Large-sized cargo transportation simulation system and transportation simulation program

Abstract

There is no system that calculates transportation project costs that reflect the ability of users to adjust the transportation vehicle's travel route to avoid interference between the transportation vehicle or large cargo and the current terrain, so it is not possible to quickly select the optimal transportation route. [Solution] The large cargo transportation simulation system 1 comprises a condition receiving unit 10a, an acquisition unit 10b that acquires 3D current terrain model data of the route the transport vehicle will travel, a simulation unit 10c that simulates whether the 3D model of the transport vehicle or the 3D model of the large cargo will interfere with the 3D current terrain model based on multiple conditions and the 3D current terrain model data, a display unit 11 for the simulation results, and an adjustment receiving unit 10d that accepts user adjustments to the transport vehicle's travel route, and the system calculates transportation project costs that reflect the results, allowing for the rapid selection of the optimal transportation route.

Description

[Technical Field]

[0001] The present disclosure relates to a transportation simulation system and a transportation simulation program for a large load. [Background technology]

[0002] For example, Patent Document 1 discloses a transportation support device that supports the transportation of blades used in wind turbines of wind power generation facilities. The transportation support device in Patent Document 1 prepares a first vehicle model on which blades are loaded in a lying-down position and a second vehicle model on which blades are loaded in an upright position, determines whether the second vehicle model interferes with feature data, and calculates and displays the range of interference. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-78059 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when a vehicle carrying a large load travels on an actual transport site, the vehicle's travel route may be changed to avoid interference between the load and trees or various structures. For example, the travel route may be changed from the outside of a road to the inside, or from the inside of a road to the outside. If interference can be avoided by changing the travel route in this way, it becomes possible to transport the large load without cutting down trees or removing structures, which is economically preferable. In this regard, the transportation support device of Patent Document 1 does not accept a change in the travel route when determining whether the second vehicle model interferes with the feature data, and merely discloses that tree cutting or road widening may be performed in the area of ​​interference.

[0005] Furthermore, there is no system that calculates transportation costs that reflect the ability of users to adjust the route of the transport vehicle to avoid interference between the transport vehicle or large cargo and the current terrain, making it difficult to quickly select the optimal transport route. [Means for solving the problem]

[0006] When deciding on a transport route for transporting large loads, it is important to confirm in advance whether the vehicle can travel on the road. Whether the road is passable is determined based on the load, the vehicle to be used, and the travel trajectory required for the vehicle's travel route. If necessary, removal and relocation of road structures, construction, land leases, etc. are considered. Since the transportation business costs vary greatly depending on the type of vehicle and the travel route, the optimal vehicle type and transportation route can be determined by repeatedly calculating the transportation business costs for various transportation route proposals in a short amount of time.

[0007] In this specification, the transportation route is defined as the line from the transportation departure point to the destination, and the driving route is determined by determining which lane to travel on, including multiple lanes, and the center position within that width is defined as the driving reference line.If a transportation issue occurs, the reference line is not limited to the center position, but is determined depending on the conditions.

[0008] The travel locus is the trace of the vehicle travelling on the travel route determined based on each specification.

[0009] In order to achieve the above-mentioned objective, one aspect of the present disclosure can be based on a simulation system that considers the type of transport vehicle for large cargo and proposed transport routes, and presents the interference situation between the transport vehicle or large cargo and the current terrain when a large cargo that protrudes from the transport vehicle in a planar view of a three-dimensional model is loaded on the transport vehicle and transported along a driving route.

[0010] A simulation system for considering the type of transport vehicle and proposed transport routes for large cargoes includes a condition receiving unit that receives input of multiple conditions including specifications of the transport vehicle such as dimensions, weight, horsepower, torque, number of axles, etc., the dimensions and weight of the large cargo, the loading method of the large cargo, 3D model data of the transport vehicle, and 3D model data of the large cargo; an acquisition unit that acquires 3D current terrain model data of the route along which the transport vehicle will travel; a simulation unit that simulates whether the 3D model of the transport vehicle or the 3D model of the large cargo will interfere with the 3D current terrain model on the travel route based on the multiple conditions received by the condition receiving unit and the 3D current terrain model data acquired by the acquisition unit; a display unit that displays the simulation results by the simulation unit; and an adjustment receiving unit that receives user operations to adjust the travel route of the transport vehicle on the display unit.

[0011] The simulation unit executes a re-simulation by reflecting the travel route accepted by the adjustment acceptance unit, and the display unit can display a result of the re-simulation by the simulation unit.

[0012] According to this configuration, a simulation can be performed to determine whether the 3D model of the transport vehicle or the 3D model of the large load will interfere with the 3D current terrain model based on the specifications of the transport vehicle, the dimensions of the large load, the loading method of the large load, the 3D model data of the transport vehicle and the 3D model data of the large load, and the 3D current terrain model data, and the simulation results can be presented to the user. If the simulation results show that the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model, the user can adjust the transport vehicle's travel path to obtain simulation results that reflect the adjusted travel path. In this way, while adjusting the transport vehicle's travel path, it is possible to search for a travel path that does not cause the 3D model of the transport vehicle or the 3D model of the large load to interfere with the 3D current terrain model, thereby eliminating the need to cut down trees or widen roads. Note that even if the transport vehicle's travel path is adjusted, there may be cases where interference cannot be avoided, in which case trees will need to be cut down or the road will need to be widened.

[0013] The simulation unit can set a driving reference line for the transport vehicle traveling at the center position within the width of the road and execute the simulation in the case where the transport vehicle travels on the driving reference line, thereby enabling the initial simulation to be executed on the premise of the transport vehicle traveling within the width of the road.

[0014] The adjustment receiving unit can receive an operation to move the driving reference line in the width direction of the road, which enables the driving route of the transport vehicle to be changed in various ways within a road lane or within multiple lanes, including multiple lanes if there are multiple lanes, thereby enabling the study of a driving route that does not interfere with the 3D model of the transport vehicle or the 3D model of the large load on the road and the 3D current terrain model.

