Method and system for proposing virtual transportation route

Abstract

To provide a method of proposing a plurality of virtual transportation routes 52 together with a range in which cutting of trees and widening of a road are required due to interference with a vehicle and a blade before the blade of a windmill is actually transported.SOLUTION: A method of proposing a virtual transport route 52 includes: acquiring three-dimensional route data along a transport route for transporting blades to be used in wind turbines of a wind power generation facility, and a vehicle model of three-dimensional data including a vehicle transporting the blades and the blades loaded on the vehicle; assigning attributes to feature data; establishing a virtual transportation route connecting at least two reference points; moving the vehicle model along the virtual transportation route and calculating the extent of interference with the feature data; calculating the amount of trees to be cut down in the interference area and the area to be widened in the interference area; storing a data set of the virtual transportation route and the cutting volume and widening area; repeating the process a predetermined number of times; and proposing a plurality of said virtual transportation routes.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a method and system for proposing a virtual transportation route for transporting blades, which are particularly long members of a wind turbine used in a wind power generation facility. [Background technology]

[0002] In recent years, the use of natural energy has been attracting attention, and wind power generation facilities are being constructed in coastal areas and mountainous regions. The construction of wind power generation facilities, particularly in mountainous regions, requires the transport of large components that make up the wind turbine over land. A wind turbine is composed of a cylindrical, upright tower, a nacelle mounted on the top of the tower, and multiple blades (vanes) rotatably attached to the nacelle. Among the components of a wind turbine, the blades are particularly long, generally measuring 40 meters or more, with some exceeding 60 meters. A transportation device equipped with a cantilever-supported hoisting mechanism has been proposed for transporting the blades (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-243805 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even when using a transportation device with a hoisting mechanism such as that described in Patent Document 1, it is difficult to transport wind turbine components on narrow roads or winding roads in mountainous areas. Furthermore, it may be necessary to widen the road or cut down trees along the transportation route. Therefore, experienced transportation workers must carry out surveys and draw up plans for widening and cutting down trees using road registers and accompanying floor plans before actually transporting the wind turbine components.

[0005] Therefore, the object of the present invention is to provide a method and system for proposing multiple virtual transportation routes, along with the extent to which tree felling and road widening will be required due to interference with the vehicle and the blade, before actually transporting the blade, which is a long member. [Means for solving the problem]

[0006] The present invention has been made to solve at least some of the above-mentioned problems, and can be realized as the following aspects or application examples.

[0007] [1] One aspect of the method for proposing a virtual transportation route according to the present invention is to acquiring three-dimensional route data along a transport route for transporting blades used in wind turbines of a wind power generation facility, and a vehicle model of three-dimensional data including a vehicle transporting the blades and the blades loaded on the vehicle; assigning attributes to feature data included in the three-dimensional route data; A virtual transportation route connecting at least two reference points is set in the three-dimensional route data; moving the vehicle model along the virtual transportation route to calculate an interference range with the feature data; Calculating the amount of trees to be cut down in the interference range and the area to be widened in the interference range; storing a data set of the virtual transportation route, the felling volume, and the widening area; The process from setting the virtual transportation route to storing the data set is repeated a predetermined number of times by setting a virtual transportation route different from the already set virtual transportation route; and proposing a plurality of the virtual transportation routes each including the data set. do.

[0008] [2] In one aspect of the virtual transportation route proposal method, A plurality of sections can be set in the data set according to the size of the widening area, and the virtual transportation route can be proposed that includes the data set having the smallest felling volume for each section.

[0009] [3] In one aspect of the virtual transportation route proposal method, A plurality of sections can be set in the data set according to the size of the felling volume, and the virtual transportation route can be proposed that includes the data set that has the smallest expansion area for each section.

[0010] [4] In one aspect of the virtual transportation route proposal method, Obtaining an expected cost for the felling amount per unit area and an expected cost for the widening area per unit area; The cost for the felling volume and the cost for the widening area in the data set can be calculated and stored as part of the data set.

