Construction road route design device, construction road route design method, and program

Abstract

A construction road route design device (1) comprises: a current topography data acquisition unit (21) that acquires topography data indicating the current topography of an operation site; a design topography data acquisition unit (22) that acquires topography data indicating design topography for the operation site; a road edge acquisition unit (23) that acquires a plurality of road edges consisting of two or more road edges serving as a start point and an end point of a construction road; and a route search unit (25) that searches for a route between the plurality of road edges. The route search unit (25) selects a node present between the plurality of road edges and determines, for a plurality of routes passing through the plurality of road edges via the selected node, costs based on the construction soil volume of the construction road from the topography data regarding the current topography and the design topography, then selects the route with the minimum determined costs.

Description

[Technical Field]

[0001] This invention relates to a construction road route design device, a construction road route design method, and a program. [Background technology]

[0002] Traditionally, the route of temporary roads at construction sites has been manually planned by site supervisors, taking into account factors such as the interface with the final design surface, the boundaries of the construction area, the slope gradient, the amount of cut and fill earthworks, and whether the road is likely to remain until the end. Patent Document 1 discloses a method for setting a 2D earthmoving route by having a user draw the desired route on 2D existing terrain data displayed on the screen of a PC or tablet terminal using an input device such as a mouse or stylus. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-149395 [Overview of the project] [Problems that the invention aims to solve]

[0004] However, when planning routes manually, it currently takes about one week to one month of planning effort, and even experienced supervisors find it difficult to design the optimal route. Furthermore, even if a route is designed after various considerations, there is no guarantee that it is the optimal one.

[0005] This invention has been made in view of the above circumstances, and aims to enable anyone to design the optimal route. [Means for solving the problem]

[0006] To achieve the above objective, the construction road route design device according to the present invention is A current terrain data acquisition unit acquires terrain data showing the current topography of the construction site, A design terrain data acquisition unit acquires terrain data that shows the design terrain of the construction site, A road edge acquisition unit that acquires two or more road edges that will serve as the start and end points of a construction road, A route search unit that searches for a route between the aforementioned multiple road ends, Equipped with, The aforementioned path search unit, Select a plurality of nodes located between the plurality of road ends, and for a plurality of routes leading to the plurality of road ends via the selected nodes, calculate the cost based on the amount of earthwork for the construction road from the terrain data of the current terrain and the design terrain. Select the route that minimizes the required cost. [Effects of the Invention]

[0007] According to the present invention, it is possible to design an optimal route regardless of who designs the route. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows the functional configuration of a construction road route design device according to the first embodiment of the present invention. [Figure 2] This figure shows the hardware configuration of a road route design device for construction according to the first embodiment of the present invention. [Figure 3] This is a flowchart illustrating the operation of the road route design process according to the first embodiment of the present invention. [Figure 4A] This is a diagram showing the current topography of the construction site. [Figure 4B] This is a cross-sectional view of the IVB-IVB section. [Figure 5] This figure shows a map generated by the map generation unit according to the first embodiment of the present invention. [Figure 6] This is a flowchart showing the operation of the pathfinding process according to the first embodiment of the present invention. [Figure 7A]This diagram shows the arrangement of nodes in the xy-plane. [Figure 7B] This diagram shows the arrangement of nodes in the z-axis direction. [Figure 8A] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 8B] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 8C] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 8D] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 8E] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 8F] This figure shows a specific example of a pathfinding method according to the first embodiment of the present invention. [Figure 9A] This figure shows a specific example of a branch point determination method according to a second embodiment of the present invention. [Figure 9B] This figure shows a specific example of a branch point determination method according to a second embodiment of the present invention. [Figure 9C] This figure shows a specific example of a branch point determination method according to a second embodiment of the present invention. [Figure 10] This flowchart shows the operation of the additional branch point determination process according to the third embodiment of the present invention. [Figure 11A] This is a topographic map showing routes connecting three road ends and branching points. [Figure 11B] There is a topographic map that encloses an area including two adjacent road ends and a junction. [Figure 11C] This is a topographic map showing additional branching points and routes. [Figure 12A] This is a topographic map that encloses the area including the other two adjacent road ends and the junction. [Figure 12B] This is a topographic map showing additional branching points and routes. [Figure 12C] This is a topographic map that encloses the area including the other two adjacent road ends and the junction. [Figure 12D] This is a topographic map showing additional branching points and routes. [Figure 13] This figure shows an example of placing nodes in multiple locations in three dimensions. [Modes for carrying out the invention]

[0009] Hereinafter, a construction road route design device, a construction road route design method, and a program according to embodiments of the present invention will be described in detail with reference to the drawings.

[0010] (First Embodiment) As shown in Figure 1, the construction road route design device 1 comprises a control unit 2 and a storage unit 3. The control unit 2 comprises a current terrain data acquisition unit 21 that acquires terrain data showing the current terrain of the land development construction site before construction, a design terrain data acquisition unit 22 that acquires terrain data showing the design terrain of the land development construction site, a road edge acquisition unit 23 that acquires the positions of the road start point and road end point, which are the road ends that are the entrances and exits of the construction road for construction vehicles to travel within the construction site, a map generation unit 24 that generates a map of construction soil volumes such as the amount of cut and fill required for construction from the current terrain data and the design terrain data, and a route search unit 25 that searches for a route for the construction road.

[0011] The current terrain data acquisition unit 21 reads two-dimensional or three-dimensional terrain data representing the current terrain of the planned construction site before construction from the terrain DB (database) 31 (described later) and acquires the necessary current terrain data. The current terrain data is used when searching for the route of the construction road.

[0012] The design terrain data acquisition unit 22 reads two-dimensional or three-dimensional drawing data showing the final design surface of the planned construction site from the design DB (database) 32 (described later) and acquires the necessary design terrain data. The design terrain data is used together with the current terrain data when searching for the route of the construction road.