[0015] The adjustment receiving unit can receive an operation to add an IP point (intersection point). The adjustment receiving unit may also receive an operation to add multiple IP points at locations distant from each other. The adjustment receiving unit can also receive an operation to impose a constraint condition for moving the added IP point along the driving reference line or to freely move the added IP point within a plane including the road. This makes it easy to freely move the driving reference line, including inside and outside the road.

[0016] In addition, in another aspect of the present disclosure, a simulation program can be used to consider the type of transport vehicle for large cargo and proposed transport routes, which presents the interference situation between the transport vehicle or large cargo and the current terrain when a large cargo that protrudes from the transport vehicle in a planar view of a three-dimensional model is loaded on the transport vehicle and transported along a driving route. A simulation program for considering the type of transport vehicle for large cargo and proposed transport routes can cause a computer to execute the following steps: accepting input of multiple conditions including specifications of the transport vehicle, such as dimensions, weight, horsepower, torque, and number of axles, dimensions and weight of the large cargo, loading method of the large cargo, 3D model data of the transport vehicle, and 3D model data of the large cargo; acquiring 3D current terrain model data of the route along which the transport vehicle will travel; simulating whether the 3D model of the transport vehicle or the 3D model of the large cargo will interfere with the 3D current terrain model on the travel route based on the multiple conditions and the 3D current terrain model data; displaying the results of the simulation; accepting adjustment operations for the travel route of the transport vehicle by a user; performing a re-simulation by reflecting the travel route based on the accepted adjustment operations; and displaying the results of the re-simulation.

[0017] Furthermore, in yet another aspect of the present disclosure, a simulation method can be assumed for considering the type of transport vehicle for large cargo and proposed transport routes, which presents the interference situation between the transport vehicle or large cargo and the current terrain when a large cargo that protrudes from the transport vehicle in a planar view of a three-dimensional model is loaded onto the transport vehicle and transported along a transport route. A simulation method for considering the type of transport vehicle and proposed transport route for large cargo includes the steps of: accepting input of a plurality of conditions including specifications of the transport vehicle, dimensions of the large cargo, loading method of the large cargo, 3D model data of the transport vehicle, and 3D model data of the large cargo; acquiring 3D current terrain model data of the route along which the transport vehicle will travel; simulating whether the 3D model of the transport vehicle or the 3D model of the large cargo will interfere with the 3D current terrain model on the travel route based on the plurality of conditions and the 3D current terrain model data; displaying the results of the simulation; accepting adjustment operations for the travel route of the transport vehicle by a user; executing a re-simulation by reflecting the travel route based on the accepted adjustment operations; displaying the results of the re-simulation; and calculating transportation business costs. [Effects of the Invention]

[0018] As described above, by allowing the user to adjust the travel route of the transport vehicle, it is possible to avoid interference between the transport vehicle or large cargo and the current topography, and to calculate the transport project cost. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a configuration diagram of a large-load transportation simulation system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of a large-load transportation simulation system. [Figure 3] FIG. 3 is a flowchart showing an example of a large load transportation simulation process. [Figure 4]FIG. 4 is a diagram showing an example of a user interface screen for inputting conditions. [Figure 5A] FIG. 5A is a side view illustrating the specifications of a standard automobile. [Figure 5B] FIG. 5B is a front view illustrating the specifications of a standard automobile. [Figure 6A] FIG. 6A is a side view illustrating the specifications of the semi-trailer. [Figure 6B] FIG. 6B is a front view illustrating the specifications of the semi-trailer. [Figure 6C] FIG. 6C is a rear view illustrating the specifications of the semi-trailer. [Figure 7] FIG. 7 is a diagram for explaining the specifications of a Schnabel trailer. [Figure 8] FIG. 8 is a diagram for explaining the specifications of the multi-trailer. [Figure 9A] FIG. 9A is a diagram showing a stand-up multi-axle trailer. [Figure 9B] FIG. 9B is a side view of the erection multi-axle trailer with the large load erected. [Figure 10] FIG. 10 is a diagram showing a low-floor trailer. [Figure 11A] FIG. 11A is a diagram showing an example of 3D current terrain model data made up of a point cloud. [Figure 11B] FIG. 11B is a diagram showing an example of a three-dimensional surface model. [Figure 12A] FIG. 12A is a diagram for explaining the creation of a travel route and a travel trajectory of a standard automobile in a plan view. [Figure 12B] FIG. 12B is a diagram illustrating a case where a traveling route of a semi-trailer in a plan view and a traveling trajectory of a vehicle are generated in only one location. [Figure 12C] FIG. 12C is a diagram for explaining the creation of a semi-trailer's travel path in a plan view and a vehicle travel trajectory, and shows an example of continuous drawing with a narrow pitch. [Figure 13A] FIG. 13A is a diagram showing an example of a screen displaying a simulation result when a large load is lying down. [Figure 13B]FIG. 13B is a diagram showing an example of a screen displaying the simulation results when the large load is standing upright. [Figure 14] FIG. 14 is a diagram showing a display form when a large load interferes with the three-dimensional current terrain model. [Figure 15] FIG. 15 is a diagram showing a travel route. [Figure 16] FIG. 16 is a diagram showing three types of travel routes. [Figure 17] FIG. 17 is a diagram showing a case where a transport vehicle interferes with a curb or the like due to an inner wheel difference. [Figure 18] FIG. 18 is a diagram equivalent to FIG. 17 when an adjustment operation for the travel route is received. [Figure 19] FIG. 19 is a diagram showing an example in which the IP point 2 is moved significantly outside the road. [Figure 20] FIG. 20 shows sidewalks and utility poles that interfere with transport vehicles and large loads. [Figure 21] FIG. 21 is a flowchart showing the calculation process of project costs. [Figure 22] FIG. 22 is a diagram showing an example of an extension document for structure removal. [Figure 23] FIG. 23 is a diagram showing an example of a structure removal labor quantity calculation sheet. [Figure 24] FIG. 24 is a diagram showing an example of a quantity summary table. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Note that the following description of the preferred embodiment is essentially merely an example and is not intended to limit the present invention, its applications, or its uses. For example, the relative size and positional relationship of each component shown in the drawings are for the purpose of explaining one embodiment and do not limit the present invention.