[0011] [5] One aspect of the virtual transportation route proposal system according to the present invention is: an acquisition unit that acquires three-dimensional route data along a transport route for transporting blades used in wind turbines of a wind power generation facility, and a vehicle model that is three-dimensional data including a vehicle transporting the blades and the blades loaded on the vehicle; an attribute assigning unit that assigns attributes to feature data included in the three-dimensional route data; a setting unit that sets a virtual transportation route connecting at least two reference points in the three-dimensional route data; an interference range calculation unit that moves the vehicle model along the virtual transportation route to calculate an interference range with the feature data, and calculates the amount of trees to be cut in the interference range and the area to be widened by widening the road in the interference range; a storage unit that stores a data set of the virtual transportation route, the felling volume, and the widening area; a repeat execution unit that sets a virtual transportation route different from the already set virtual transportation route and repeatedly executes the process from setting the virtual transportation route to storing the data set a predetermined number of times; a proposal unit that proposes a plurality of the virtual transportation routes each including the data set; The present invention is characterized by comprising: [Effects of the Invention]

[0012] According to the virtual transportation route proposing method and system of the present invention, it is possible to propose multiple virtual transportation routes along with the amount of trees to be cut and the area of ​​road widening that will require cutting due to interference with the vehicle and the blade before actually transporting the blade. Therefore, according to the present invention, the person performing the transportation work can determine the actual transportation route while taking into account the amount of trees to be cut and the like for the multiple virtual transportation routes, thereby improving work efficiency. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic configuration diagram of a virtual transportation route proposing system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram illustrating an example of three-dimensional route data. [Figure 3] FIG. 10 is a schematic diagram illustrating an example of a vehicle model with the blade lowered. [Figure 4] FIG. 10 is a schematic diagram for explaining an example in which an interference range is displayed on map data. [Figure 5] 1 is a flowchart of a method for proposing a virtual transportation route according to the present embodiment. [Figure 6] 1 is a diagram illustrating a virtual transportation route proposed by a method for proposing a virtual transportation route according to an embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0014] Preferred embodiments of the present invention will be described in detail below with reference to the drawings. Note that the embodiments described below do not unduly limit the content of the present invention as defined in the claims. Furthermore, not all of the configurations described below are necessarily essential components of the present invention.

[0015] 1. Virtual transportation route proposal system The virtual transportation route proposal system of this embodiment is characterized by comprising: an acquisition unit that acquires three-dimensional route data along a transportation route for transporting blades to be used in wind turbines of a wind power generation facility and a three-dimensional data vehicle model including the vehicle transporting the blades and the blades loaded on the vehicle; an assignment unit that assigns attributes to feature data included in the three-dimensional route data; a setting unit that sets a virtual transportation route connecting at least two reference points to the three-dimensional route data; an interference range calculation unit that moves the vehicle model along the virtual transportation route to calculate the range of interference with the feature data and calculates the amount of trees to be cut down in the interference range and the widening area of ​​the road to be widened in the interference range; a memory unit that stores a dataset of the virtual transportation route and the cutting amount and the widening area; a repetitive execution unit that sets a virtual transportation route different from an already set virtual transportation route and repeatedly executes the process from setting the virtual transportation route to storing the dataset a predetermined number of times; and a proposal unit that proposes a plurality of virtual transportation routes, each of which includes the dataset.

[0016] A virtual transportation route proposing system 10 according to this embodiment (hereinafter simply referred to as "proposing system 10") will be described using Figures 1 to 4. Figure 1 shows the proposing system 10 according to this embodiment, Figure 2 is a schematic diagram illustrating an example of three-dimensional route data 50, Figure 3 is a schematic diagram illustrating an example of a vehicle model 65 with blade 64 lowered, and Figure 4 is a schematic diagram illustrating an example of an interference range displayed on map data 57.

[0017] As shown in FIG. 1, the proposed system 10 includes, for example, a processing unit 20, a storage unit 30, an operation unit 32, and a display unit 34. The proposed system 10 is, for example, a computer device, and may be a tablet-type terminal or may be configured by interconnecting multiple server devices. The processing unit 20 includes, for example, a processor such as a central processing unit (CPU) or a graphics processing unit (GPU). The processing unit 20 can execute programs stored in the storage unit 30. The storage unit 30 is, for example, a storage medium such as a read-only memory (ROM), a random access memory (RAM), or a hard disk drive (HDD). The operation unit 32 is, for example, a user interface such as a mouse, a touch panel, or a keyboard. The display unit 34 is, for example, a liquid crystal display (LCD) or another known display device (e.g., an organic electroluminescence (EL) display), and may include various user interfaces (graphical user interfaces (GUIs)) as part of the operation unit 32. The proposed system 10 may be provided with a communication interface for high-speed data communication with an external system. In the example of Fig. 1, an MMS 40 (Mobile Mapping System) and a mobile terminal 46 are connected as external systems, but this is not limiting. Furthermore, a part or all of the proposed system 10 may be provided on a cloud via the Internet.

[0018] The processing unit 20 includes at least an acquisition unit 21, an assignment unit 21a, a setting unit 21b, and an interference range The processing unit 20 includes a calculation unit 24, a repeat execution unit 27, and a proposal unit 28. The processing unit 20 may further include, for example, a movement processing unit 22, a determination unit 23, and an output control unit 26. In this embodiment, a "unit" does not simply mean a physical means, but also includes cases where the function of the "unit" is realized by a program. Furthermore, the function of one "unit" may be realized by two or more physical means or programs.