[0013] The road edge acquisition unit 23 acquires the positions of the start and end points of the road, which are the road edges when designing a construction road. The start and end points are acquired by the user via keyboard, mouse, etc. Once these start and end points, existing terrain data, and design terrain data are acquired, the search for the optimal route of the construction road begins.

[0014] The map generation unit 24 divides the construction site into predetermined areas and generates a map of the construction earthworks required for construction in each area, such as the amount of excavation and embankment, from the current terrain data and the design terrain data. The map generation unit 24 includes an excavation amount calculation unit 241 for calculating the amount of excavation, an embankment amount calculation unit 242 for calculating the amount of embankment, an overfill amount calculation unit 243 for calculating the overfill amount, an overcut amount calculation unit 244 for calculating the overcut amount, an excavation and embankment amount calculation unit 245 for calculating the difference between the amount of excavation and the amount of embankment, and a remaining distance calculation unit 246 for calculating the remaining distance to the end point. The excavation amount calculation unit 241 calculates the amount of excavation required to bring the height up to the road surface when the current terrain is higher than the road surface of the construction road. If the amount of excavation is large, the amount of excavation work increases, which increases the cost of constructing the road. The embankment amount calculation unit 242 calculates the amount of embankment required to bring the height up to the road surface when the current terrain is lower than the road surface. When the amount of embankment is large, the amount of embankment work increases, which increases the cost of constructing the road. The overfill amount calculation unit 243 calculates the overfill amount, which is the amount of embankment required in addition to forming the design surface when the road surface of the construction road is formed higher than the design surface, which is the final terrain. When the overfill amount is large, the amount of embankment work required to form the road surface increases, and further excavation work is required afterward to form the final terrain, which increases the cost of construction. The overcut amount calculation unit 244 calculates the overcut amount, which is the amount of excavation required in addition to forming the design surface when the road surface of the construction road is formed lower than the design surface, which is the final terrain. When the overcut amount is large, the amount of excavation work required to form the road surface increases, and further embankment work is required afterward to form the final terrain, which increases the cost of construction. The cut and fill amount calculation unit 245 calculates the difference between the amount of excavation in that area calculated by the cut amount calculation unit 241 and the amount of fill in that area calculated by the fill amount calculation unit 242. When the difference between the amount of excavated soil and the amount of fill soil is large, the excess soil must be transported to another location, or the insufficient soil must be brought in from another location, which increases the cost of road construction.

[0015] The memory unit 3 comprises a terrain DB 31, a design DB 32, and a map memory unit 33. The terrain DB 31 is a database that stores current terrain data. The design DB 32 is a database that stores design terrain data. The map memory unit 33 is a database that stores maps of construction earthwork volumes, such as the amount of cut and fill earthwork required for construction in each area of ​​the construction site, which are generated by the map generation unit 24.

[0016] The route search unit 25 searches for the optimal route for the construction road from the road start point to the road end point. When searching for a route for the construction road connecting the road start point and the road end point, the route search unit 25 selects nodes, which are intermediate points that the route will pass through. A node is the position of the intersection of meridians and parallels drawn at predetermined intervals (in the case of three dimensions, the intersection of meridians and parallels drawn at predetermined intervals at predetermined altitude intervals), and a route is formed by following the nodes. Once nodes are selected, the route search unit 25 calculates the cost based on the amount of earthwork to be done on the construction road between each node. Once the cost is calculated, the route search unit 25 calculates the sum of the costs from the start point to the end point and selects the route with the smallest sum of costs as the optimal route.

[0017] The construction road route design device 1, in terms of hardware, comprises a processor 41 that processes data according to a control program, a main memory unit 42 that functions as the processor's work area, an auxiliary memory unit 43 for storing data over a long period of time, an input / output unit 44 that accepts data input and outputs data, an operation unit 45, a display unit 46, a communication unit 47 that communicates with other devices, and a bus that connects these elements to each other. The auxiliary memory unit 43 stores the control program executed by the processor 41. The operation unit 45 is a device that inputs various instructions to the control unit 2 and is equipped with a keyboard, operation buttons, etc. The display unit 46 displays screens showing the results of various processes, operation screens, etc. The processor 41 reads the program stored in the auxiliary memory unit 43 into the main memory unit 42 and executes it, thereby functioning as the current terrain data acquisition unit 21, design terrain data acquisition unit 22, road edge acquisition unit 23, map generation unit 24, and route search unit 25 shown in Figure 1. Furthermore, the auxiliary storage unit 43 functions as a terrain database 31, a design database 32, and a map storage unit 33.

[0018] Figure 3 is a flowchart of the road route design process. As shown in Figure 3, in step S101, the current terrain data acquisition unit 21 of the control unit 2 acquires current terrain data of the site where the construction road is to be designed by accessing the terrain DB 31 in the storage unit 3. Next, in step S102, the design terrain data acquisition unit 22 of the control unit 2 acquires the final design surface data of the site by accessing the design DB 32 in the storage unit 3. Next, in step S103, the road edge acquisition unit 23 of the control unit 2 acquires the start and end points of the construction road based on input from the user. Once the current terrain data and the final design surface data are acquired, the map generation unit 24 of the control unit 2 generates a map of the construction soil volumes, such as the amount of cut and fill required for construction, from the acquired current terrain data and final design surface data (step S104).

