result is taken as the outer shape of the margin space 801.
  • the shape is an object that is expanded with a spatial margin.
  • a space between the original object 31 and the outer shape is referred to as a margin space 801.
  • the example of (b) takes a first sphere that is inscribed inside the object 31, takes a second sphere outside the object 31 and has the same center point as the center point of the first sphere, An example in which the sphere of 2 is used as the outer shape of the margin space 801 is shown.
  • the absolute coordinate system (X, Y, Z) with respect to the object 31 or the local coordinate system (x, y, z) fixedly attached to the object 31 is parallel to each axis.
  • An example is shown in which a rectangular parallelepiped having sides is taken, the rectangular parallelepiped is circumscribed to the object 31, and the rectangular parallelepiped is used as the outer shape of the margin space 801.
  • the calculation is performed using a three-dimensional object in which the margin space 801 is set in the above-described interference determination process.
  • interference is determined by setting a predetermined margin distance in a two-dimensional projection plane.
  • FIG. 9 shows an example of a coordinate system that expresses the angle of rotation that defines the posture of the object 31.
  • the first posture angle is ⁇ , which is a rotation angle (roll angle) around the X axis
  • the second posture angle is a rotation angle (pitch angle) around the Y axis.
  • the third posture angle is ⁇ which is a rotation angle (yaw angle) around the Z axis.
  • the angle ⁇ may be set in accordance with the longitudinal direction or the traveling direction of the object.
  • the angle ⁇ may be adjusted according to the short direction of the object.
  • the form representing the posture of the object is not limited to Euler angles ( ⁇ , ⁇ , ⁇ ), and other forms can be similarly applied.
  • FIG. 10 shows a first example of the structure 32 and the route.
  • the structure 32 is a plant to be constructed, for example, and is composed of a large amount of parts such as piping, and has a complicated structure in which parts such as piping are complicated.
  • a route R1 is planned in which the target object 31 starting from the point p1 is the end point and the installation position is the point p5.
  • the route R1 includes points p1 to p5 and routes r1 to r4 which are partial routes.
  • the system performs interference determination on the posture state when the object 31 is carried in on the route R1, and plans a route in which no interference occurs.
  • the system changes the posture of the start point p1 to a posture in which interference does not occur in the middle, and changes the changed posture.
  • the path that contains it is output as a candidate.
  • FIG. 11 shows a second example of the structure 32 and the route.
  • a route is composed of connections between points and lines as basic information management.
  • a point has a start point, an end point, an intermediate point, and the like as types.
  • the line has a curve such as a straight line or an arc as a type.
  • the points and lines of the route are each managed with attribute information. When the line constituting the route is only a straight line, the route is a broken line.
  • the actual path has a three-dimensional shape for loading and unloading the object 31, and has a shape in which a three-dimensional area is secured around a point and a line.
  • the route planning function F1 of the present system for example, when processing an interference determination for the route R1 in FIG. 11, for example, includes a plurality of partial routes r1 to r1 between the start point P1 and the end point P2 of the original route R1. It may be divided into r4 and processed in the same manner. When dividing a route, the start point and the end point of each partial route are basically matched. Exceptionally, depending on the interference state, a point passing through the route may be changed and a new partial route may be added.
  • Reference numeral 1101 denotes an example of a point that passes along the route r1 from the point p1 to the point p2.
  • Reference numeral 1102 denotes a moving distance from the point p1 to the point 1101.
  • the loadable distance of the path r1 is a distance from the point p1 to a position before the structure 1103. .
  • FIG. 12 shows a third example of the structure 32 and the route.
  • This example shows an example of a part of a plurality of routes connecting between a predetermined start point P1 and an end point P2.
  • the above-described route generation unit 11 automatically generates a plurality of routes connecting the start point P1 and the end point P2 designated by the user U according to a known algorithm or the like. It should be noted that at this time of generation, since interference determination is not performed, a simple route using points and lines may be generated.
  • the user U can set a route by arbitrarily specifying a point or a line on the screen.
  • FIG. 13 shows an example of a path 1300 having a three-dimensional shape including a margin space.
  • a route R1 by points p1 to p3 as a basic route by points and lines.
  • the marginal space 1301 of the object 31 on the route R1 is secured including the carry-in device 33.