[0019] 2 to 4, the acquisition unit 21 acquires three-dimensional route data 50 along a transport route for transporting blades 64 used in wind turbines of a wind power generation facility, and a vehicle model 65 of three-dimensional data including a vehicle 60 transporting the blades 64 and the blades 64 loaded on the vehicle 60. The vehicle model of FIG. 3 is a vehicle model 65 in which the blades 64 are loaded in a prone position on the vehicle 60. The state of the blades 64 in the vehicle model 65 is one example, and the blades 64 may be generated to match the vehicle that will actually be used, for example, so that they can stand up and / or swing horizontally relative to the vehicle 60. The three-dimensional route data 50 and the vehicle model 65 are stored in the storage unit 30, for example.

[0020] As shown in FIG. 2 , the three-dimensional route data 50 includes, for example, feature data based on an actual transportation route, such as a road surface 51, a slope 54 adjacent to the road surface 51, and trees 56 adjacent to the road surface 51. The feature data included in the three-dimensional route data 50 may further include road structures such as guardrails, road edges, and curbs, painted markings such as white lines, road signs, traffic lights, and other signposts, and buildings near the road. The three-dimensional route data 50 may also include three-dimensional coordinate system position data for each object in the feature data. The three-dimensional route data 50 may be generated using, for example, well-known point cloud data, mesh data, and surface data. The three-dimensional route data 50 may also incorporate image data captured by a camera along the actual transportation route using the location information of the image.

[0021] The three-dimensional route data 50 can be created using a mobile measuring device that measures features along the planned actual transportation route. Examples of the mobile measuring device include a vehicle-type MMS 40 equipped with a measuring instrument 42 or an unmanned aerial vehicle such as a drone. The MMS 40 can be a commercially available, well-known mobile mapping system. The measuring instrument 42 includes, for example, a Global Navigation Satellite System (GNSS) receiver, an Inertial Measurement Unit (IMU), an odometer, and the like for obtaining position data for the MMS 40, a laser scanner for obtaining three-dimensional point cloud data, and a camera for capturing images of features. The laser scanner can be LIDAR (Laser Imaging Detection and Ranging), a remote sensing technology using laser light. The three-dimensional route data 50 can also be generated by the MMS 40, for example, by incorporating manual surveying results or publicly available map information provided on the Internet.

[0022] As shown in FIG. 3 , the vehicle model 65 is three-dimensional data created based on the actual vehicle configuration during transportation of the blade 64. The vehicle model 65 preferably reflects the size and shape of the actual vehicle 60 and blade 64. However, to improve processing speed, the vehicle model 65 may be, for example, approximately 50 to 100 cm larger than the actual size, or may be a box-shaped model that reflects the maximum width, maximum length, and maximum height. By making the vehicle model 65 larger than the actual size, not only can processing speed be improved but also interference during actual transportation can be avoided even if there is a difference between the feature data and the actual feature. The vehicle model 65 includes, for example, a trailer-type vehicle 60 equipped with a towing vehicle 61 on which a driver rides and a towed vehicle 62 on which the blade 64 is loaded, a drive mechanism 63 installed on the towed vehicle 62, and a blade 64 supported on the drive mechanism 63 so as to be able to rise and fall and to rotate horizontally. Multiple vehicle models with different configurations, each with a different angle between the vehicle model 65 and the blade 64, may be prepared. The drive mechanism 63 supports the blade 64 and is in a horizontal position where the blade 64 extends in a substantially horizontal direction. The wind turbine tower is also a long member, but is generally transported after being cut into pieces of transportable length, and is therefore not transported using the drive mechanism 63. In contrast, the blades 64 cannot be cut, and so if the blades 64 are left lying down, their interference range is wider than that of the tower, making it necessary to take measures such as the drive mechanism 63 or cutting down trees within the interference range.

[0023] The assigning unit 21a assigns attributes to feature data included in the three-dimensional route data 50. The feature data to which attributes are assigned includes at least the road surface 51, the slope 54, and the tree 56. Furthermore, attributes may be assigned to artificial structures such as the road surface 51, the slope 54, curbs, white lines, road gutters, road signs, guardrails, footbridges, power lines, utility poles, traffic lights, bridges, and buildings, as well as natural objects such as the tree 56 and natural ground. The assigning unit 21a may predict the attributes based on the shape of the three-dimensional route data 50 acquired by the acquiring unit 21. For example, the assigning unit 21a may use artificial intelligence that has previously performed machine learning for each attribute using image training data to automatically assign attributes to the coordinates where feature data included in the three-dimensional route data 50 exists, in accordance with each feature. For example, a deep neural network using semantic segmentation may be used as the artificial intelligence. Alternatively, attributes may be assigned manually to each feature data in response to instructions from the operation unit 32 operated by the person performing the transportation work. By adding attributes to the feature data of the three-dimensional route data 50, it is possible to recognize whether the feature in the interference range is a tree or a slope.