[0019] Here, we will explain how to generate the map. Existing terrain data and final design surface data are overlaid, and the terrain data incorporates a 2D or 3D grid. Once the grid is incorporated, the amount of earthwork data for cut and fill when constructing a road between adjacent grid points is calculated. Specifically, data for cut volume, fill volume, overcut volume, overfill volume, and cut / fill volume difference are calculated. Figures 4A and 4B show the case where a 2D grid excluding the height direction is incorporated. Figure 4A shows the existing terrain of the construction site. In Figure 4A, nodes are indicated at the positions corresponding to the grid points of a square grid. The upper left corner of the page in Figure 4A is the position of the starting point of the road to be set, and the lower right corner is the ending point of the road. Figure 4B is a cross-sectional view of IVB-IVB, showing the cross-section between IVB-IVB in Figure 4A. In Figure 4B, the cross-section of the final design surface is shown in addition to the existing terrain. In Figure 4B, there are places where the height of the existing terrain is higher than the final design surface, and places where it is lower. If an area is high, it needs to be cut away; if it is low, it needs to be filled in. Figure 5 shows a map generated by calculating the amount to be cut and filled relative to the existing terrain, based on the final design plane. Figure 5 shows the amount of cut, fill, overfill, overcut, and the difference between cut and fill (cut amount - fill amount) for each area including each point at the construction site. This map is used to determine the cost of each route when searching for a route. Note that the map generation is not performed during the route design process, but rather before the route design process and may be saved in the memory unit 3 in advance.

[0020] Returning to Figure 3, once the map is generated in step S104, the path search unit 25 of the control unit 2 performs a path search process to determine the optimal path (step S105). Once the optimal path is determined, the process ends.

[0021] Next, the route search process will be explained in detail. Figure 6 is a flowchart showing the road route determination process performed by the route search unit 25. As shown in Figure 6, in step S201, the route search unit 25 selects candidate routes from the road start point to the road end point based on terrain data. The route search unit 25 first selects each of several nodes located within a predetermined distance from the road start point as a candidate for the first point (n=1) through which the road will pass, and then selects several routes from the road start point to each of these nodes as candidate routes to the first point (n=1).

[0022] Here, the selection of multiple node candidates within a predetermined distance range will be explained with reference to Figures 7A and 7B. Figures 7A and 7B show multiple nodes arranged in three dimensions on a topographic map of the construction site. Figure 7A is an xy-plane view of the construction site seen from above, and Figure 7B is a cross-sectional view in the z-axis direction, which is the elevation direction of the construction site. As shown in Figure 7B, multiple nodes are provided in the height direction for positions with the same longitude and latitude. Now, the route to the node at point n has been determined, and node candidates will be selected to determine the route continuing from the node at point n. In Figure 7A, a circle with radius a is drawn in the xy-plane with the node at point n as the center. Among the nodes within this radius a, nodes that are within a semicircle with a range of 180 degrees in the positive x-axis direction are selected as node candidates. In the figure, the nodes with diagonal lines are node candidates that satisfy the above conditions. Furthermore, in Figure 7B, a circle with radius a is drawn in the height (z) direction with the node at point n as the center. Among the nodes located within radius a, those that lie within a semicircle with a range of 180 degrees in the positive x-axis direction and that lie within the range of the maximum allowable gradient are selected as node candidates. Here, the maximum allowable gradient is the maximum gradient angle that can be allowed for the road extending from the node at point n, and includes both the maximum allowable gradient for uphill and the maximum allowable gradient for downhill. In the figure, the nodes with shaded areas are node candidates that satisfy the above conditions. That is, with the node at point n as the center, among the spheres with radius a, nodes that lie within the hemispherical circle of the search progression method and lie within the range of the maximum allowable gradient are selected as node candidates. The path search process from step S202 onward is then executed for the selected node candidates.

[0023] In step S202, the path search unit 25 calculates an evaluation function for each of the multiple candidates from the earthwork volume data obtained from the map in Figure 5. Note that if there are multiple nodes in the z-axis direction, which is the height direction, there is a map in Figure 5 for each height. The evaluation function is the cost function in the A* algorithm and is expressed by the following equation (1). f(n) = g(n) + h(n) (1) g(n) is the cost from the starting point to point n and is an earth volume function indicating the amount of cut and fill. h(n) is the predicted cost from point n to the ending point and is a distance function indicating the remaining distance to the end point of the road. Since the earth volume and the distance are parameters with different units, g(n) and h(n) are normalized. By normalization, the fluctuation ranges of g(n) and h(n) in the road route evaluation process can be made approximately the same. Since the weights of the normalized g(n) and h(n) are approximately the same, the evaluation function f(n) can be expressed as in Equation (1). By normalization, the construction earth volume function g(n) and the distance function h(n) are made dimensionless quantities respectively. Therefore, the evaluation function f(n) is a dimensionless quantity.

[0024] Specifically, g(n) is represented by the following Equation (2). g(n) = V (切土量) / V (全切土量) +V (盛土量) / V (全盛土量) +V (オーバフィル量) / V (全オーバフィル量) +V (オーバカット量) / V<00编0008>+V (切盛土量差分) / V (全切盛土量差分) (2) V<00编0011>is the amount of cut soil required for grading from the current terrain to the road surface at that node. V (全切土量) is the predicted value of the amount of cut soil required for grading from the current terrain to the road surface in the shortest path from the starting point to the ending point. V (盛土量) is the amount of fill soil required for grading from the current terrain to the road surface. V (全盛土量) is the predicted value of the amount of fill soil required for grading from the current terrain to the road surface in the shortest path from the starting point to the ending point. V (オーバフィル量) is the overfill amount, which is the amount of additional fill soil required from the final design surface to form the road at point n. V (全オーバフィル量) is the predicted value of the overfill amount, which is the amount of additional fill soil required from the final design surface to form the road in the shortest path from the starting point to the ending point. V (オーバカット量)V is the overcut amount, which is the amount of excavation required in the opposite direction from the current terrain to the final design surface in order to form a road at point n. (全オーバカット量) This is the predicted value of the overcut amount, which is the amount of excavation required in the opposite direction from the current terrain to the final design surface in order to form a road along the shortest path from the starting point to the ending point. (切盛土量差分) This is the difference between the amount of excavation and embankment required to level the road surface from the current terrain. (全切盛土量) This is the predicted difference between the amount of excavation and embankment required to level the road surface from the existing terrain along the shortest path from the starting point to the ending point.