  • a three-dimensional three-dimensional route 1300 is formed by moving the object 31 including the margin space 1301 on the model of the route R1 by points and lines.
  • FIG. 14 shows a configuration example of a projection plane from three dimensions to two dimensions on a path with respect to the object 31 and the structure 32.
  • the projection plane from 3D to 2D is basically composed of the position of the start point or end point of the partial path.
  • a two-dimensional projection plane is constructed in a direction perpendicular to the tangential direction of the points on the path.
  • the projection plane J0 of the object 31 is formed at the start point p1.
  • the tangential direction of the path r1 is the X direction, and the projection plane J0 is configured in the vertical YZ plane.
  • the projection plane J1 of the structure 32 is formed at the end point p2 of the route r1.
  • the projection plane J2a or J2b of the structure 31 is formed at the midpoint point pa or the end point p3.
  • the projection plane J2a is a case where the projection plane is constituted by a point pa in the middle of the arc of the path r2.
  • the projection plane J2b is a case where the projection plane is configured by the point p3 at the end of the arc of the path r2.
  • a projection plane J3 of the structure 32 is formed at the end point p4 in the linear path r3 from the point p3 to the point p4.
  • FIG. 15 shows examples of the object 31, the structure 32, the partial path, the projection plane, and the like.
  • the route r1 in FIG. 15 corresponds to the partial route r1 in the route R1 in FIG.
  • the route r1 is a linear route in the X direction from the start point P1 to the end point P2.
  • the example of the structure 32 shows an example of a straight path in the X direction in which the cross section of the YZ plane is a quadrangle.
  • An example in which two rectangular structures 1501 and 1502 exist as the structure 32 in the middle of the passage will be described.
  • the depth direction of the passage and the traveling direction of the object 31 are defined as the X direction, and the directions that form a plane perpendicular to the X direction are the Y direction and the Z direction.
  • J01 represents the YZ plane that constitutes the projection plane of the object 31 at the position X1 of the point P1.
  • J02 indicates a YZ plane constituting the projection plane of the structure 32 on the path r1 at the position X4 of the point P2.
  • FIG. 16 shows a configuration example of the projection plane J01 corresponding to the configuration example of FIG. 15 by parallel projection processing of the object 31 from three dimensions to two dimensions.
  • the projection process of S10 described above the three-dimensional shape of the target 31 at the start point P1 and the position X1 is subjected to a parallel projection process on the YZ plane which is the projection plane J01b of the position X1b where there is no surrounding object.
  • the projection processing in S10 virtually constitutes the projection plane J01b at the position X1b.
  • This projection plane J01b is defined as the projection plane J01 of the object 31 at the start point P1 and the position X1.
  • reference numeral 1601 denotes an area where the object 31 is projected.
  • FIG. 17 shows a configuration example of the projection plane J02 corresponding to the configuration example of FIG. 15 by the parallel projection processing from the three-dimensional structure to the two-dimensional structure 32.
  • the three-dimensional shape of the first structure 1501 at the position X2 and the second structure 1502 at the position X3 is a YZ plane corresponding to the position X4 of the end point P2 of the path r1.
  • Parallel projection processing is performed on the surface J02.
  • 1701 indicates a region where the first structure 1501 is projected
  • 1702 indicates a region where the second structure 1502 is projected.
  • FIG. 18 shows a configuration example of the YZ plane of each projection plane in FIGS.
  • FIG. 18 shows the projection plane J01 of the object 31 at the position X1, the projection plane J02 of the structure 32 at the position X4, and the projection plane J03 for interference determination in which the projection plane J01 and the projection plane J02 are overlapped.
  • the shape of the projection plane is square here, and the shape is combined with the shape of the cross section of the passage.
  • other configurations are possible for setting the size and center point of the projection plane.
  • the projection plane is set with a predetermined size around the object 31, the structure 32, and the center point of the route.
  • the center point of the projection plane is indicated by Q.
  • the projection plane J01 of the object 31 for example, there is an L-shaped area 1601 of the object 31 in the vicinity of the center point Q and in the vicinity of the position (Y1, Z1) of the point P1, and has coordinate information of the area.
  • the projection plane J02 of the structure 32 there are rectangular areas 1701 and 1702 of the structure 32 at, for example, the lower right and upper left positions, and each has coordinate information and the like.