[0024] The setting unit 21b sets a virtual transportation route 52 connecting at least two reference points in the three-dimensional route data 50. The two reference points are, for example, a start reference point 53a and an end reference point 53b shown in FIG. 4. Because the actual transportation route is a long distance from the port to the wind turbine installation site, the virtual transportation route 52 in the three-dimensional route data 50 may be a portion of the actual transportation route divided into multiple sections. In this embodiment, an example is shown in which the virtual transportation route 52 (shown by a dotted line) is set between the start reference point 53a and the end reference point 53b. The setting unit 21b may also set multiple reference points (passing points) through which the vehicle model 65 passes between the start reference point 53a and the end reference point 53b. The setting unit 21b may set the reference points and the virtual transportation route 52 in response to instructions from the operation unit 32 operated by the person performing the transportation work, or the reference points and the virtual transportation route 52 may be automatically set by artificial intelligence taking into account the width of the road surface 51 and the positions of the feature data. For example, the setting unit 21b may select some of the multiple pass points automatically set between the start reference point 53a and the end reference point 53b, and then connect the pass points so that the selected pass points are passed through. The more selectable pass points between the start reference point 53a and the end reference point 53b, the more virtual transportation routes 52 can be set. The setting unit 21b may generate and set the virtual transportation routes 52 using a known machine learning optimization algorithm. In this case, reinforcement learning may be used to obtain a high evaluation using, for example, distance or time as an evaluation value. Examples of optimization algorithms that can be used include breadth-first search, depth-first search, and Dijkstra's algorithm. The setting unit 21b may prepare multiple virtual transportation routes 52 in advance, and a different virtual transportation route 52 may be selected from them by the iterative execution unit 27 (described later). Furthermore, a smooth virtual transportation route 52 may be set so that it passes through multiple pass points located within the vehicle model 65's travelable range using artificial intelligence (AI) that has learned machine learning from actual vehicle driving.

[0025] The movement processing unit 22 executes a process of moving a vehicle model 65 as shown in Fig. 3 along a virtual transportation route 52 in the three-dimensional route data 50 as shown in Fig. 2, for example. The movement processing unit 22 may also execute the movement process with the vehicle model 65 in a state where it has undergone horizontal turning deformation or vertical deformation. For example, in response to an input operation from the operation unit 32, the movement processing unit 22 moves the vehicle model 65 along the three-dimensional coordinates of the virtual transportation route 52 on the road surface 51 of the three-dimensional route data 50 acquired by the acquisition unit 21. The vehicle model 65 can be moved along the values ​​to simulate actual transportation. Therefore, it is preferable that the tires of the vehicle 60 of the vehicle model 65 can be operated in a manner similar to that of the actual vehicle 60, and that the towing vehicle 61 and towed vehicle 62 can also be operated in a manner similar to that of the actual vehicle 60. Furthermore, artificial intelligence that has learned the driving of an actual vehicle through machine learning may be used to cause the vehicle model 65 to drive smoothly along the virtual transportation route 52 on the road surface 51 in a manner similar to that of actual driving. The movement processing unit 22 may be part of the interference range calculation unit 24, which will be described later.

[0026] The determination unit 23, for example, executes processing in the movement processing unit 22 to determine whether or not feature data included in the three-dimensional route data 50 interferes with the vehicle model 65. When the vehicle model 65 is moved along the virtual transportation route 52, for example, the blade 64 makes a large turn around a curve in a mountain road, and there are places where the vehicle model 65, particularly the blade 64, comes into contact with feature data, such as a slope 54 or a tree 56. In this case, the determination unit 23 determines that "interference occurs."