[0025] The distance function h(n) is expressed by the following equation (3). h(n) = L (終了点までの距離実績) / L (全距離) (3) L (終了点までの距離実績) L is the remaining distance, which is the shortest distance from point n to the endpoint. (全距離) This represents the shortest distance from the start point to the end point of the road.

[0026] In step S203, the route search unit 25 determines the route that minimizes the evaluation function f(n) from among multiple candidates as the road route to point n.

[0027] In step S204, the route search unit 25 determines whether the node determined after route determination is an endpoint, that is, whether the route has reached an endpoint. If the node at the end of the determined route is not an endpoint (step S204: No), the process returns to step S201, and the route search unit 25 determines the subsequent road route. If the determined node is an endpoint (step S204: Yes), the route search unit 25 determines the route up to the determined node as the road route (step S205), and terminates the road route determination process. In other words, the route search unit 25 repeats the road route determination process until it reaches the end of the road.

[0028] Next, a specific example of the pathfinding method by the pathfinding unit 25 will be described. In the following explanation, for the sake of simplicity, the height (z-axis) direction will not be considered, and node candidates will be selected only in the x and y directions, and the radius a of the candidates will be a radius that includes only nodes adjacent to the node at point n. Figures 8A to 8F are diagrams showing specific examples of the pathfinding method. As shown in Figure 8A, in the initial state, the path determination has not yet started, so the construction volume function g(n) = 0.

[0029] Next, the path search unit 25 selects node candidate N as node candidate Ni,j for the first path from the starting point. 1,3 , N 2,3 , N 2,4 Select the desired path and calculate the corresponding evaluation function f(n). As described above, the candidate path is determined by selecting the road path that minimizes the sum of the construction volume function, which consists of the required excavation volume, embankment volume, overfill volume, overcut volume, and the difference in excavation and embankment volumes, and the distance function, which indicates the remaining distance to the endpoint. For example, as the excavation volume, embankment volume, overfill volume, overcut volume, and difference in excavation and embankment volumes, refer to Figure 5 to select the candidate node N. 1,3 Therefore, the construction volume function g(1) = g1(1) + g2(1) + g3(1) + g4(1) + g5(1) = 4.6 / 54.1 + 6.7 / 49.6 + 0 / 3.2 + 2.5 / 16.7 + 2.1 / 41.7 = 0.42, and h(1) = 5.4 / 7.2 = 0.75. Node candidate N 2,3 Then, the construction volume function g(1) = g1(1) + g2(1) + g3(1) + g4(1) + g5(1) = 13.9 / 54.1 + 5.2 / 49.6 + 0 / 3.2 + 7.2 / 16.7 + 8.7 / 41.7 = 1.01, and h(1) = 4.5 / 7.2 = 0.63. Node candidate N 2,4 Therefore, the construction volume function g(1) = g1(1) + g2(1) + g3(1) + g4(1) + g5(1) = 2.7 / 54.1 + 13.7 / 49.6 + 0.5 / 3.2 + 0 / 16.7 + 11 / 41.7 = 0.75, and h(1) = 5 / 7.2 = 0.69. Thus, regarding the construction volume, for node candidate N 1,3 This is the smallest. In contrast, regarding the remaining distance, node candidate N 2,3This is the smallest. Also, node candidate N 1,3 Therefore, the evaluation function f(1) = 1.17, and the number of node candidates N 2,3 Then the evaluation function f(1) = 1.64, and the node candidates N 2,4 Therefore, the evaluation function f(1) = 1.44. Consequently, the pathfinding unit 25 identifies the node candidate N that has the smallest evaluation function f(1) among the node candidates. 1,3 The path to the first point (n=1) is determined as the path to the first point N. 1,3 Since this is not the endpoint, we proceed to node N. 1,3 We search for a path from point A to point B (n=2).

[0030] As shown in Figure 8B, the path search unit 25 identifies node candidate N as a node candidate in the path to the second point (n=2). 1,2 , N 2,2 , N 2,3 Select the appropriate node and calculate its respective evaluation function f(n). Node candidate N 1,2 Then, the construction volume function g(2) = g1(2) + g2(2) + g3(2) + g4(2) + g5(2) + g(1) = 5.3 / 54.1 + 2.7 / 49.6 + 1.5 / 3.2 + 0 / 16.7 + 2.6 / 41.7 + 0.42 = 1.1, and h(2) = 5.1 / 7.2 = 0.71. Node candidate N 2,2 Then, the construction volume function g(2) = g1(2) + g2(2) + g3(2) + g4(2) + g5(2) + g(1) = 9.3 / 54.1 + 6.4 / 49.6 + 0.7 / 3.2 + 0 / 16.7 + 2.9 / 41.7 + 0.42 = 1.01, and h(2) = 4.1 / 7.2 = 0.57. Node candidate N 2,3 Therefore, the construction volume function g(2) = g1(2) + g2(2) + g3(2) + g4(2) + g5(2) + g(1) = 13.9 / 54.1 + 5.2 / 49.6 + 0 / 3.2 + 7.2 / 16.7 + 8.7 / 41.7 + 0.42 = 1.42, and h(2) = 4.5 / 7.2 = 0.63. Thus, regarding the construction volume, for node candidate N 2,2 This is the smallest. In contrast, regarding the remaining distance, node candidate N 2,2 This is the smallest. Also, node candidate N 1,2Therefore, the evaluation function f(2) = 1.81, and the node candidates N 2,2 Then the evaluation function f(2) = 1.58, and the node candidates N 2,3 Therefore, the evaluation function f(2) = 2.05. Thus, the pathfinding unit 25 selects the node candidate N among the candidates that has the smallest evaluation function f(2). 2,2 The path to the second point (n=2) is determined as the path to the second point. 2,2 Since this is not the endpoint, we proceed to node N. 2,2 We search for a path from point A to the third point (n=3).

