Path planning device and path planning method

Abstract

The present disclosure is a path planning device provided with: an acquisition unit for acquiring an equipment position from a sensor that scans the surroundings, and furthermore acquiring an inputted pole setting position, heavy machinery position, and position at which to lay down a utility pole; a selection unit for selecting, from among a plurality of pole setting work patterns which were possessed beforehand, a plurality of pole setting work patterns similar to the acquired equipment position and outputting the selection, and acquiring a pole setting work pattern that has been designated from among the selected plurality of pole setting work patterns; and a planning unit for amending the acquired equipment position on the basis of the equipment position of the designated pole setting work pattern, using the amended equipment position and the acquired pole setting position, heavy machinery position, and position at which to lay down the utility pole to calculate an intermediate attitude of a path from the heavy machinery position to the pole setting position by way of the position at which to lay down the utility pole, and generating a path plan from the heavy machinery position to the pole setting position by way of the position at which to lay down the utility pole and the intermediate attitude.

Description

[Technical Field]

[0001] The present disclosure relates to a path planning device and a path planning method for generating a path plan for heavy equipment performing utility pole construction work. [Background technology]

[0002] Electric pole construction is carried out by operators operating heavy machinery. The relevant work procedures are shown in Figure 1. First, the worker conducts a site survey to determine the location of the equipment, such as the electric poles, and the location where the electric poles will be erected (51). Based on the site survey, the worker creates a construction plan for how to operate the heavy machinery (52). The worker instructs the heavy machinery operator on how to operate the heavy machinery (53), and the operator operates the heavy machinery according to the worker's instructions (54).

[0003] Depending on the work environment at the site, it was necessary to change the location of the heavy machinery or the position of the utility poles, thereby changing the route plan for the heavy machinery. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] “Getting Started with Path Planning for Autonomous Mobile Systems in MATLAB”, https: / / www.mathworks.com / content / dam / mathworks / mathworks-dot-com / images / events / matlabexpo / jp / 2017 / d2-path-planning-trajectory-CONTROL.pdf Summary of the Invention [Problem to be solved by the invention]

[0005] In this type of utility pole construction, skill is required to plan the route for determining where to place heavy machinery and where to lay the utility poles to be erected, and this planning relies heavily on the experience and intuition of skilled workers.

[0006] The present disclosure aims to provide a route planning device and a route planning method that can generate an efficient route plan without relying on the skills of an operator. [Means for solving the problem]

[0007] In the route planning device and route planning method disclosed herein, multiple pole erection construction patterns similar to the equipment position read by the sensor are selected and output to the worker, who then selects the one that is closest to the equipment position on site, and a route plan is generated based on the specified pole erection construction pattern.

[0008] Specifically, the present disclosure provides: an acquisition unit that acquires the equipment position from a sensor that scans the surroundings, and further acquires the input pole position, heavy equipment position, and position where the utility pole is to be laid down; A selection unit that selects and outputs a plurality of pole erection construction patterns similar to the acquired equipment position from a plurality of pole erection construction patterns that are previously owned, and acquires a specified pole erection construction pattern from the selected plurality of pole erection construction patterns; a planning unit that corrects the acquired equipment position based on the equipment position of the designated pole erection construction pattern, calculates an intermediate posture of the route from the heavy equipment position to the pole erection position via the position where the utility pole is laid down using the corrected equipment position, the acquired pole erection position, the heavy equipment position, and the position where the utility pole is laid down, and generates a route plan from the heavy equipment position to the pole erection position via the position where the utility pole is laid down and the intermediate posture; A path planning device comprising: is.

[0009] The present disclosure provides: The planning unit outputs the calculated intermediate posture, acquires a corrected intermediate posture, and generates a path plan from the heavy equipment position to the pole erection position via a position where the utility pole is laid down and the corrected intermediate posture. It is characterized by:

[0010] Specifically, the present disclosure provides: The path planning device an acquisition step of acquiring the equipment position from a sensor that scans the surroundings, and further acquiring the input pole position, heavy equipment position, and position where the utility pole is to be laid down; A selection step of selecting and outputting a plurality of pole erection construction patterns similar to the acquired equipment position from a plurality of pole erection construction patterns held in advance, and acquiring a specified pole erection construction pattern from the selected plurality of pole erection construction patterns; a planning step of correcting the acquired equipment position based on the equipment position of the specified pole erection construction pattern, calculating an intermediate posture of the route from the heavy equipment position to the pole erection position via the position where the utility pole is laid down using the corrected equipment position, the acquired pole erection position, the heavy equipment position, and the position where the utility pole is laid down, and generating a route plan from the heavy equipment position to the pole erection position via the position where the utility pole is laid down and the intermediate posture; A path planning method for executing is.