  • the L-shaped region 1601 of the object 31 and the rectangular region 1702 of the first structure 1501 partially overlap.
  • the above-described interference determination processing S11 determines that there is interference, and outputs this overlapping area as an interference area 1800.
  • the interference determination for example, the interference determination unit 15 determines that the smaller the overlapping area in the projection plane, the more effective the route candidate. Further, the interference determination unit 15 determines, as the interference determination, a route with a small overlap area and a small change in posture as an effective route candidate. In addition, for example, the interference determination unit 15 may determine the degree of interference based on the size of the overlapping area, and may output the information.
  • FIG. 19 shows a screen example corresponding to the process of determining the interference state using the margin distance during the interference determination process on the projection plane J03.
  • the region 1901 of the target object 31 is a region obtained by the projection process on the two-dimensional projection plane J01 from the object of the three-dimensional target object 31 in which the above-described margin space 801 is not set.
  • the region 1902 of the structure 32 is also a region obtained by the projection processing on the two-dimensional projection plane J02 from the object of the three-dimensional structure 32 in which the margin space 801 is not set.
  • a margin distance L is set in the projection plane J03.
  • the margin distance L can be set by the operation of the user U on the screen.
  • the above-described interference determination process S11 determines that there is no interference when the margin distance L can be secured between the area 1901 of the object 31 and the area 1902 of the structure 32 in the projection plane J03. Is determined as having interference.
  • the route generation unit 11 and the route generation processing S2 described above generate a route including a curved route corresponding to, for example, the characteristics of the carry-in device 33 of the object 31.
  • a curved route such as an arc is possible as the path of the object 31.
  • the coordinate conversion unit 12 and the coordinate conversion process S5 perform the coordinate conversion process from the orthogonal coordinate system to the polar coordinate system for the curved path when the partial path constituting the path is a curved path such as an arc as described above. Execute. As a result, the curved path is converted into a straight path. As a result, the subsequent projection processing S6 becomes a linear parallel projection processing, so that the projection processing is facilitated and speeded up.
  • FIG. 20 shows an example of the coordinate conversion process S5.
  • A has, for example, a cylindrical object 31 and a linear structure 32 having a square cross section.
  • Reference numeral 2000 denotes the YZ cross section of the structure 32 and the projection plane. 2000b shows an image corresponding to the YZ section 2000.
  • Reference numeral 2001 denotes an example of a partial path having an arc shape. The starting point of the partial path of this arc is p1, the end point is p2, the center point of the arc is pa, the radius is r, and the angle is ⁇ (note that ⁇ used here is ⁇ indicating one of the rotation angles) Aside). It has an arc in the XY plane.
  • the coordinate conversion unit 12 performs a known polar coordinate conversion process on the curved path 2001, the portion of the structure 32 associated with the path 2001, and the object 31.
  • the curved path 2001 becomes a linear partial path 2002 as shown in FIG.
  • Parameter X is converted to parameter ⁇ .
  • the coordinate system after conversion is represented by ( ⁇ , Y, Z).
  • the three-dimensional shape of the linear structure 32 in (a) is transformed into a curved structure 2003 as shown in (b).
  • the three-dimensional shape of the object 31 is deformed as 2004.
  • the structure 2003 has a shape in which flat plates corresponding to the floor and ceiling of the passage are bent downward in the Z direction.
  • a cylindrical coordinate system ( ⁇ , r, Z) or the like can be applied as an expression of the polar coordinate system for the orthogonal coordinate system (X, Y, Z) in the coordinate conversion process S5.
  • X r ⁇ cos ⁇
  • Y r ⁇ sin ⁇
  • Z Z.
  • the present invention is not limited to this, and other known formats can be applied to the representation of the polar coordinate system and the conversion process between the orthogonal coordinate system and the polar coordinate system.
  • FIG. 21 shows an example in which the parallel projection process which is the above-described projection process S6 is performed on the path 2002 and the structure 2003 in FIG.
  • a projection plane 2005 corresponding to the YZ section of the structure 2003 is formed on the YZ plane perpendicular to the X direction that is the tangential direction in the path 2002.
  • the curved structure 2003 is subjected to parallel projection processing on the projection plane 2005.
  • a projection plane image 2005b shown below is obtained.