[0027] The interference range calculation unit 24 moves the vehicle model 65 along the virtual transportation route 52 to calculate the interference range with the feature data, and calculates the amount of trees to be cut down in the interference range and the area to widen the road in the interference range. The movement of the vehicle model 65 may be executed by the movement processing unit 22, and the determination unit 23 may determine interference with the feature data. Because attributes are assigned to the feature data, the interference range calculation unit 24 can determine which attribute the feature data in the interference range has. The interference range calculation unit 24 calculates the amount of trees to be cut down in a cutting range 58 of trees 56 for the interference range to which the attributes of the trees 56 are assigned. The cutting amount is the number, area, or volume of the trees 56 to be cut down. The interference range calculation unit 24 calculates the area to widen a widening range 59 of the road to which the attributes of the slope 54 are assigned. Similarly, the interference range calculation unit 24 may calculate the number of construction sites where utility poles, traffic lights, etc. will need to be removed or relocated within the interference range to which attributes of the utility poles, traffic lights, etc. have been assigned. By calculating the interference range with the interference range calculation unit 24, it is possible to clarify the range of features that will interfere with the vehicle 60 and the blade 64 before actually transporting the blade 64. This allows accurate planning of road widening and tree cutting 56 without relying on the experience of the person performing the transportation work. Such planning supports the person performing the transportation work. This support for the person performing the transportation work reduces the need for sudden interference avoidance work during transportation, resulting in improved work efficiency.

[0028] The interference range calculation unit 24 may obtain the expected cost for the amount of felling per unit area and the expected cost for the area to be widened per unit area from the memory unit 30, and calculate the cost for the amount of felling in the dataset and the cost for the area to be widened.

[0029] The output control unit 26 can output the interference range calculated by the interference range calculation unit 24 to, for example, the memory unit 30, the display unit 34, or an external device. The output control unit 26 outputs the interference range, the felling volume, and the widening area calculated by the interference range calculation unit 24 to, for example, the display unit 34. As shown in FIG. 4 , the display unit 34 may display the interference range (felling range 58, widening range 59). Displaying the interference range together with map data 57 on the display unit 34 makes it easier for the transport operator to understand the interference range. The interference range output from the output control unit 26 can be displayed on the display unit 34 superimposed on the three-dimensional route data 50. The interference range may also be displayed on the display unit 34 as a cross-sectional view or a longitudinal section. Such output information may also be printed on paper. Outputting the interference range makes it possible, for example, to clearly explain the construction plan to residents and managers of features (national or local governments), and the cross-sectional view and longitudinal section can be used for designing additional construction work. The output control unit 26 may output the interference range to an external device, such as a mobile terminal 46 or a car navigation system. The travel route of each vehicle 60 may be displayed as a curved line. The driver of the vehicle 60 may perform transportation work while viewing the travel route displayed on the display unit 34, the mobile terminal 46, or the like.

[0030] The memory unit 30 stores a data set of the virtual transportation route 52, the felling volume, and the widening area output by the output control unit 26. The data set stores the felling volume and the widening area when the vehicle model 65 travels along the virtual transportation route 52 set by the setting unit 21b, in association with each other. The memory unit 30 may also store the expected cost for the felling volume per unit area and the expected cost for the widening area per unit area. Although the expected cost is calculated as the felling volume in terms of area, if the felling volume is calculated based on the number of trees 56, the expected cost per tree may also be used. The memory unit 30 can calculate the cost for the felling volume and the cost for the widening area and store them as part of the data set. The output control unit 26 may output these costs, along with the interference range, to the display unit 34, etc.

[0031] The repetitive execution unit 27 repeatedly executes the process from setting the virtual transportation route 52 to storing the data set a predetermined number of times. The repetitive execution unit 27 can set a virtual transportation route 52 that is different from the virtual transportation route 52 that has already been set in the previous execution. Thus, a data set corresponding to the predetermined number of times repeated by the repetitive execution unit 27 is obtained. The predetermined number of times may be set to, for example, several hundred times.

[0032] The proposing unit 28 proposes a plurality of virtual transportation routes 52, each having a data set. Since a large number of data sets have been obtained by the repetitive execution unit 27 having executed the process a predetermined number of times, the proposing unit 28 can narrow down the number of data sets from among them, taking into consideration the amount of felling and the area to be widened, and propose a plurality of virtual transportation routes 52. The conditions for narrowing down the options can be set by the person performing the transportation work.

[0033] The display unit 34 can display, for example, a start reference point 53a and an end reference point 53b on the map data in addition to the displays described in the output control unit 26. The display unit 34 may also display the felling volume, widening area, and cost stored in the memory unit 30 for each of the multiple virtual transportation routes 52.

[0034] According to the proposal system 10 of this embodiment, it is possible to propose multiple virtual transportation routes 52 together with the amount of trees to be cut and the area of ​​road widening that will require cutting and road widening due to interference between the vehicle and the blade before actually transporting the blade 64. Therefore, according to the present invention, the person performing the transportation work can determine the actual transportation route while taking into consideration the amount of trees to be cut and the like for the multiple virtual transportation routes 52, thereby improving work efficiency.