[0011] The present disclosure provides: In the planning step, the calculated intermediate posture is output, a corrected intermediate posture is acquired, and a path plan is generated from the heavy equipment position to the pole position via the position where the utility pole is laid down and the corrected intermediate posture. It is characterized by:

[0012] Specifically, the present disclosure provides: A program for causing a computer to function as the above-described route planning device is.

[0013] The above-disclosed inventions can be combined as much as possible. [Effects of the Invention]

[0014] According to the route planning device and route planning method of the present disclosure, an efficient route plan can be generated without relying on the skills of an operator. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating the operation of a related heavy machine. [Figure 2] FIG. 1 is a diagram illustrating a configuration of a route planning device according to the present disclosure. [Figure 3] FIG. 1 is a diagram illustrating a route planning method according to the present disclosure. [Figure 4] FIG. 10 is a diagram illustrating an example of a pole erection construction pattern. [Figure 5] FIG. 10 is a diagram illustrating details of an example of a pole erection construction pattern. [Figure 6] FIG. 10 is a diagram illustrating an example of mapping of a work area. [Figure 7] FIG. [Figure 8] FIG. 1 is a diagram illustrating a configuration of a route planning device according to the present disclosure. [Figure 9] FIG. 1 is a diagram illustrating a route planning method according to the present disclosure. [Figure 10] FIG. 10 is a diagram illustrating correction of an intermediate posture. [Figure 11] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings indicate the same components.

[0017] The configuration of the path planning device of the present disclosure is shown in Figure 2. In Figure 2, the path planning device 10 includes an acquisition unit 11 that acquires equipment positions from a sensor that scans the surroundings and further acquires the input erection pole position, heavy equipment position, and position where the utility pole is laid down, a selection unit 12 that selects and outputs a plurality of pole erection construction patterns similar to the acquired equipment position from a plurality of pole erection construction patterns stored in advance and acquires a specified pole erection construction pattern from the selected plurality of pole erection construction patterns, and a planning unit that corrects the acquired equipment position based on the equipment position of the specified pole erection construction pattern, calculates intermediate postures of the path from the heavy equipment position via the position where the utility pole is laid down using the corrected equipment position and the acquired erection pole position, heavy equipment position, and position where the utility pole is laid down, and generates a path plan from the heavy equipment position to the erection pole position via the position where the utility pole is laid down and the intermediate postures.

[0018] The route planning method of the present disclosure is shown in Fig. 3. In Fig. 3, the route planning method of the present disclosure includes an acquisition step 21, a selection step 22, and a planning step 23. The following description will be given with reference to Figs. 2 and 3.

[0019] (Acquisition step) A sensor (not shown) scans the work area, scanning equipment such as utility poles and power lines to identify the equipment location. The acquisition unit 11 of the path planning device 10 acquires the equipment location from the sensor. Once the sensor scans the equipment and identifies the equipment location, the equipment location can be acquired without human intervention. The worker inputs the pole erection position within the work area, the heavy equipment position where the heavy equipment will be placed, and the position where the utility pole will be laid out. The acquisition unit 11 of the path planning device 10 acquires the input pole erection position, heavy equipment position, and position where the utility pole will be laid out.

[0020] (Selection step) The selection unit 12 has in advance a plurality of pole construction patterns that represent expected equipment locations. From among the many pole construction patterns, the selection unit 12 selects and outputs a plurality of pole construction patterns that are similar to the equipment location acquired from the sensor. An example of a pole construction pattern possessed by the selection unit 12 is shown in Figure 4, and details of the pole construction pattern are shown in Figure 5.

[0021] As shown in Figure 4, even if existing utility poles are scanned in the same way, the arrangement of electric wires and the presence or absence of guy lines differ depending on their functions. Furthermore, as shown in Figure 5, construction patterns may also be classified according to the positional relationship between the cable and the road and the pole position. The selection unit 12 stores in advance many pole construction patterns that represent expected equipment locations, and selects multiple pole construction patterns that are similar to the equipment location acquired from the sensor.