  • the thicknesses h1 and h3 in the Z direction of the area corresponding to the floor and ceiling of the passage of the structure 32 are larger than the image 2000b of FIG.
  • the path planning function F1 of the present system can search for a path that can avoid interference by changing the posture of the object 31 or planning the state of parallel movement for one partial path between the start point and the end point.
  • a given start point and end point are temporarily determined, and changing the posture of the object 31 between the start point and the end point is avoided. That is, one posture is associated with one partial route. The posture is changed at the position of a point between the partial paths. If the posture of the object is changed or translated at the start point of the partial path, and there is no interference with the structure on the path in the planning state, the object is moved toward the end point in that state.
  • the start point and end point of the partial route may be reset. For example, a new end point or start point may be reset at a position where interference occurs. As a result, another partial route is set, so that the same search can be performed for the partial route.
  • FIG. 22 shows a pattern example of a route corresponding to the parallel movement process on the XY plane.
  • the object 31 is a cube.
  • the structure 32 is substantially the same as the example of FIG. 15 described above, and is a straight path in the X direction.
  • the route r1, which is a partial route, is the position (X1, Y1, Z1) of the start point P1 and the position (X4, Y1, Z1) of the end point P2, and is a straight path in the X direction.
  • the position X2 is the position of the front surface of the structure 1501. In the drawing, “NG” indicates that there is interference, and “OK” indicates that there is no interference.
  • K1 is a carry-in distance in the route r1, and is a distance from the position X1 of the point P1 to the position X2b.
  • FIG. 23 shows an example of searching for a path without interference by planning a parallel movement state in the YZ plane with respect to the path r1 of FIG.
  • Reference numeral 2301 denotes a plan example of the state of translation, and shows a case where the translation is performed at a predetermined distance s in the Y direction from the position (X1, Y1, Z1) of the starting point P1. This is the position (X1, Y1 + s, Z1) of the point pa after translation.
  • this parallel movement state by performing the interference determination on the projection plane J03 described above, for example, there is no interference with the structure 1501.
  • the new route r1a translates in the Y direction from the start point P1 to the point pa, goes straight from the point pa to the point pd in the X direction, and translates in the Y direction from the point pd to the original end point P2. It becomes a route.
  • the new route r1a is not limited to this, and the point pd may be set as a new end point as a route in the order of the points P1, pa, and pd.
  • FIG. 24 further uses the movement in the oblique direction between the YZ plane at the position of the start point P1 of the path r1 and the YZ plane at the position of the end point P2 with respect to the X direction that is the direction of the original path r1.
  • An example is shown.
  • a path 2401 indicates a path that goes straight from the start point P1 to the point Pf at the position X4 in a straight line in the Y direction with respect to the X direction so as to pass through the point pb that does not interfere with the structure 1501.
  • a path that moves obliquely in this way using the result of the interference determination is also possible as a candidate.
  • the route 2402 is an example of another route that moves obliquely with respect to the initial route r1, and moves in parallel in the Y direction from the start point P1 at a distance s2, and from the point ph toward the original end point P2 obliquely. This is an example of going straight. However, in this case, it is necessary to determine the translation point ph according to the position X2c of the rear surface of the structure 1501.
  • FIG. 25 shows a pattern example of a route corresponding to the posture change process on the XY plane.
  • the object 31 is the aforementioned L-shape.
  • the structure 32 is substantially the same as the example of FIG. 15 described above, and is a straight path in the X direction.
  • the route r1, which is a partial route, is the position (X1, Y1, Z1) of the start point P1 and the position (X4, Y1, Z1) of the end point P2, and is a straight path in the X direction.
  • the path r1 between the start point P1 and the end point P2 is like the object 2503 when the interference determination process is performed on the projection surface J03 in which the projection surface J01 and the projection surface J02 are overlapped as described above.
  • Reference numeral 2511 simply indicates a region where the structure 1501 is projected onto the projection plane J02.
  • Reference numeral 2512 denotes a region where the object 2501 is projected onto the projection plane J02.
  • Reference numeral 2513 denotes a region where the object 2502 is projected onto the projection plane J02.
  • FIG. 26 shows an example of the drafting of the posture state in the case of rotation at each angle ( ⁇ , ⁇ , ⁇ ).