[0035] 2. Virtual transportation route proposal method The method for proposing a virtual transportation route according to this embodiment is characterized in that it acquires three-dimensional route data along a transportation route for transporting blades to be used in wind turbines of a wind power generation facility and a three-dimensional vehicle model including the vehicle transporting the blades and the blades loaded on the vehicle, assigns attributes to feature data included in the three-dimensional route data, sets a virtual transportation route connecting at least two reference points in the three-dimensional route data, moves the vehicle model along the virtual transportation route to calculate the range of interference with the feature data, calculates the amount of trees to be cut down in the interference range and the area to be widened by widening the road in the interference range, stores a dataset of the virtual transportation route and the cutting amount and the widening area, sets a virtual transportation route different from a virtual transportation route that has already been set, and repeats this process from setting the virtual transportation route to storing the dataset a predetermined number of times to propose a plurality of virtual transportation routes, each of which includes the dataset.

[0036] An example of a method for proposing a virtual transportation route 52 using the proposal system 10 described with reference to Figures 1 to 4 will be described with reference to the flowchart of Figure 5. Figure 5 is a flowchart of the method for proposing a virtual transportation route 52 according to this embodiment.

[0037] As shown in FIG. 5, the method for proposing a virtual transportation route 52 (hereinafter simply referred to as the "proposing method") includes a step (S10) of acquiring data, etc., a step (S20) of assigning attributes, a step (S30) of setting the virtual transportation route 52, a step (S40) of calculating the interference range, a step (S50) of calculating the felling volume and the widening area, a step (S60) of storing the data set, a step (S70) of repeating the process a predetermined number of times, and a step (S80) of proposing the virtual transportation route 52. The proposing method can execute steps S10 to S80 by, for example, having the processing unit 20 execute a program stored in the storage unit 30. Alternatively, the method can be executed according to a program received from an external device via a communications interface. For example, the proposing method can be executed for each section by dividing a long transportation route into multiple sections.

[0038] In S10: the step of acquiring data, the acquisition unit 21 acquires three-dimensional route data 50 along a transportation route for transporting blades 64 used in the wind turbines of the wind power generation facility, and a vehicle model 65 of three-dimensional data including a vehicle transporting the blades 64 and the blades 64 loaded on the vehicle. The three-dimensional route data 50 and the vehicle model 65 can be acquired, for example, from the storage unit 30 and the MMS 40. If the setting unit 21b has generated multiple virtual transportation routes 52 in advance, the acquisition unit 21 selects and acquires one virtual transportation route 52 from the storage unit 30. Prior to S50, the acquisition unit 21 may acquire, for example, from the storage unit 30, an estimated cost for the felling volume per unit area and an estimated cost for the widening area per unit area.

[0039] S20: In the step of assigning attributes, the assigning unit 21a assigns attributes to feature data included in the three-dimensional route data 50. The feature data to which attributes are assigned include trees 56 that need to be cut down to calculate the cutting area, and slopes 54 and natural ground that need to be excavated when widening a road to calculate the road widening area. Attributes may also be assigned to other artificial structures and natural objects. By assigning attributes, it becomes possible to identify the attributes of features that exist within an area that interferes with the vehicle model 65 when it travels along the virtual transportation route 52.

[0040] S30: In the step of setting a virtual transportation route 52, the setting unit 21b sets a virtual transportation route 52 that connects at least two reference points in the three-dimensional route data 50 acquired in S10. S30 is repeatedly executed a predetermined number of times by S70, which will be described later. Each time S30 is repeatedly executed, a different virtual transportation route 52 is set. The setting unit 21b, for example, uses artificial intelligence to select multiple way points set between the start reference point 53a and the end reference point 53b, and sets the virtual transportation route 52 to connect them. It is preferable that the setting unit 21b sets the virtual transportation route 52 so that there is minimal interference with surrounding feature data when the vehicle model 65 travels.

[0041] S40: In the step of calculating the interference range, the movement processing unit 22 moves the vehicle model 65 along the virtual transportation route 52, and the interference range calculation unit 24 calculates the interference range with the feature data. More specifically, the step of calculating the interference range may be composed of, for example, a step of moving the vehicle model 65, a step of determining interference, and a step of calculating the interference range.

[0042] In the step of moving the vehicle model 65, the movement processing unit 22 can move the vehicle model 65 along the virtual transportation route 52 set in the three-dimensional route data 50, for example. This step places the vehicle model 65 in the same three-dimensional coordinate system as the three-dimensional route data 50, and makes it possible to simulate the movement of the vehicle model 65 in the same way as the movement of an actual vehicle and blade. This step is not greatly affected by the experience of the transportation operator.