[0031] As shown in Figure 8C, the pathfinding unit 25 identifies node candidate N as a candidate path to the third point (n=3). 2,1 , node candidate N 3,1 , node candidate N 3,2 , node candidate N 3,3 Determine the node candidates and calculate the evaluation function f(n) for each. 2,1 Therefore, the construction volume functions g(3) = 1.71 and h(3) = 4 / 7.2 = 0.56. Node candidate N 3,1 Therefore, the construction volume functions are g(3) = 1.63 and h(3) = 3 / 7.2 = 0.42. Node candidate N 3,2 Therefore, the construction volume functions g(3) = 1.57 and h(3) = 3.2 / 7.2 = 0.44. Also, node candidate N 3,3 Therefore, the construction volume function g(3) = 2.03 and h(3) = 3.6 / 7.2 = 0.5. Thus, regarding the construction volume, node candidate N 3,2 This is the smallest. Also, regarding the remaining distance, node candidate N 3,1 This is the smallest. Also, node candidate N 2,1 Therefore, the evaluation function f(3) = 2.27, and the number of node candidates N 3,1 Then the evaluation function f(3) = 2.05, and the node candidates N 3,2 Therefore, the evaluation function f(3) = 2.01, and the node candidates N 3,3 For the candidates, the evaluation function f(3) = 2.53. Therefore, the pathfinding unit 25 selects the node candidate N that has the smallest evaluation function f(3) among the candidates. 3,2The path to the third point (n=3) is determined as the path to the third point. 3,2 Since this is not the endpoint, we proceed to node N. 3,2 We search for a path from point A to the fourth point (n=4).

[0032] As shown in Figure 8D, the path search unit 25 identifies node candidate N as a candidate path to the fourth point (n=4). 3,1 , node candidate N 4,1 , node candidate N 4,2 , node candidate N 4,3 , node candidate N 3,3 Determine the node candidates and calculate the evaluation function f(n) for each. 3,1 Therefore, the construction volume functions are g(4) = 2.20 and h(4) = 3 / 7.2 = 0.42. Node candidate N 4,1 Therefore, the construction volume functions are g(4) = 2.17 and h(4) = 2 / 7.2 = 0.28. Node candidate N 4,2 Therefore, the construction volume functions are g(4) = 2.23 and h(4) = 2.2 / 7.2 = 0.31. Node candidate N 4,3 Therefore, the construction volume functions are g(4) = 2.44 and h(4) = 2.8 / 7.2 = 0.39. Node candidate N 3,3 Therefore, the construction volume functions g(4) = 2.59 and h(4) = 3.6 / 7.2 = 0.5. Thus, regarding the construction volume, node candidate N 4,1 This is the smallest. Also, regarding the remaining distance, node candidate N 4,1 This is the smallest. Also, node candidate N 3,1 Therefore, the evaluation function f(4) = 2.62, and the node candidates N 4,1 Then the evaluation function f(4) = 2.45, and the node candidates N 4,2 Therefore, the evaluation function f(4) = 2.54, and the number of node candidates N 4,3 Therefore, the evaluation function f(4) = 2.83, and the node candidates N 3,3 Therefore, the evaluation function f(4) = 3.09. Consequently, the pathfinding unit 25 selects the node candidate N that has the smallest evaluation function f(4) among the candidates. 4,1 The path to the fourth point (n=4) is determined as the path to the fourth point. 4,1Since it is not the end point, the path from the subsequent node N 4,1 to the fifth point (n = 5) extending therefrom is searched.

[0033] As shown in FIG. 8E, the path search unit 25 determines node candidates N 5,1 , node candidate N 5,2 , and node candidate N 4,2 as candidates for the path to the fifth point (n = 5), and calculates the respective evaluation functions f(n). For node candidate N 5,1 , the earthwork function g(�)=2.83 and h(5)=1 / 7.2 = 0.14. For node candidate N 5,2 , the earthwork function g(5)=3.06 and h(5)=1.4 / 7.2 = 0.19. For node candidate N 4,2 , the earthwork function g(5)=2.83 and h(5)=2.2 / 7.2 = 0.31. Therefore, regarding the earthwork volume, node candidates N 5,1 , node candidate N\ 4,2 are the least. Also, regarding the remaining distance, node candidate N 5,1 is the smallest. Also, for node candidate N 5,1 , the evaluation function f(5)=2.97, for node candidate N 5,2 , the evaluation function f(5)=3.25, and for node candidate N 4,2 , the evaluation function f(5)=3.14. Therefore, the path search unit 25 determines the path leading to node candidate N 5,1 with the minimum evaluation function f(5) among the candidates as the path to the fifth point (n = 5). Since the determined node N 5,1 is not the end point, the path from the subsequent node N 5,1 to the sixth point (n = 6) extending therefrom is searched.

[0034] As shown in FIG. 8F, the path search unit 25 determines node candidates N 6,1 , node candidate N 5,2 , and node candidate N 6,2 as candidates for the path to the sixth point (n = 6), and calculates the respective evaluation functions f(n). For node candidate N 6,1Therefore, the construction volume functions g(6) = 3.66 and h(6) = 0 / 7.2 = 0. Node candidate N 5,2 Therefore, the construction volume functions g(6) = 3.72 and h(6) = 1.4 / 7.2 = 0.19. Node candidate N 6,2 Therefore, the construction volume functions g(6) = 3.61 and h(6) = 1 / 7.2 = 0.14. Thus, regarding the construction volume, node candidate N 6,2 This is the smallest. Also, regarding the remaining distance, node candidate N 6,1 This is the smallest. Also, node candidate N 6,1 Therefore, the evaluation function f(6) = 3.66, and the number of node candidates N 5,2 Then the evaluation function f(6) = 3.91, and the node candidates N 6,2 Therefore, the evaluation function f(6) = 3.75. Thus, the pathfinding unit 25 selects the node candidate N that has the smallest evaluation function f(6) among the candidates. 6,1 The path to the sixth point (n=6) is determined as the path to the sixth point. Then, the selected node N 6,1 Since the starting point is the same as the ending point, the selected path reaches the ending point, and the path from the starting point to the ending point is determined.