  • FIG. 26 (a) shows an example of planning of four posture states corresponding to the example of FIG. 25, in the case of rotation at an angle ⁇ about the Z-axis when the minimum rotation unit is 90 °. Show.
  • the rotation axis indicates a case where the rotation axis is located at a position including the representative point of the object 31.
  • FIG. 26 (b) shows four postures with respect to the object 31 in the same initial state as (a) when the minimum rotation unit is 90 ° in the case of rotation at an angle ⁇ around the X axis.
  • FIG. 26 (c) shows four postures with respect to the object 31 in the same initial state as in (a) when the minimum rotation unit is 90 ° in the case of rotation at an angle ⁇ around the Y axis.
  • FIG. 27 shows an example of searching for a path without interference while determining the state of interference with the structure 32 while translating the object 31 within the projection plane J03 during the above-described interference determination processing S11.
  • Show. (A) is based on the position (X1, Y1, Z1) of the starting point P1 of the path r1 as described above, and the L-shaped first object 31 and the structure 32 on the path r1 are moved to the YZ plane.
  • a state in which the projection processing is performed so as to be superimposed on the projection plane J03 is shown. It has the area
  • the interference state in the first state is interference (NG) with respect to the region 1701 of the first structure. Note that coordinate values in the X direction are omitted from the projection.
  • (B) shows a state in which the object is moved in parallel in the Y direction by a distance s from the position of the object in (a). This is the position (Y1 + s, Z1) of the point p2 after the movement.
  • the interference state in the second state is no interference (OK).
  • rb indicates a partial path added corresponding to the parallel movement of the distance s.
  • (C) shows a state in which the object has been translated from the position of the object (a) by a distance s in the Z direction. This is the position (Y1, Z1 + s) of the point p3 after the movement.
  • the interference state in the third state is interference (NG) with respect to the region 1702 of the second structure. rc indicates a partial path added corresponding to the parallel movement of the distance s.
  • (D) shows a state in which the object has been translated from the position of (a) by a distance s in the negative direction of the Y direction and the Z direction. This is the position (Y1-s, Z1 + s) of the point p4 after the movement.
  • the interference state in the fourth state is no interference (OK). rd indicates a partial path added corresponding to the parallel movement of the distance s.
  • the minimum unit of the parallel movement distance s can be appropriately set on the screen by the user U in consideration of the calculation time. If you want to shorten the calculation time, you can set this minimum unit larger.
  • (B) shows a second state in which the position of the object in the first state in (a) is rotated by ⁇ 90 ° with respect to an angle ⁇ around the X axis.
  • the angle after rotation is ( ⁇ 1-90 °, ⁇ 1, ⁇ 1).
  • the interference state in the second state is no interference (OK).
  • (C) shows a third state in which the position of the object in the first state in (a) is rotated by + 90 ° with respect to an angle ⁇ around the Y axis.
  • the angle after rotation is ( ⁇ 1, ⁇ 1 + 90 °, ⁇ 1).
  • the interference state in the third state is interference (NG) with respect to the first structure 1701.
  • (D) shows the fourth state rotated by + 90 ° with respect to the angle ⁇ around the Z axis at the position of the object in the first state of (a).
  • the angle after rotation is ( ⁇ 1, ⁇ 1, ⁇ 1 + 90 °).
  • the interference state in the fourth state is no interference (OK).
  • the axis of rotation is the axis including the point P1, but it may be an axis including another point.
  • a rotation axis including the center point in the margin space 801 may be set.
  • the minimum unit of the rotation angle is not limited to the above 90 °.
  • the minimum unit of the rotation angle can be appropriately set on the screen by the user U in consideration of the calculation time. If you want to shorten the calculation time, you can set this minimum unit larger.
  • This system calculates the route plan in consideration of the characteristics of the loading means such as the loading device 33 used for loading and unloading the target object 31 that is a moving object, particularly the anisotropy.
  • This system considers, for example, the characteristics of movement in each direction (X, Y, Z) and the characteristics of rotation of each angle ( ⁇ , ⁇ , ⁇ ) in the loading means.
  • the present system may calculate the route plan in consideration of the characteristics of the object 31 and the characteristics of the structure 32.
  • This system may generate a route including only a point and a straight line when generating a route by the route generation unit 11, or may further generate a route including a curve.