[0043] The step of determining interference is carried out by, for example, determining whether or not the feature data (slope 54, tree 56, etc.) included in the three-dimensional route data 50 is inconsistent with the vehicle model 65 when the vehicle model 65 is moving. If it is determined that the feature data interferes with the vehicle model 65, the step of calculating the interference range is executed. If it is determined that the feature data does not interfere with the vehicle model 65, the step of calculating the interference range is not executed, and S50 is executed.

[0044] The step of calculating the interference range is a step in which the interference range calculation unit 24 calculates the range of interference in the feature data with the vehicle model 65. The interference range calculation unit 24 may calculate, for example, the overlap between the vehicle model 65 and the feature data in a planar view as the interference range, or may calculate the overlap between the vehicle model 65 and the feature data in three dimensions as the interference range.

[0045] S50: In the step of calculating the felling amount and the widening area, the interference range calculation unit 24 calculates the felling amount of trees 56 to be felled in the interference range calculated by the interference range calculation unit 24 and the widening area of ​​the road to be widened in the interference range. The felling amount and the widening area form a data set corresponding to the virtual transportation route 52. The felling amount and the widening area can be calculated based on the attributes of the feature data in the interference range. The interference range calculation unit 24 may also calculate the number of construction sites of other feature data in the interference range. The interference range calculation unit 24 may also calculate the cost of the felling amount and the cost of the widening area in the data set based on the expected cost per unit area stored in the memory unit 30.

[0046] S60: In the step of storing the dataset, the processing unit 20 stores in the storage unit 30 a dataset of the virtual transportation route 52 set in S30 and the felling volume and widening area calculated in S50. By repeatedly executing each step in S70, which will be described later, multiple datasets of the virtual transportation route 52, the felling volume, and the widening area are stored in the storage unit 30. The dataset may also be stored in the storage unit 30 together with the number of construction sites of other feature data. The storage unit 30 may store the costs of felling and widening the area in the dataset.

[0047] S70: In the step of determining whether the process has been repeated a predetermined number of times, the processing unit 20 determines whether S30 to S60 have been executed a predetermined number of times. If S70 is "NO", the processing unit 20 sets a virtual transportation route 52 different from the already set virtual transportation route 52 and executes the process from setting the virtual transportation route 52 (S30) to storing the data set (S60) a predetermined number of times. If S70 is "YES", S80 is executed.

[0048] In the step S80 of proposing, the proposing unit 28 proposes multiple virtual transportation routes 52, each containing the data set stored in S60. In S80, the output control unit 26 may output multiple data sets to, for example, the display unit 34, the mobile terminal 46, or a printer (not shown) in response to a command from the proposing unit 28. The proposal method in S80 may be a set of numerical data on the felling volume and widening area and three-dimensional data of the virtual transportation route 52, or two-dimensional or three-dimensional data overlaid on a map or the like. While the virtual transportation route 52 with the smallest felling volume and widening area is generally desirable, the person performing the transportation work can review the proposal in S80 and select a virtual transportation route 52 taking into account various factors, such as the cost of the felling and widening work stored in S60. Factors other than cost may include, for example, the location of the trees 56 in a nature conservation area where it is difficult to obtain permission to fell them, or the location of the slope 54 in an area prone to collapse. Therefore, it is preferable to propose multiple data sets so that the person performing the transportation work can make a selection.

[0049] In S80, the proposing unit 28 may set multiple sections in the data set according to the size of the widening area, and may propose a virtual transportation route 52 having a data set with the smallest felling volume for each section. To explain this in more detail using FIG. 6, for example, all virtual transportation routes 52 are plotted from the multiple data sets proposed by the proposing unit 28, with the widening area on the vertical axis and the felling volume on the horizontal axis. Multiple sections are set in order of smallest widening area, such as the w1-w2 section, the w2-w3 section, the w3-w4 section, the w4-w5 section, and so on. The smallest felling volume in the w1-w2 section is used as the virtual transportation route 52. It can be seen that the minimum cutting volume in the w2-w3 section is virtual transport route 52a, the minimum cutting volume in the w2-w3 section is virtual transport route 52b, the minimum cutting volume in the w3-w4 section is virtual transport route 52c, and the minimum cutting volume in the w4-w5 section is virtual transport route 52d. The proposal unit 28 can propose one virtual transport route 52 for each section, and may propose only small widening areas, for example, less than w5, taking into account widening work, which has higher construction costs than felling work. The person performing the transport work can adopt one virtual transport route 52 from these 52a to 52d as the route for actual transport, taking into account, for example, the ease of felling or the ease of widening the road.