[0035] As described above, the path search unit 25 searches from the starting point to node N 1,3 , node N 2,2 , node N 3,2 , node N 4,1 , node N 5,1 Passing through to the endpoint node N 6,1 The optimal route for the construction road is determined. Traceback may be performed during the route determination process.

[0036] As described above, according to the construction road route design device of this embodiment, the route search unit 25 determines the candidate that minimizes the evaluation function f(n) from among multiple road route candidates as the road route. Therefore, there is no need to plan the route manually, and the optimal route can be planned regardless of who designs the route.

[0037] The evaluation function f(n) includes a construction volume function g(n) that indicates the amount of earthwork required to construct the road, and a distance function h(n) that indicates the remaining distance to the endpoint. Therefore, it is possible to determine the shortest road route with the least amount of earthwork. Furthermore, the parameters for construction volume include cut volume, fill volume, overfill volume, overcut volume, and the difference between cut and fill volumes, and a road route that achieves a balanced representation of these items is automatically derived.

[0038] (Second Embodiment) The above embodiment described the case where the road has two ends: a road start point and a road end point. In contrast, this section describes how to determine the most appropriate branching point when there are three or more road ends, i.e., when there are branching points in the road.

[0039] Next, a specific example of the branching point determination method by the path search unit 25 will be described. Figures 9A to 9C show specific examples of the branching point determination method. In this example, we will describe a case where there are three road ends and one branching point. As shown in Figure 9A, road end 1, road end 2, and road end 3 are set as site road ends at the three corners of the construction area. Once the road ends are set, the search algorithm is executed for each road end, with each node, which is a point in the grid within the construction area, as a branching point candidate, to find the optimal path. The search algorithm uses the evaluation function f(n) used in the embodiment described above. In the initial state when the path search starts from each branching point candidate, the path determination has not yet started, so the construction volume function g(n) = 0.

[0040] First, the route search unit 25 selects branch point 1 as the first candidate branch point and finds the optimal route from branch point 1 to road edge 1 that minimizes the evaluation function f(n). The route search unit 25 also finds the optimal routes from branch point 1 to road edge 2 and to road edge 3 that minimize the evaluation function f(n) for each. Figure 9A shows the determined routes from branch point 1 to road edge 1, road edge 2, and road edge 3, and the calculated values ​​of the evaluation function f(n). The calculated cost from branch point 1 to road edge 1 is f1-1 (n) = 2.01, and the cost from branch point 1 to road end 2 is f 1-2 (n) = 3.66, and the cost from branching point 1 to road end 3 is f 1-3 (n) = 2.97. Therefore, the cost of the road route connecting road ends 1, 2, and 3, given that the branching point is branching point 1, is f1(n) = f 1-1 (n)+f 1-2 (n)+f 1-3 (n) = 2.01 + 3.66 + 2.97 = 8.64.

[0041] Next, the route search unit 25 selects branch point 2 as the second candidate branch point and finds the optimal route from branch point 2 to road edges 1, 2, and 3 that minimizes the evaluation function f(n). Figure 9B shows the determined route from branch point 2 to road edge 1, road edge 2, and road edge 3, and the calculated value of the evaluation function f(n). The calculated cost from branch point 2 to road edge 1 is f 2-1 (n) = 1.58, and the cost from branching point 2 to road end 2 is f 2-2 (n) = 3.15, and the cost from branching point 2 to road end 3 is f 2-3 (n) = 2.88. Therefore, the cost of the road route connecting road ends 1, 2, and 3, when the branching point is branching point 2, is f2(n) = f 2-1 (n)+f 2-2 (n)+f 2-3 (n) = 1.58 + 3.15 + 2.88 = 7.61.

[0042] Next, as shown in Figure 9C, similar to the above, the remaining nodes are designated as branching point 3 to branching point n, and the optimal route and cost connecting road ends 1, 2, and 3 are sequentially determined for branching point 3 to branching point n.

[0043] Once the optimal path and cost are determined up to branching point n, the calculated costs f1(n)~f n (n) is compared, and the branching point with the lowest cost is adopted as the optimal branching point. Since the route connecting road ends 1, 2, and 3 that pass through the optimal branching point has already been determined, this route is adopted as the optimal route.

[0044] In the example above, we used three road edges, but we are not limited to this and may use four or more road edges. In this case, the calculation of the optimal route from the candidate branching point to each road edge will simply increase by the number of additional road edges, and the calculation of the optimal branching point and the route passing through the optimal branching point will be the same as above.

[0045] (Third embodiment) The above embodiment described the case where there is one branching point. In contrast, this embodiment describes the case where additional branching points are added to set up multiple branching points, and how to determine the optimal branching point locations and the path that passes through multiple optimal branching points.