[0021] FIG. 1 is a configuration diagram of a simulation system 1 for examining the type of vehicle and proposed transport route for a large-load item according to an embodiment of the present invention. FIG. 2 is a block diagram of the simulation system 1 for examining the type of vehicle and proposed transport route for a large-load item. The simulation system 1 for examining the type of vehicle and proposed transport route for a large-load item is configured, for example, as a personal computer and includes a main unit 10, a display unit 11, an operation unit 12, and a storage device 13. The main unit 10 includes a control unit 10A and a communication module 10B. The control unit 10A is configured, for example, as a central processing unit (CPU), a ROM, and a RAM (memory), and operates according to a pre-installed program. The memory includes a work memory for expanding the simulation program for examining the type of vehicle and proposed transport route when the CPU executes the simulation program for examining the type of vehicle and proposed transport route for a large-load item, and a buffer memory for temporarily storing data. The communication module 10B communicates with an external terminal, for example, via the Internet, and is configured to transmit and receive data.

[0022] The control unit 10A configures a condition receiving unit 10a, an acquisition unit 10b, a simulation unit 10c, an adjustment receiving unit 10d, an output unit 10e, and the like, which will be described later. The condition receiving unit 10a, the acquisition unit 10b, the simulation unit 10c, the adjustment receiving unit 10d, and the output unit 10e may be configured solely by the hardware constituting the control unit 10A, or may be configured as a combination of hardware and software. For example, the control unit 10A can realize the functions of the condition receiving unit 10a, the acquisition unit 10b, the simulation unit 10c, the adjustment receiving unit 10d, and the output unit 10e by having a CPU execute a simulation to consider the type of transport vehicle and a proposed transport route. Some of the condition receiving unit 10a, the acquisition unit 10b, the simulation unit 10c, the adjustment receiving unit 10d, and the output unit 10e may be configured on a computer different from the other parts. For example, some of the condition receiving unit 10a, the acquisition unit 10b, the simulation unit 10c, the adjustment receiving unit 10d, and the output unit 10e may be configured by a cloud server, and the remaining units may be configured by a personal computer.Alternatively, all of the condition receiving unit 10a, the acquisition unit 10b, the simulation unit 10c, the adjustment receiving unit 10d, and the output unit 10e may be configured by a cloud server.

[0023] The display unit 11 is configured by, for example, a liquid crystal display device, an organic EL (electro-luminescence) display device, etc. The display unit 11 is connected to the control unit 10A and is controlled by the control unit 10A, and is capable of displaying various setting screens, input screens, design screens, analysis screens, 3D display screens, planar viewpoint screens, simulation results, adjustment screens, etc.

[0024] The operation unit 12 is composed of devices and the like for the user to operate the simulation system 1 to consider the type of transport vehicle and proposed transport routes. The operation unit 12 includes, for example, a keyboard 12a and a mouse 12b, but may also include a touch operation panel incorporated in the display unit 11, various pointing devices, and the like in addition to the keyboard 12a and the mouse 12b. The operation unit 12 is connected to the control unit 10A, and various operations performed by the user on the operation unit 12 can be detected by the control unit 10A.

[0025] The storage device 13 is configured with a hard disk drive, a solid state drive, or the like that can store various data, images, applications, programs, and the like. The storage device 13 is connected to the control unit 10A, and stores transmitted data and reads stored data in accordance with instructions from the control unit 10A. The storage device 13 may be built into the main body unit 10 or may be provided externally to the main body unit 10. The storage device 13 may also be an external server or a so-called cloud-type storage system. Alternatively, only a portion of the storage device 13 may be built into the main body unit 10, and the rest may be provided externally.

[0026] The storage device 13 stores a simulation program for examining the type of transport vehicle and a proposed transport route, which causes a computer to execute each step described below. The form in which this simulation program for examining the type of transport vehicle and a proposed transport route may be provided to the user is not particularly limited. For example, as shown in FIG. 1 , the program may be provided to the user in a state recorded on a recording medium A such as a CD-ROM or DVD-ROM, or in a form downloadable from an external server via the Internet or the like. By installing the provided simulation program for examining the type of transport vehicle and a proposed transport route on a general-purpose personal computer, the personal computer can be used as a simulation system 1 for examining the type of transport vehicle and a proposed transport route. By executing the multiple steps described below on a computer, a simulation for examining the type of transport vehicle and a proposed transport route for a large load can be performed. Furthermore, the simulation system 1 for examining the type of transport vehicle and a proposed transport route for a large load may be configured as a dedicated computer system. Furthermore, a simulation method for examining the type of transport vehicle and a proposed transport route for a large load can also be performed using the simulation system 1 for examining the type of transport vehicle and a proposed transport route for a large load.

[0027] When installing the simulation program for considering the type of vehicle for transporting large loads and a proposed transport route in a general-purpose personal computer, it may be installed in the storage device 13. Also, by having the general-purpose personal computer access an external server in which the simulation program for considering the type of vehicle for transporting large loads and a proposed transport route is installed, it is possible to use the computer as the simulation system 1 for considering the type of vehicle for transporting large loads and a proposed transport route, and there are no particular limitations on where the simulation program for considering the type of vehicle for transporting large loads and a proposed transport route may be installed.

[0028] A simulation system 1 for considering the type of transport vehicle and proposed transport route for a large load is a device that displays the interference status between the transport vehicle or large load and the current terrain when the transport vehicle is transported along a transport route with a large load that protrudes from the transport vehicle in a planar view. It can also be called a transport route setting support device that supports a user in setting a transport route for a large structure. In this case, a simulation program for considering the type of transport vehicle and proposed transport route for a large load can also be called a transport route setting support program that supports a user in setting a transport route for a large structure. During a simulation for considering the type of transport vehicle and proposed transport route for a large load, the user can be presented with whether or not the large load will interfere with the current terrain and whether or not the transport vehicle will interfere with the current terrain when transporting the large load from a departure point to a destination. This allows the validity of the transport route for the large load to be examined.