[0050] In S80, the proposing unit 28 may set multiple sections in the dataset according to the size of the felling volume, and may propose a virtual transportation route 52 having a dataset with the smallest expansion area for each section. Although a specific example will not be given, multiple virtual transportation routes 52 can be proposed in the same manner as above, for example, with the vertical axis of Figure 6 representing the felling volume and the horizontal axis representing the expansion area. Therefore, the proposing unit 28 can propose one virtual transportation route 52 with the smallest expansion area for each section of the felling volume.

[0051] According to the proposed method of this embodiment, it is possible to propose multiple virtual transportation routes 52 along with the amount of trees to be cut and the area of ​​road widening that will require cutting due to interference between the vehicle and the blade before actually transporting the blade. Therefore, according to the present invention, the person performing the transportation work can determine the actual transportation route while taking into account the amount of trees to be cut and other factors for the multiple virtual transportation routes 52, thereby improving work efficiency.

[0052] The present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations with the same function, method, and result, or configurations with the same purpose and effect). The present invention also includes configurations in which non-essential parts of the configurations described in the embodiments are replaced. The present invention also includes configurations that achieve the same effects or purposes as the configurations described in the embodiments. The present invention also includes configurations in which publicly known technology is added to the configurations described in the embodiments. [Explanation of symbols]

[0053] 10...Proposed system, 20...Processing unit, 21...Acquisition unit, 21a...Assignment unit, 21b...Setting unit, 22...Movement processing unit, 23...Determination unit, 24...Interference range calculation unit, 26...Output control unit, 27...Repeated execution unit, 28...Proposal unit, 30...Memory unit, 32...Operation unit, 34...Display unit, 40...MMS, 42...Measuring instrument, 46...Mobile terminal, 50...Three-dimensional route data, 51...Road surface, 52...Virtual transportation route, 53a...Start reference point, 53b...End reference point, 54...Slope, 56...Trees, 57...Map data, 58...Logging range, 59...Widening range, 60...Vehicle, 61...Towing vehicle, 62...Towed vehicle, 63...Drive mechanism, 64...Blade, 65...Vehicle model

Claims

1. acquiring three-dimensional route data along a transport route for transporting blades used in wind turbines of a wind power generation facility, and a vehicle model of three-dimensional data including a vehicle transporting the blades and the blades loaded on the vehicle; assigning attributes to feature data included in the three-dimensional route data; a virtual transportation route connecting at least two reference points in the three-dimensional route data; moving the vehicle model along the virtual transportation route to calculate an interference range with the feature data; Calculating the amount of trees to be cut down in the interference range and the area to be widened in the interference range; storing a data set of the virtual transportation route, the felling volume, and the widening area; The process from setting the virtual transportation route to storing the data set is repeated a predetermined number of times by setting a virtual transportation route different from the already set virtual transportation route; A method for proposing a virtual transportation route, which proposes a plurality of the virtual transportation routes each including the dataset.

2. The virtual transportation route proposing method according to claim 1, A method for proposing a virtual transportation route, which sets a plurality of sections in the dataset according to the size of the widening area, and proposes the virtual transportation route that includes the dataset having the smallest felling volume for each section.

3. The virtual transportation route proposing method according to claim 1, A method for proposing a virtual transportation route, which sets multiple sections in the dataset according to the size of the felling volume, and proposes the virtual transportation route that includes the dataset with the smallest expansion area for each section.

4. The virtual transportation route proposing method according to claim 1, Obtaining an expected cost for the felling amount per unit area and an expected cost for the widening area per unit area; A method for proposing a virtual transportation route, which calculates the cost of the felling amount and the cost of the widening area in the dataset and stores them as part of the dataset.

5. an acquisition unit that acquires three-dimensional route data along a transport route for transporting blades used in wind turbines of a wind power generation facility, and a vehicle model that is three-dimensional data including a vehicle transporting the blades and the blades loaded on the vehicle; an attribute assigning unit that assigns attributes to feature data included in the three-dimensional route data; a setting unit that sets a virtual transportation route connecting at least two reference points in the three-dimensional route data; an interference range calculation unit that moves the vehicle model along the virtual transportation route to calculate an interference range with the feature data, and calculates the amount of trees to be cut in the interference range and the area to be widened by widening the road in the interference range; a storage unit that stores a data set of the virtual transportation route, the felling volume, and the widening area; a repeat execution unit that sets a virtual transportation route different from the already set virtual transportation route and repeatedly executes the process from setting the virtual transportation route to storing the data set a predetermined number of times; a proposal unit that proposes a plurality of the virtual transportation routes each including the data set; A virtual transportation route proposal system comprising:

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