  • the carry-in device 33 is, for example, a straight crane
  • the device has a characteristic of moving along a linear track or a characteristic of moving the object 31 linearly.
  • the route generation unit 11 generates a route including a straight partial route.
  • the carrying-in apparatus 33 is a trolley
  • the said apparatus has the characteristic to move the target object 31 on a circular track, or to move the target object 31 on a circular track.
  • the route generation unit 11 generates a route including a circular partial route.
  • This system has an algorithm for prioritizing the state of the object 31 such as the posture and parallel movement when generating, searching, or evaluating a route.
  • This system demonstrates using the above-mentioned coordinate system (X, Y, Z) and angle ((phi), (theta), (psi)) as a parameter.
  • the X direction is the position in the traveling direction of the object 31 and the path
  • the Y direction and the Z direction are the directions constituting the projection plane and the direction of planning the parallel movement
  • the X direction and the Y direction are the horizontal direction
  • the Z direction is the vertical direction.
  • This system sets priorities for each loading means used and for each parameter.
  • the priority order may be incorporated in advance as a program algorithm, or may be selectable by a user U setting operation.
  • the characteristics of the first carrying-in means are good at movement in the (X, Y, Z) direction and poor at rotation at angles ( ⁇ , ⁇ , ⁇ ).
  • a route with less change in posture angle ( ⁇ , ⁇ , ⁇ ) in the entire route is generated.
  • the system prioritizes a state based on parallel movement in the (Y, Z) direction, not a change in posture. Further, as a viewpoint of the evaluation processing corresponding to this, a high evaluation score is given to a route with a small change in posture angle ( ⁇ , ⁇ , ⁇ ) in the entire route.
  • the characteristics of the second carrying-in means are good at rotation of angles ( ⁇ , ⁇ , ⁇ ), and poor at movement in the (X, Y, Z) direction.
  • a route with a short parallel movement distance or a route with a short total distance is generated in the whole route.
  • the system prioritizes a state based on rotation of angles ( ⁇ , ⁇ , ⁇ ), not translation. Further, as a viewpoint of the evaluation processing corresponding to this, a high evaluation score is given to a route having a short parallel movement distance or a route having a short total distance in the whole route.
  • the characteristic of the third carrying-in means is that only movement in the (X, Y, Z) direction is possible, and rotation of the angles ( ⁇ , ⁇ , ⁇ ) is impossible.
  • As a third algorithm corresponding to this only a state due to translation in the (Y, Z) direction is planned when searching for a path that avoids interference.
  • the characteristic of the fourth carrying-in means is that only rotation of angles ( ⁇ , ⁇ , ⁇ ) is possible, and movement in the (X, Y, Z) direction is impossible.
  • a fourth algorithm corresponding to this when planning a path to avoid interference, only a state due to rotation of angles ( ⁇ , ⁇ , ⁇ ) is planned.
  • the characteristics of the fifth carry-in means are that translation in the (Y, Z) direction is possible, and rotation of the angle ( ⁇ , ⁇ ) is possible. For example, rotation of the angle ⁇ around the Z axis is the easiest.
  • the priority order of parameters is set in the order of ( ⁇ , ⁇ , Y, Z).
  • the characteristics of the sixth carry-in means are that the movement in the (X, Y) direction and the rotation of the angles ( ⁇ , ⁇ , ⁇ ) are possible. For example, movement in the Z direction is the least good and expensive, so it is not used.
  • the priority order of the parameters is set in the order of ( ⁇ , Y, ⁇ , ⁇ ).
  • the calculation time for the entire process including the interference determination process for determining the state of interference between the object and the structure on the route with respect to the route for loading / unloading. Can be shortened.
  • calculation processing including interference determination can be accelerated by projection processing and coordinate conversion processing.
  • the user U can easily check various information including the interference state between the object and the structure on the screen, and the system can support efficient work and planning.
  • an efficient route in which an object and a structure do not interfere can be output in a short time in applications such as plant construction including preventive work, preventive maintenance, or plant design.
  • cost reduction by the period shortening in the said use is realizable.
  • a route plan without interference can be output in a short time, and even if there is an interference location, it can be confirmed in a short time, so that a plant design plan can be created in a short time Become.
  • the structure and the object are not fixed at the design stage, and can be varied to some extent within the range desired by the customer.