[0029] A large load is a load that is large enough to extend beyond the transport vehicle in a plan view. Such loads are defined as large loads whether they extend laterally from the side of the transport vehicle, forward from the front of the transport vehicle, backward from the rear of the transport vehicle, or upward from the top of the transport vehicle. Examples of such large loads include, but are not limited to, wind power generation blades and pillars, as well as bridge girders, box culverts, railway vehicles, construction machinery, ships, aircraft, rockets, etc. Building materials, steel tower components, etc. may also be considered large loads.

[0030] Typical examples of transport vehicles include trucks, semi-trailers, etc., but are not limited to these, and include vehicles (specialized vehicles) specially designed for the cargo they carry. Transport vehicles include vehicles equipped with a power generating device such as an internal combustion engine and capable of running under their own power, but also include vehicles that are towed.

[0031] The configuration of each part of a simulation system 1 for examining the type of transport vehicle and proposed transport route for a large load will be described with reference to the configuration diagram shown in FIG. 1, the block diagram shown in FIG. 2, the flowchart shown in FIG. 3, etc. The condition receiving unit 10a shown in FIG. 2 is a unit that receives input of multiple conditions related to the transport vehicle and the large load before starting the simulation. Specifically, in step SA1 shown in FIG. 3, the condition receiving unit 10a receives input of multiple conditions including the specifications of the transport vehicle, the dimensions of the large load, the loading method of the large load, 3D model data of the transport vehicle, and 3D model data of the large load. The multiple conditions are input by a user operating the operation unit 12.

[0032] In step SA1, the condition accepting unit 10a generates a condition input user interface screen 100 as shown in FIG. 4 and displays it on the display unit 11. The condition input user interface screen 100 includes a travel path setting area 101 in which the type of travel path can be set, such as the current lane, adjacent lanes, straight ahead, right turn, or left turn, and can also be set as a linear type consisting of an arbitrary straight line, an arc, or a transition curve such as a clothoid curve, or a polyline or spline curve consisting of a broken line. The transport vehicle information setting area 102 includes a transport vehicle type selection area 102a for selecting the type of transport vehicle, a transport vehicle specification input area 102b for inputting the specifications of the transport vehicle, and a trailer specification input area 102c for inputting the specifications of the trailer if the transport vehicle is a semi-trailer. The specifications include dimensions, weight, horsepower, torque, number of axles, etc.

[0033] In the transport vehicle specification input area 102b, it is possible to input, for example, in meters, the front overhang, wheelbase, rear overhang, vehicle body width, kingpin position (offset), etc. In the trailer specification input area 102c, it is possible to input, for example, in meters, the distance from the front to the kingpin, rear wheelbase, rear overhang, trailer width, etc.

[0034] Specifications of a standard automobile (including trucks) are explained in Figures 5A and 5B, and the dimensions of each part shown in these figures are input as specifications into the condition input user interface screen 100. Specifications of a semi-trailer are explained in Figures 6A, 6B, and 6C, and the dimensions of each part shown in these figures are input as specifications into the condition input user interface screen 100.

[0035] FIG. 7 is a diagram explaining the specifications of a Schnabel trailer that can be used as a transport vehicle. FIG. 8 is a diagram explaining the specifications of a multi-trailer that can be used as a transport vehicle. FIG. 9A is a diagram explaining a stand-up multi-axle trailer that can be used as a transport vehicle. FIG. 9B is a side view explaining an stand-up multi-axle trailer with a large load erected. FIG. 10 is a diagram explaining a low-floor trailer that can be used as a transport vehicle. As shown in these drawings, transport vehicles come in a variety of structures and sizes, so specifications are entered into the condition input user interface screen 100 and used as simulation conditions.

[0036] As described above, vehicles that can be used as transport vehicles are not limited to trucks and semi-trailers, but may also be, for example, Schnabel trailers, multi-trailers, erection multi-axle trailers, low-bed trailers, etc. In the transport vehicle type selection area 102a of the condition input user interface screen 100, for example, trucks, semi-trailers, Schnabel trailers, multi-trailers, erection multi-axle trailers, low-bed trailers, etc. can be displayed as options. The user can select a transport vehicle to be used in the simulation from the displayed options. Depending on the selected transport vehicle, the condition receiving unit 10a changes the format of the transport vehicle specification input area 102b and the trailer specification input area 102c.

[0037] The user can also input the dimensions of the large load by operating the operation unit 12. The length, height, width (outer diameter), etc. of the large load can be input as the dimensions of the large load. The user can also input the loading method of the large load by operating the operation unit 12. Methods for loading the large load include loading it on the loading platform, loading it so that it is positioned between the middle vehicle body and the rear vehicle body as shown in Figure 7, and loading it so that it can be switched from a lying down state to an upright state and from an upright state to a lying down state as shown in Figures 9A and 9B.

[0038] The three-dimensional model data of a plurality of different transport vehicles can be stored in, for example, the storage device 13. The user can select the three-dimensional model data of the transport vehicle to be used in the simulation from the three-dimensional model data of the plurality of transport vehicles stored in the storage device 13. The three-dimensional model data of the selected transport vehicle is accepted by the condition accepting unit 10a. The three-dimensional model data of the large load can also be stored in, for example, the storage device 13. The user can select the three-dimensional model data of the large load to be used in the simulation from the three-dimensional model data of the large load stored in the storage device 13. The three-dimensional model data of the selected large load is accepted by the condition accepting unit 10a. The three-dimensional model data of the transport vehicle and the three-dimensional model data of the large load may be read from an external storage device (not shown).

[0039] When the condition receiving unit 10a receives input of a plurality of conditions in step SA1, the inputted plurality of conditions are stored in the storage device 13. This step is a step of receiving input of a plurality of conditions including specifications of the transport vehicle, dimensions of the large load, a loading method of the large load, 3D model data of the transport vehicle, and 3D model data of the large load, and causes the condition receiving unit 10a of the simulation system 1, which is a computer, to execute a simulation program for considering the type of transport vehicle and a proposed transport route for the large load.