[0022] The operator selects the pole erection construction pattern that is closest to the equipment location on the site from among the multiple selected patterns. With the operator's intervention, an accurate route plan can be generated according to the actual equipment location on the site.

[0023] (Planning Steps) The planning unit 13 modifies the equipment position acquired from the sensor based on the equipment position of the pole erection construction pattern specified by the worker. Since the equipment position identified by the sensor does not sufficiently correspond to the type of equipment or the relevance of the equipment, the planning unit 13 modifies the equipment position acquired from the sensor based on the equipment position of the pole erection construction pattern specified by the worker. Conversely, the equipment position acquired from the sensor may be modified using the equipment position of the pole erection construction pattern specified by the worker or information on the pole erection position acquired from the worker.

[0024] The planning unit 13 maps the corrected equipment position, the pole erection position, the heavy equipment position, and the position where the utility pole is laid down, which are obtained from the worker, onto a map of the work area. An example of mapping of the work area is shown in FIG. 6. In FIG. 6, 31 is the equipment position, 32 is the pole erection position, 34 is the heavy equipment position, and 35 is the position where the utility pole is laid down. The planning unit 13 calculates the intermediate postures of the route from the heavy equipment position 34 in FIG. 6 to the pole erection position 32 via the position 35 where the utility pole is laid down. Next, a route plan is generated from the heavy equipment position 34 to the pole erection position 32 via the position 35 where the utility pole is laid down and the intermediate postures. The intermediate postures refer to the coordinates of the intermediate points connecting the route traveled by the heavy equipment from the heavy equipment position 34 to the pole erection position 32 via the position 35 where the utility pole is laid down. The intermediate postures may be coordinates specified in advance or may be determined based on rules.

[0025] One route search method is path planning using random sampling, specifically RRT (Rapidly Exploring Random Tree) and RRT* (Rapidly Exploring Random Tree Star).

[0026] An example of a generated path plan is shown in Figure 7. In Figure 7, 31 is the equipment position, 32 is the pole erection position, 34 is the heavy equipment position, 35 is the position where the utility pole is laid down, and 36 is an intermediate posture. A path plan has been generated from the heavy equipment position 34 to the pole erection position 32 via the position 35 where the utility pole is laid down and the intermediate posture 36. Calculating the intermediate postures to be passed through makes it easier to generate a path plan.

[0027] Once the worker obtains the route plan, he or she operates the heavy machinery based on this route plan, and the heavy machinery operates according to the worker's operations (26 in Figure 3).

[0028] The configuration of another path planning device is shown in Fig. 8. In the path planning device of Fig. 8, the configurations of the acquisition unit 11 and selection unit 12 are the same as those of the path planning device of Fig. 2. As shown in Fig. 8, the planning unit 13 outputs the calculated mid-position, acquires the corrected mid-position, and generates a path plan from the heavy equipment position to the pole erection position via the position where the utility pole is laid down and the corrected mid-position.

[0029] Another path planning method is shown in FIG. 9. In the path planning method of the present disclosure, the operations of the acquisition step 21 and the selection step 22 are the same as those of the path planning method of FIG. 3. In FIG. 9, in the planning step 23, the planning unit 13 calculates and outputs an intermediate posture as shown in FIG. 10. In FIG. 10, 31 is the equipment position, 32 is the pole position, 34 is the heavy equipment position, 35 is the position where the utility pole is laid down, 36 is the intermediate posture, and 37 is the obstacle position. As shown in FIG. 10, in the calculated intermediate posture, the heavy equipment will come into contact with the obstacle position 37 in the actual work area. An obstacle refers to an object that impedes the movement of the heavy equipment, such as an installation on the road surface or a curb. The heavy equipment may come into contact with the equipment position. Furthermore, after the heavy equipment reaches the position 35 where the utility pole is laid down and grasps the utility pole to be erected, the grasped utility pole may come into contact with the obstacle position or the equipment position. Furthermore, the heavy equipment may come into contact with the equipment position 31.

[0030] Therefore, the worker corrects one of the intermediate postures 36. The correction may be made by inputting numerical coordinates, numerical input of the movement direction and movement distance, or touch input on the screen. The planning unit 13 acquires the corrected intermediate posture and generates a path plan from the heavy equipment position 34 to the pole erection position 32 via the position 35 where the utility pole is laid and the corrected intermediate posture 36.