[0046] Figure 10 shows the process for determining an additional branch point. The route search unit 25 selects two adjacent road ends (step S301). The route search unit 25 determines whether or not it is necessary to create an additional branch point in the area between the two selected adjacent road ends and the generated branch point (step S302). Here, as an example, Figures 11A to 11C and 12A to 12D show an example of the additional branch point determination process when three road ends, road end 1, road end 2, and road end 3, are set and branch point 1 has already been set as a branch point. Figure 11A shows a topographic map showing a route including the three road ends and branch point 1, with road end 1 and road end 2, road end 2 and road end 3, and road end 3 and road end 1 being adjacent to each other. Assume that road end 1 and road end 2 are selected in step S301. As shown in Figure 11B, the route search unit 25 draws a line around the area between road edge 1, road edge 2, and the generated branching point 1, displays the topographic map shown in Figure 11B on the display unit 46, and instructs the user to select whether or not it is necessary to create an additional branching point within the area enclosed by the line. The user then inputs whether or not it is necessary by operating the operation unit 45, and the route search unit 25 makes the decision in step S302. If it is necessary to create an additional branching point (step S302: Yes), the route search unit 25 searches for an additional branching point by executing the branching point search algorithm described above (step S303). In the example in Figure 11B, each node point within the area enclosed by the line is considered a candidate for an additional branching point, and the optimal route and cost to road edge 1, the optimal route and cost to road edge 2, and the optimal route and cost to branching point 1 are calculated, and these costs are summed up to determine the cost of each candidate additional branching point. The costs of each additional branching point candidate are compared, and the branching point candidate with the lowest cost is determined to be the additional branching point (step S304). Figure 11C shows the determined additional branching point and the paths from the additional branching point.Once an additional branching point is determined, the route search unit 25 prompts the user by displaying on the display unit 46 whether or not further additional branching points are needed. The user then inputs whether or not further additional branching points are needed through the operation unit 45, and the route search unit 25 determines whether or not further additional branching points are needed (step S305). If the route search unit 25 determines that further additional branching points are needed (step S305: Yes), it returns to step S303 and performs the search for additional branching points. If the route search unit 25 determines that further additional branching points are not needed (step S305: No), it proceeds to step S306. Similarly, if it is determined in step S302 that additional branching points are not needed (step S302: No), it also proceeds to step S306.

[0047] In step S306, the route search unit 25 determines whether there are two other adjacent road ends. In the example in Figure 10, in the previous step, a decision was made regarding whether an additional branching point is needed for road end 1 and road end 2 as two adjacent road ends. However, there are other combinations of two adjacent road ends, such as road end 2 and road end 3, and road end 3 and road end 1. Therefore, the route search unit 25 determines that there are two other adjacent road ends (step S306: Yes) and selects, for example, road end 2 and road end 3 as the other two adjacent road ends (step S307). Once two other adjacent road ends are selected, the process returns to step S302 to determine whether an additional branching point is needed in the area between the new two road ends and the branching point. As shown in Figure 12A, the route search unit 25 draws a line around the area between road edge 2, road edge 3, and branching point 1, displays it on the display unit 46, and asks the user whether an additional branching point is needed within the area drawn by the line, and makes a decision in step S302. If an additional branching point is needed (step S302: Yes), the route search unit 25 searches for an additional branching point (step S303), and as shown in Figure 12B, the determined additional branching point and the route from the additional branching point are displayed (step S304). Once an additional branching point is determined, the route search unit 25 determines whether further additional branching points are needed (step S305). If it determines that further additional branching points are needed (step S305: Yes), it returns to step S303 and searches for additional branching points. If it determines that further additional branching points are not needed (step S305: No), it proceeds to step S306. Furthermore, if it is determined in step S302 that no additional branching points are needed within the area enclosed by the lines (step S302: No), the process proceeds to step S306.

[0048] In the examples in Figures 12A and 12B, since there are two other adjacent road ends, the combination of road end 3 and road end 1, the route search unit 25 determines that there are two other adjacent road ends (step S306: Yes), selects road end 2 and road end 3 (step S307), returns to step S302, and determines whether an additional branch point is needed in the area between the two new road ends and the branch point. As shown in Figure 12C, the route search unit 25 draws a line around the area between road end 2, road end 3 and branch point 1, displays it on the display unit 46, and asks the user whether an additional branch point is needed in the area drawn with the line, and makes the decision in step S302. If an additional branch point is needed (step S302: Yes), the route search unit 25 searches for an additional branch point (step S303), and as shown in Figure 12D, the determined additional branch point and the route from the additional branch point are shown (step S304). Once an additional branching point is determined, the path search unit 25 determines whether further additional branching points are necessary or not (step S305). If it determines that further additional branching points are necessary (step S305: Yes), it returns to step S303 to search for additional branching points. If it determines that further additional branching points are unnecessary (step S305: No), it proceeds to step S306. Similarly, if it is determined in step S302 that additional branching points are unnecessary within the area enclosed by the lines (step S302: No), it also proceeds to step S306.

[0049] In step S306, if there are no other two adjacent road ends (step S306: No), the route search unit 25 terminates the process. In the examples in Figures 11A to 11C and 12A to 12D, the process is terminated because there are no other two adjacent road ends.

[0050] In the above embodiment, the optimal position can be determined for multiple branching points. Therefore, the optimal route can be designed according to the user's requirements.

[0051] In the above embodiment, the nodes were set up in two dimensions. That is, only one node was set up for each location with the same longitude and latitude. In contrast, nodes may be set up in three dimensions at multiple locations. For example, as shown in Figure 13, nodes can be set up in multiple layers in the height direction. This makes it possible to search for the optimal path including the height direction.

[0052] In the above embodiment, the items used for cost calculation were excavation volume, embankment volume, overfill volume, overcut volume, difference in excavation and embankment volume, and route length. However, other items can also be added. For example, items such as slope gradient, boundary conditions of the constructable area, and the percentage of road remaining until the end may be added. These items may also be added selectively depending on the construction site. Furthermore, items, including those used in the above embodiment, may be rearranged or deleted as needed. In addition, since the impact on cost may differ depending on the item, and some items may be given more importance to certain users, an importance coefficient may be applied to each item.

[0053] Furthermore, the functions of the construction road route design device 1 can be realized by dedicated hardware or by a standard computer system.