[0040] In step SA2, the acquisition unit 10b acquires 3D current terrain model data of the route along which the transport vehicle will travel. The 3D current terrain model data includes 3D terrain model data representing the current terrain and 3D structure model data representing structures installed on the current terrain. The 3D current terrain model data is stored as data in any format (3D polyline, point cloud data, surface, solid, etc.) in, for example, the storage device 13, an external server, or a recording medium such as a CD-ROM or DVD-ROM (hereinafter, these are collectively referred to as the storage device 13, etc.). A user of the simulation system 1 considering the type of vehicle for transporting large loads and a proposed transport route operates the operation unit 12 to read desired 3D current terrain model data from the storage device 13, etc., thereby causing the acquisition unit 10b to acquire the 3D current terrain model data. If multiple 3D current terrain model data are stored in the storage device 13, etc., the user simply operates the operation unit 12 to select the desired 3D current terrain model data and then performs a read operation. The step of acquiring 3D current terrain model data is a step of acquiring 3D current terrain model data of the route along which the transport vehicle will travel, and a simulation program for considering the type of transport vehicle and a proposed transport route for large cargo items is executed by the acquisition unit 10b of the simulation system 1 for considering the type of transport vehicle and a proposed transport route, which is a computer.

[0041] Fig. 11A shows an example of a point cloud displayed using reflection intensity information, which is one example of 3D current terrain model data. Fig. 11B shows an example of a 3D surface model that can be used as 3D current terrain model data. Either type of data can be used as 3D current terrain model data in this embodiment.

[0042] In step SA3, the user sets the driving method. For example, when driving within the current lane, the user sets the driving method to go straight or turn right or left within the current lane. The driving method setting is accepted by the condition accepting unit 10a and then stored in the storage device 13.

[0043] In step SA4, the condition receiving unit 10a determines whether the two-dimensional travel route can be traveled on the travel locus map using the travel route data created based on the travel method set in step SA3. The current terrain at this time may be a planar view of a three-dimensional current terrain model, or a two-dimensional current terrain map. From the two-dimensional travel route, the travel locus of the transport vehicle is calculated, and this becomes the transport route from the departure point to the destination.

[0044] FIG. 12A shows travel route data for a standard vehicle traveling around a left curve. Reference numeral 110 denotes a travel route, and reference numeral 120 denotes a transport vehicle. FIG. 12A shows a case where the transport vehicle 120 moves in the traveling direction at 5-meter intervals. This is displayed as a travel trajectory diagram, and the simulation unit 10c executes a process (simulation) for moving the transport vehicle 120 along the travel route 110. In the example of FIG. 12A, the transport vehicle 120 can travel on a two-dimensional travel route. A calculation method for creating a travel trajectory diagram by having the transport vehicle travel on this two-dimensional travel route can be performed using an existing design system, so it will not be described here. That is, the simulation unit 10c sets the travel reference line of the transport vehicle 120 traveling within the width of the road as the travel route 110, and executes a simulation in which the transport vehicle 120 travels on the travel reference line.

[0045] 12B shows travel route data when semi-trailer 130 travels around a left curve. Tractor section 130a and trailer section 130b of semi-trailer 130 are connected by kingpin 130c. In this case, simulation section 10c performs a simulation while providing a degree of freedom that allows tractor section 130a and trailer section 130b to rotate relative to each other around kingpin 130c.

[0046] When the simulation unit 10c creates the travel route data, the travel pitch of the transport vehicle may be narrowed as shown in Fig. 12C. The travel pitch of the transport vehicle may be set arbitrarily, and for example, the user may be allowed to input an arbitrary travel pitch. In this case, the simulation unit 10c creates the travel route data using the input travel pitch.

[0047] In step SA5, the simulation unit 10c acquires the multiple conditions accepted by the condition accepting unit 10a and the 3D current terrain model data acquired by the acquiring unit 10b. The simulation unit 10c executes an interference calculation based on the multiple conditions accepted by the condition accepting unit 10a and the 3D current terrain model data acquired by the acquiring unit 10b. The simulation of the transport vehicle traveling uses a general physical calculation model used in games and other applications, so details are omitted.

[0048] In step SA6, the simulation unit 10c simulates whether or not the 3D model of the transport vehicle or the 3D model of the large load will interfere with the 3D current terrain model on the transport route, based on the multiple conditions received by the condition receiving unit 10a and the 3D current terrain model data acquired by the acquisition unit 10b. This step is a step of simulating whether or not the 3D model of the transport vehicle or the 3D model of the large load will interfere with the 3D current terrain model on the transport route, based on the multiple conditions and the 3D current terrain model data, and is executed by the simulation unit 10c of the simulation system 1 that considers the type of transport vehicle and a proposed transport route for large loads, which is a computer.

[0049] For example, when a 3D model of a transport vehicle is moved in the direction of travel along a travel route, the simulation unit 10c determines whether or not the 3D model of the transport vehicle interferes with the 3D current terrain model data. If the 3D current terrain model data is point cloud data, when the 3D model of the transport vehicle interferes with the point cloud data of the 3D current terrain model, it is determined that interference exists, and the location of the interference is also stored by the simulation unit 10c.

[0050] Similarly, when the 3D model of the transport vehicle is moved in the traveling direction along the travel route, if the 3D model of the large load interferes with the point cloud data of the 3D current terrain model, it is determined that there is interference, and the interference point is also stored in the simulation unit 10c. If there is no interference, proceed to step SA17.

[0051] The output unit 10e is a part that outputs the simulation results obtained by the simulation unit 10c to the display unit 11. The display unit 11 displays the simulation results obtained by the simulation unit 10c by incorporating them into a user interface screen 150 for displaying results, as shown in, for example, FIGS. 13A and 13B. This display process is executed in step SA6. In FIGS. 13A and 13B, reference numeral 140 denotes a three-dimensional model of the large load (blade).

[0052] The result display user interface screen 150 is provided with an angle adjustment area 151 for adjusting the angle of the large load. In the angle adjustment area 151, the angle of the large load can be adjusted within a range of, for example, 0° to 90°. 0° indicates that the large load is lying down, and 90° indicates that the large load is standing upright.