[0031] An example of a generated path plan is shown in FIG. 11. In FIG. 11, 31 is the equipment position, 32 is the pole erection position, 34 is the heavy equipment position, 35 is the position where the utility pole is laid down, and 36 is the intermediate posture. A path plan is generated from the heavy equipment position 34 to the pole erection position 32 via the position 35 where the utility pole is laid down and the intermediate posture 36. If the worker corrects the intermediate posture, the path planning device 10 can generate a highly accurate path plan. After the worker inputs the corrected intermediate posture into the path planning device, the path planning device may output a recalculated intermediate posture and have the worker confirm it. If no correction is necessary, the path planning device 10 generates a path plan.

[0032] Once the worker obtains the route plan, he or she operates the heavy machinery based on this route plan, and the heavy machinery operates according to the worker's operation (26 in Figure 9).

[0033] As described above, the route planning device and route planning method disclosed herein can generate an efficient route plan without relying on the skills of the worker. The worker can clarify the route plan in advance, which can reduce the time required for pole erection work.

[0034] The route planning device of the present disclosure can also be realized by a computer and a program, and the program that causes the computer to function as the route planning device can be recorded on a recording medium or provided via a network. [Industrial Applicability]

[0035] The present disclosure can be applied to various industries including the information and communications industry. [Explanation of symbols]

[0036] 10: Path planning device 11: Acquisition part 12: Selection section 13: Planning Department 21: Acquisition step 22: Selection Step 23: Planning Steps 31: Equipment location 32:Pole erection position 34: Heavy equipment location 35: Position to lay the utility pole 36: Intermediate stance 37: Obstacle location

Claims

1. an acquisition unit that acquires the equipment position from a sensor that scans the surroundings, and further acquires the input pole position, heavy equipment position, and position where the utility pole is to be laid down; A selection unit that selects and outputs a plurality of pole erection construction patterns similar to the acquired equipment position from a plurality of pole erection construction patterns that are previously owned, and acquires a specified pole erection construction pattern from the selected plurality of pole erection construction patterns; a planning unit that corrects the acquired equipment position based on the equipment position of the designated pole erection construction pattern, calculates an intermediate posture of the route from the heavy equipment position to the pole erection position via the position where the utility pole is laid down using the corrected equipment position, the acquired pole erection position, the heavy equipment position, and the position where the utility pole is laid down, and generates a route plan from the heavy equipment position to the pole erection position via the position where the utility pole is laid down and the intermediate posture; A path planning device comprising: The intermediate posture refers to the coordinates of the intermediate point along the path that the heavy equipment travels from the heavy equipment position to the pole erection position, via the position where the utility pole is laid down.

2. The path planning device according to claim 1, characterized in that the planning unit outputs the calculated intermediate posture, acquires a corrected intermediate posture, and generates a path plan from the heavy equipment position to the pole position via the position where the utility pole is laid and the corrected intermediate posture.

3. The path planning device an acquisition step of acquiring the equipment position from a sensor that scans the surroundings, and further acquiring the input pole position, heavy equipment position, and position where the utility pole is to be laid down; A selection step of selecting and outputting a plurality of pole erection construction patterns similar to the acquired equipment position from a plurality of pole erection construction patterns held in advance, and acquiring a specified pole erection construction pattern from the selected plurality of pole erection construction patterns; a planning step of correcting the acquired equipment position based on the equipment position of the specified pole erection construction pattern, calculating an intermediate posture of the route from the heavy equipment position to the pole erection position via the position where the utility pole is laid down using the corrected equipment position, the acquired pole erection position, the heavy equipment position, and the position where the utility pole is laid down, and generating a route plan from the heavy equipment position to the pole erection position via the position where the utility pole is laid down and the intermediate posture; A path planning method that performs The intermediate posture refers to the coordinates of the intermediate point along the path that the heavy equipment travels from the heavy equipment position to the pole erection position, via the position where the utility pole is laid down.

4. The path planning method according to claim 3, characterized in that in the planning step, the calculated intermediate posture is output, a corrected intermediate posture is acquired, and a path plan is generated from the heavy equipment position to the pole position via the position where the utility pole is laid and the corrected intermediate posture.

5. A program for causing a computer to function as the route planning device according to claim 1.

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