[0054] For example, a device that performs the above-mentioned processing can be configured by distributing a program executed by the processor 41 on a computer-readable, non-temporary recording medium, and then installing that program on a computer. Examples of such recording media include flexible disks, CD-ROMs (Compact Disc Read-Only Memory), DVDs (Digital Versatile Discs), and MOs (Magneto-Optical Discs).

[0055] Alternatively, the program may be stored on a disk drive of a server device on a communication network, such as the Internet, and then downloaded to a computer, for example, by superimposing it onto a carrier wave.

[0056] Furthermore, the above-mentioned process can also be achieved by launching and executing the program while transferring it over a communication network.

[0057] Furthermore, the above-mentioned processing can also be achieved by having all or part of the program run on a server device, while the computer sends and receives information about the processing via a communication network.

[0058] Furthermore, if the above-mentioned functions are implemented by the OS (Operating System) or through collaboration between the OS and the application, then only the parts other than the OS may be stored and distributed on a medium, or they may be downloaded to a computer.

[0059] Furthermore, the means for realizing the functions of the construction road route design device 1 are not limited to software; some or all of them may be realized by dedicated hardware including circuits.

[0060] The present invention allows for various embodiments and modifications without departing from the broad spirit and scope of the invention. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of the invention. In other words, the scope of the invention is indicated by the claims, not by the embodiments. Various modifications made within the scope of the claims and the equivalent significance of disclosure are considered to be within the scope of the invention. [Industrial applicability]

[0061] This invention can be widely applied to road route design devices for designing road paths. [Explanation of symbols]

[0062] 1 Construction road route design device, 2 Control unit, 3 Storage unit, 21 Current terrain data acquisition unit, 22 Design terrain data acquisition unit, 23 Road edge acquisition unit, 24 Map generation unit, 25 Route search unit, 31 Terrain DB, 32 Design DB, 33 Map storage unit, 41 Processor, 42 Main memory unit, 43 Auxiliary memory unit, 44 Input / Output unit, 45 Operation unit, 46 Display unit, 47 Communication unit, 241 Excavation volume calculation unit, 242 Embankment volume calculation unit, 243 Overfill volume calculation unit, 244 Overcut volume calculation unit, 245 Excavation / Embankment volume calculation unit, 246 Remaining distance calculation unit.

Claims

1. A current terrain data acquisition unit acquires terrain data showing the current topography of the construction site, A design terrain data acquisition unit acquires terrain data that shows the design terrain of the construction site, A road edge acquisition unit that acquires two or more road edges that will serve as the start and end points of a construction road, A route search unit that searches for a route between the aforementioned multiple road ends, Equipped with, The aforementioned path search unit, Select a node located between the multiple road ends, and for multiple routes leading to the multiple road ends via the selected node, calculate the cost based on the amount of earthwork for the construction road from the terrain data of the existing terrain and the design terrain. Select the route that minimizes the required cost. Construction road route design device.

2. The aforementioned path search unit, For each of the adjacent road ends and nodes along the route, and for each of the two adjacent nodes, the cost based on the amount of earthworks to be constructed for the construction road is calculated. Select the path that minimizes the sum of the required costs. Construction road route design device according to claim 1.

3. The aforementioned path search unit, For each of the adjacent road ends and nodes along the route, and for each of the two adjacent nodes, calculate the cost based on the amount of earthworks to be constructed on the construction road and the cost based on the remaining distance to the endpoint. The route selected minimizes the sum of the cost based on the amount of earthwork for the construction road and the cost based on the remaining distance to the endpoint. Construction road route design device according to claim 1.

4. The aforementioned construction volume includes the volume of excavation and the volume of embankment. A construction road route design device according to any one of claims 1 to 3.

5. The aforementioned construction volume further includes the overfill volume and the overcut volume. Construction road route design device according to claim 4.

6. The aforementioned construction volume further includes the difference between the aforementioned excavation volume and the aforementioned embankment volume. Construction road route design device according to claim 4.

7. When the road edge acquisition unit acquires three or more road edges as the plurality of road edges, The aforementioned path search unit, For each of the aforementioned branching points leading to each of the aforementioned road ends, the cost based on the amount of earthworks required for the construction road between the branching point and each of the aforementioned road ends is calculated. Select the branching point and the path passing through the branching point that minimize the sum of the required costs. Construction road route design device according to claim 1.

8. The aforementioned path search unit, When it is determined that an additional branching point is needed, For the region including two adjacent road ends among the plurality of road ends and the branching point, the cost based on the amount of earthwork for the construction road between the additional branching point and each of the two adjacent road ends, and between the additional branching point and the branching point, is calculated. Select the additional branching point and the path passing through the additional branching point that minimizes the sum of the required costs. Construction road route design device according to claim 7.

9. The steps include obtaining topographic data that shows the current topography of the construction site, The steps include obtaining topographic data that shows the design terrain of the construction site, The steps include obtaining two or more road ends that will serve as the starting and ending points of the construction road, The steps include: selecting a node located between the multiple road ends; determining the cost based on the amount of earthwork for the construction road from the terrain data of the current terrain and the design terrain for multiple routes leading to the multiple road ends via the selected node; and selecting the route that minimizes the determined cost to search for a route between the multiple road ends; A construction road route design method that includes [the following].

10. to the computer The steps include obtaining topographic data that shows the current topography of the construction site, The steps include obtaining topographic data that shows the design terrain of the construction site, The steps include obtaining two or more road ends that will serve as the starting and ending points of the construction road, The steps include: selecting a node located between the multiple road ends; determining the cost based on the amount of earthwork for the construction road from the terrain data of the current terrain and the design terrain for multiple routes leading to the multiple road ends via the selected node; and selecting the route that minimizes the determined cost to search for a route between the multiple road ends; A program that executes the command.

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