[0053] When the simulation unit 10c acquires the angle adjusted in the angle adjustment area 151, it generates a 3D model of the large load with the angle of the large load set to correspond to the angle, and executes the above-mentioned simulation. In other words, the user can set the angle of the large load to any angle at any time and anywhere and have the simulation unit 10c determine whether there is an interference.

[0054] FIG. 14 shows a display format when a large load 140 interferes with a 3D current terrain model. The interfering portion is blacked out and indicated by reference numeral 160. The portion indicated by reference numeral 160 can also be colored in a conspicuous color, such as red or yellow. The interference range includes both completely interfering terrain or structures and other terrain or structures. In this case, the completely interfering terrain or structures and other terrain or structures can be displayed in different display formats. For example, a gradual margin of error, which takes into account load errors including the loading position error, runout, and other dimensional errors of the large load, can be obtained as distance information from the current terrain, and the distance levels can be displayed in a format that allows for understanding using color information (a color map of red, yellow, blue, etc.). The loading method refers to, for example, the selection of the transport vehicle and the loading method (vertical loading, horizontal loading, angle adjustment using gaiters, etc.). In addition, driving methods include normal driving within the width of the lane, taking into account the wheel difference between the inside and outside of large vehicles, but if it is determined that normal driving is not possible, a detailed review of that area can be conducted and a different driving method can be adopted.

[0055] After determining the results of interference with the current terrain, if it is determined that normal driving routes are not possible, the method of passage is considered, then vehicle response (vehicle type) is considered, and finally, the removal, relocation, or renovation of road structures is considered. For example, if a structure is interfered with, and the 3D terrain model has attributes for each structure (traffic lights, signs, utility poles, curbs, etc.), the color information for the current terrain is displayed in a different color. This makes it easier to make subsequent decisions. For example, traffic lights can be displayed in red because consultation with the police is required. This is explained in more detail below.

[0056] In step SA8, the user manually adjusts the travel route. If manual adjustment is performed, the process proceeds to step SA9. If manual adjustment is not performed, the process proceeds to step SA10. In step SA10, the simulation unit 10c determines whether or not a stop handle is being used. Stop handle is steering while the transport vehicle is stopped, and is also called stationary steering. If a stop handle is being used, the process proceeds to step SA5, where the stop handle is taken into consideration when performing the above-mentioned interference calculation. In other words, the simulation unit 10c simulates whether or not the 3D model of the transport vehicle or the 3D model of the large load will interfere with the 3D current terrain model when the stop handle is used. Then, the process proceeds to steps SA6 to SA8. Calculation methods for stop handles, swinging, and turning are common techniques and will not be described here.

[0057] If the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model even when the stop handle is operated, the process proceeds to step SA11, where the simulation unit 10c determines whether or not there is a swing or a turn. A swing or a turn refers to moving the transport vehicle forward and backward, causing the front of the vehicle to swing, or turning. If a swing or a turn is performed, the process proceeds to step SA5, where the swing or the turn is taken into account when performing the above-mentioned interference calculation. That is, the simulation unit 10c simulates whether or not the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model when a swing or a turn is performed. Then, the process proceeds to steps SA6 to SA8.

[0058] If the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model even after turning and steering, the process proceeds to step SA12, where the simulation unit 10c determines whether rear axle / multi-axle steering is used. If rear axle / multi-axle steering is used, the process proceeds to step SA5, where rear axle / multi-axle steering is taken into consideration when performing the above-mentioned interference calculation. In other words, the simulation unit 10c simulates whether the 3D model of the transport vehicle or the 3D model of the large load will interfere with the 3D current terrain model when rear axle / multi-axle steering is used. Then, the process proceeds to steps SA6 to SA8.

[0059] If the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model even after rear axle / multi-axle steering, the process proceeds to step SA13, where the simulation unit 10c determines whether the load is raised or lowered. If the load is raised or lowered, the process proceeds to step SA5, where the raising or lowering of the load is taken into consideration when performing the above-mentioned interference calculation. In other words, the simulation unit 10c simulates whether the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model when the load is raised or lowered. Then, the process proceeds to steps SA6 to SA8.

[0060] 15 and 16 show a travel route 110 at a certain intersection, and are examples of display screens displayed on the display unit 11. As shown in FIG. 17, when a transport vehicle 120 travels on the travel route 110, the left side of the transport vehicle 120 may interfere with a curb or the like due to the difference in the inner and outer wheels of the transport vehicle 120. The interfered area is indicated by a black triangle. In such a case, the user manually adjusts the travel route in step SA9. When manually adjusting the travel route, the adjustment receiving unit 10d receives an adjustment operation for the travel route 110 of the transport vehicle by the user on the display unit 11. This step is a step of receiving an adjustment operation for the travel route 110 of the transport vehicle by the user, and is executed by the adjustment receiving unit 10d of the simulation system 1, which considers the type of transport vehicle and a proposed transport route for large loads, which is a computer.

[0061] As shown in FIG. 15, the adjustment receiving unit 10d receives an operation to add a first IP point (intersection point) to a driving route 110 serving as a driving reference line. For example, by executing an IP point addition command, IP point 1 can be added. IP point 1 can be added to the intersection of a first line L1 and a second line L2 that form the driving reference line. As shown in FIG. 16, the adjustment receiving unit 10d receives an operation to move the driving route 110 serving as a driving reference line in the width direction of the road, such as 111, 112, and 113. The adjustment receiving unit 10d receives an operation to freely move the added IP point 1.