  • the user can assume a structure or an object within the range of the conditions, and can simulate a design including a route plan by the system of the present embodiment. Thereby, the user can determine a structure and an object according to an efficient route plan, and can create a design estimate plan. Since this system enables route planning in a short time, an estimate plan can be created in a short time.
  • the design desired by the customer can be confirmed in a short time, including the examination of the estimate plan and the design change, and the construction can be realized at a low cost.
  • FIG. 30 shows a comparison between the effects of the prior art and the present embodiment.
  • the horizontal axis indicates the number of three-dimensional objects representing the plant structure.
  • the vertical axis indicates the calculation time of the overall processing including interference determination.
  • a line 3001 indicates a case where the resolution is 10 mm as the calculation time in the prior art.
  • a line 3002 indicates a case where the resolution is 50 mm as the calculation time in the prior art.
  • the resolution here refers to the minimum unit length in the coordinate system of the three-dimensional object.
  • One pixel is 10 mm.
  • the calculation time increases in proportion to the number of three-dimensional objects of the structure.
  • a line 3003 indicates a case where the number of divisions is 212 as the calculation time according to the present embodiment.
  • a line 3004 indicates a case where the number of divisions is 42 as the calculation time according to the present embodiment.
  • the number of divisions here refers to the minimum unit length in the coordinate system of the three-dimensional object and the two-dimensional projection plane. 3003 and 3004 are suppressed to a substantially constant calculation time, and most of the time is the offset time required for the above-described projection processing from the three dimensions to the two dimensions. The time required for interference determination in the two-dimensional projection plane is extremely short if a computer with a certain degree of performance is used.
  • the above-described projection processing is not limited to projection processing from three-dimensional data to two-dimensional data, and projection processing from two-dimensional data to two-dimensional data may be performed. For example, when there is two-dimensional image data of an object or structure photographed at a certain position and direction, this two-dimensional image or a two-dimensional region thereof is converted into a two-dimensional plane by the above-described projection processing. Perform projection processing.

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Abstract

L'invention concerne une technique apte à raccourcir le temps de planification global pour des processus, comprenant un processus pour évaluer l'état de brouillage entre un objet et une structure dans un chemin, par rapport à un système de planification de chemin de distribution et analogue. Un système de planification de chemin de distribution a : une unité de génération de chemin (11) pour générer un chemin pour amener un objet tridimensionnel à se déplacer de façon à être amené dans ou hors de l'espace à l'intérieur d'une structure tridimensionnelle ; une unité de changement de posture (17) pour formuler une pluralité d'états comprenant un état de posture pour l'objet tridimensionnel ; une unité de traitement de projection d'objet mobile (13) pour projeter l'état de l'objet tridimensionnel sur une surface perpendiculaire au chemin, et obtenir des données sur un objet bidimensionnel ; une unité de traitement de projection de structure (14) pour projeter la structure tridimensionnelle sur une surface perpendiculaire au chemin, et obtenir des données sur une structure bidimensionnelle ; une unité d'évaluation de brouillage (15) pour évaluer l'état de brouillage entre la zone de l'objet et la zone de la structure dans un plan bidimensionnel superposant l'objet bidimensionnel et la structure bidimensionnelle ; et une unité de sortie (16) pour délivrer les données de résultat d'évaluation de brouillage.
PCT/JP2014/055327 2013-03-14 2014-03-03 Système de planification de chemin de distribution WO2014141928A1 (fr)

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JP2021077167A (ja) * 2019-11-11 2021-05-20 日立造船株式会社 移動過程提示装置、移動過程提示方法、移動過程提示プログラムおよび記録媒体
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JP6725432B2 (ja) * 2017-01-11 2020-07-15 株式会社日立製作所 配管作業経路作成装置、配管作業経路作成方法およびプログラム
JP7184001B2 (ja) 2019-09-11 2022-12-06 コベルコ建機株式会社 シミュレーション装置
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CN111612199A (zh) * 2019-02-26 2020-09-01 北京京东尚科信息技术有限公司 一种物流网络优化方法、装置、计算机设备及存储介质
JP2021077167A (ja) * 2019-11-11 2021-05-20 日立造船株式会社 移動過程提示装置、移動過程提示方法、移動過程提示プログラムおよび記録媒体
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