[0062] As shown in FIG. 18, the adjustment receiving unit 10d can also receive an operation to add a second IP point (IP point 2) or a third IP point (IP point 3). In this way, the adjustment receiving unit 10d receives an operation to add multiple IP points at locations distant from each other. All IP points can be freely moved, and the size of the single circle at each IP point can also be changed. The size (radius) of the single circle can be changed by changing the curvature of the single circle specified by the user using the mouse 12b or the like of the operation unit 12. Each single circle is automatically calculated based on the IP point and the tangents at both ends. Therefore, when an IP point is moved, the single circle also moves accordingly. As shown in FIG. 18, the user can move IP point 1 on the display unit 11 by selecting and dragging IP point 1 using the mouse 12b or the like of the operation unit 12. When the IP point 1 is moved, the travel route 110, which was a curve consisting of only a single circle 1 as shown in FIG. 16, becomes a curve consisting of three circles, simple circles 1 to 3, as shown in FIG. 18, and the travel route 110 takes on a shape that curves greatly inward toward the road width. In this way, the adjustment receiving unit 10d accepts an operation to freely move the travel reference line. As shown in FIG. 19, the travel route 110 can also be changed. For example, it can be a curve that includes clothoid curves on both ends of a single circle. Furthermore, it is possible to automatically convert a polyline or spline curve consisting of broken lines created freehand into a linear shape (straight line, circular arc, clothoid curve) that will become the travel route.

[0063] If the travel route is manually adjusted, the travel route after manual adjustment is taken into consideration when performing the above-mentioned interference calculation. That is, the simulation unit 10c simulates whether the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model when the travel route is manually adjusted. That is, the simulation unit 10c executes a re-simulation by reflecting the travel route accepted by the adjustment accepting unit 10d. This process is a process of executing a re-simulation by reflecting the travel route based on the accepted adjustment operation, and is executed by the simulation unit 10c of the simulation system 1 that considers the type of transport vehicle and a proposed transport route, which is a computer, using a simulation program that considers the type of transport vehicle and a proposed transport route for large loads.

[0064] Thereafter, the process proceeds to step SA6, where the display unit 11 displays the results of the re-simulation performed by the simulation unit 10c. This process displays the results of the re-simulation, and the output unit 10e of the simulation system 1, which is a computer, executes a simulation program for considering the type of transport vehicle and a proposed transport route for large loads. As a result of adjusting the travel route, the process proceeds to step SA7, and if there is no interference, the process proceeds to step SA17.

[0065] In step SA14, the simulation unit 10c determines whether trees should be cut down. Cutting down trees means that if the 3D model of the transport vehicle or the 3D model of the large load interferes with trees included in the 3D current terrain model, the interfering trees are assumed to have been cut down. If trees are to be cut down, the process proceeds to step SA18, where the simulation unit 10c counts the interfering objects. Furthermore, based on the attributes of the trees in the 3D current terrain model, the simulation unit 10c simulates whether the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model, assuming that the interfering trees have been cut down when performing the above-mentioned interference calculation.

[0066] If the 3D model of the transport vehicle or the 3D model of the large load still interferes with the 3D current terrain model even after the trees have been cut down, the process proceeds to step SA15, where the simulation unit 10c determines whether to remove or relocate the structure based on the attributes of the structure in the 3D current terrain model. Examples of structures include, but are not limited to, guardrails, signs, traffic lights, curbs, utility poles, sidewalks, and pedestrian bridges, and include various other structures. Removing or relocating a structure refers to assuming that the interfering structure has been removed or relocated when the 3D model of the transport vehicle or the 3D model of the large load interferes with a structure included in the 3D current terrain model. If the structure is to be removed or relocated, the process proceeds to step SA19, where the simulation unit 10c tallies the quantity of the structure to be removed or relocated. In addition, assuming that an interfering structure is removed or relocated when performing the above-mentioned interference calculation, the simulation unit 10c simulates whether or not the 3D model of the transport vehicle or the 3D model of the large cargo will interfere with the 3D current terrain model.

[0067] If the 3D model of the transport vehicle or the 3D model of the large load still interferes with the 3D current terrain model even after the structure is removed or relocated, the process proceeds to step SA16, where the simulation unit 10c determines whether road repair is necessary. Road repair includes widening the road, and performing road repairs makes it possible to change the travel route 110. When performing road repairs, the user can specify, for example, the road widening dimensions and the widening range. If road repairs are necessary, the process proceeds to step SA20, where the simulation unit 10c tallys up the construction quantity. Furthermore, assuming that the road has been repaired when performing the above-mentioned interference calculation, the simulation unit 10c simulates whether the 3D model of the transport vehicle or the 3D model of the large load interferes with the 3D current terrain model.

[0068] In step SA21, the simulation unit 10c creates a quantity summary table. In step SA22, the simulation unit 10c calculates the project cost taking into account the vehicle cost calculated in step SA17. In step SA23, the project cost for each transportation route plan is output.

[0069] Figure 20 is a diagram showing sidewalks, utility poles, and curbs that interfere with transport vehicles and large loads. In Figure 20, the part designated by reference numeral 180 is the sidewalk that interferes with the transport vehicle or large load. The part designated by reference numeral 190 is the utility pole that interferes with the transport vehicle or large load. The curbs that interfere with the transport vehicle or large load are indicated by thick lines. Structures that interfere with the transport vehicle or large load in this way are called obstructions.

[0070] FIG. 21 is a flowchart specifically illustrating the calculation process of project costs from the tabulation results of steps SA17 to SA20. The flowchart shown in FIG. 21 can be started after the simulation by the simulation unit 10c is completed. In step SB1, the control unit 10A tabulates the number of interfering utility poles that interfere with the transport vehicle or large cargo. For example, if utility poles are the interfering objects, the control unit 10A tabulates the number of interfering utility poles. If curbs are the interfering objects, the control unit 10A tabulates the lengths of the interfering portions of the curbs. If sidewalks are the interfering objects, the control unit 10A tabulates the areas of the interfering portions of the sidewalks. In step SB2, the control unit 10A creates an extension report (interfering object report) that tabulates the locations, number, lengths, and areas of structures, as shown in FIG. 22. In step SB2, the control unit 10A creates a structure removal labor quantity calculation sheet that summarizes each extension report, as shown in FIG. 23, for example, in the case of structure removal. Furthermore, when construction work is carried out for restoration or road repair, the control unit 10A creates quantity calculation sheets for the construction work, such as an earthwork quantity calculation sheet and a structure quantity calculation sheet.

[0071] For example, when 2D or 3D polylines or surfaces are 3D current terrain model data, the length, area, and number of each interfering object can be calculated based on the attribute information of each interfering object. Furthermore, when point clouds are 3D current terrain model data, attribute information for each interfering object is stored in the point cloud, and the interfering points can be classified by attribute, and the length or area can be calculated from the classified point cloud. That is, point clouds contain color and reflectance information, but attribute information is also assigned to each point. For example, attribute information such as roadway, sidewalk, curb, guardrail, utility pole, sign, traffic light, street light, tree, and building can be assigned to each point, and they can be further grouped, such as a single utility pole. This allows for the number of interfering objects, such as utility poles and signs, which need to be counted; the extension distance of the interference range, such as curbs, which need to be counted; and the area of ​​the interference range, such as sidewalks and private land, which need to be counted by area. More specifically, the number of objects can be calculated by counting the number of objects, since each object, such as utility poles, is individually assigned an attribute. As for extension, since length cannot be calculated directly from the point cloud, it can be calculated by calculating the length in 1m increments in the longitudinal direction of the point cloud.As for area, since area cannot be calculated directly from the point cloud, it is possible to calculate the area by creating a surface from the point cloud.

[0072] Furthermore, the control unit 10A can create and output a quantity summary table as shown in FIG. 24, which compiles the quantity calculation sheets relating to removal, relocation, restoration, and repair.

[0073] In step SB3, the control unit 10A calculates the project cost. Specifically, the control unit 10A calculates the quantity of removal, relocation, restoration, and repair in the quantity summary table compiled for each obstruction, calculates the construction cost by multiplying the construction cost of removal, relocation, restoration, and repair for each obstruction by the construction cost unit, and calculates the total cost including the vehicle cost as the project cost.

[0074] Regarding the construction costs included in the project costs, the quantity of work related to removal is calculated, then the quantity of work related to design such as relocation and renovation is calculated, and finally the quantity of work related to restoration to the current state is calculated, and the construction costs can be calculated by multiplying all the calculated quantities of work by the construction unit price. Vehicle costs can also be calculated from the vehicle to be used, the mileage, the number of days of use, etc.

[0075] In step SB4, the calculated project cost can be output as the transportation project cost of the transportation route proposal that has been considered.

[0076] The above-described embodiments are merely examples in all respects and should not be construed as limiting. Furthermore, all modifications and variations within the scope of the claims are within the scope of the present invention. [Industrial Applicability]

[0077] As described above, the technology according to the present disclosure can be used, for example, when determining a transport route for transporting a large load to a destination. [Explanation of symbols]

[0078] 1. Simulation system for considering the type of vehicle and proposed transport route for large-sized cargo (Large-sized cargo transport simulation system) 11 Display section 12 Control section 10a Conditions acceptance section 10b Acquisition part 10c Simulation Section 10d Adjustment Reception 10e Output section

Claims

1. A large-sized cargo transportation simulation system that displays an interference situation between a transport vehicle or a large-sized cargo and a current terrain when the large-sized cargo is loaded on a transport vehicle and transported on a transport route, comprising: a condition receiving unit that receives input of a plurality of conditions including specifications of the transport vehicle, dimensions of the large load, a loading method of the large load, three-dimensional model data of the transport vehicle, and three-dimensional model data of the large load; an acquisition unit that acquires three-dimensional current terrain model data of a route along which the transport vehicle will travel; a simulation unit that simulates whether or not the three-dimensional model of the transport vehicle or the three-dimensional model of the large load will interfere with the three-dimensional current terrain model on the transport route, based on the plurality of conditions accepted by the condition accepting unit and the three-dimensional current terrain model data acquired by the acquiring unit; a display unit that displays a simulation result by the simulation unit; an adjustment receiving unit that receives an adjustment operation of the travel route of the transport vehicle by a user on the display unit, The 3D current terrain model data acquired by the acquisition unit has attribute information for each structure included in the data, the simulation unit, when simulating whether or not the three-dimensional model of the transport vehicle or the three-dimensional model of the large load interferes with the three-dimensional current terrain model on the transport route, identifies the interfering structure based on the attribute information; the simulation unit executes a re-simulation by reflecting the travel route accepted by the adjustment acceptance unit; The display unit displays the results of the re-simulation performed by the simulation unit.

2. 2. The large-load transportation simulation system according to claim 1, The simulation unit sets a driving reference line for the transport vehicle traveling within the width of the road, and performs a simulation of the transport vehicle traveling on the driving reference line as the simulation.

3. 3. The large-load transportation simulation system according to claim 2, The adjustment receiving unit receives an operation to move the driving reference line in the width direction of the road.

4. 4. The large-load transportation simulation system according to claim 3, The adjustment receiving unit receives an operation to add an IP point.

5. 5. The large-load transportation simulation system according to claim 4, The adjustment receiving unit receives an operation to add a plurality of IP points at locations distant from each other.

6. 5. The large-load transportation simulation system according to claim 4, The adjustment receiving unit receives an operation to move the added IP point.

7. 2. The large-load transportation simulation system according to claim 1, A large-cargo transportation simulation system that calculates transportation costs.

8. A simulation program for transporting a large load that displays an interference situation between a transport vehicle and the large load and a current terrain when the large load is loaded on the transport vehicle and transported on a transport route, receiving input of a plurality of conditions including specifications of the transport vehicle, dimensions of the large load, a loading method of the large load, three-dimensional model data of the transport vehicle, and three-dimensional model data of the large load; acquiring three-dimensional current terrain model data of a route along which the transport vehicle will travel; a step of simulating whether or not the three-dimensional model of the transport vehicle or the three-dimensional model of the large load interferes with the three-dimensional current terrain model on the transport route based on the plurality of conditions and the three-dimensional current terrain model data; displaying the results of the simulation; receiving an adjustment operation of the travel route of the transport vehicle by a user; a step of executing a re-simulation by reflecting the travel path based on the received adjustment operation; and displaying the results of the re-simulation; In the step of acquiring the three-dimensional current terrain model data, attribute information is provided for each structure included in the data, In the simulating step, when simulating whether a three-dimensional model of the transport vehicle or a three-dimensional model of the large cargo interferes with the three-dimensional current terrain model on the transport route, the program identifies the interfering structure based on the attribute information.

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