Route planning device and route planning method
The route planning device and method systematically assign coordinates and rank paths for heavy machinery and utility poles, addressing the reliance on worker intuition, and enhance efficiency in utility pole construction by optimizing placement and reducing construction time.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- NIPPON TELEGRAPH & TELEPHONE CORP
- Filing Date
- 2023-01-18
- Publication Date
- 2026-06-09
AI Technical Summary
The placement of heavy machinery and utility poles in utility pole construction relies heavily on the experience and intuition of skilled workers, lacking an efficient and systematic approach.
A route planning device and method that assigns coordinates for heavy machinery and utility poles, generates route plans considering obstacle locations, and displays heat maps to rank paths by success probability and travel time, using techniques like RRT and RRT*, and aggregates scores for efficient placement.
Provides efficient arrangements of heavy machinery and utility poles without relying on worker skills, reducing the time required for pole erection by clarifying optimal placement positions.
Smart Images
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Abstract
Description
Technical Field
[0001] The present disclosure relates to a route planning device and a route planning method for generating a route plan for a heavy machine performing utility pole work.
Background Art
[0002] Utility pole work is performed by an operator operating a heavy machine. The related work procedure is shown in FIG. 1. First, the worker conducts a site survey to grasp the positions of obstacles and the positions where utility poles are to be erected (pole erection positions) (51). Based on the site survey, a construction plan on how to operate the heavy machine was created (52). The worker instructs the heavy machine operator to operate the heavy machine (53), and the operator operates the heavy machine according to the worker's instructions (54).
[0003] Depending on the working environment at the site, it was necessary to change the position where the heavy machine was placed or the position where the utility pole was laid down, and thus change the route plan of the heavy machine.
Prior Art Documents
Non-Patent Documents
[0004]
Non-Patent Document 1
Non-Patent Document 2
[0005] In this type of utility pole construction, planning the placement of heavy machinery and the horizontal positioning of the poles to be erected requires skill, and the determination of this placement largely relied on the experience and intuition of skilled workers.
[0006] This disclosure aims to provide a route planning device and route planning method that can present workers with efficient arrangements of heavy machinery and utility poles without relying on the workers' skills. [Means for solving the problem]
[0007] The route planning device and route planning method of this disclosure assign points to combinations of coordinates for placing heavy machinery and coordinates for laying utility poles on a map near the work site, and display a heat map for each coordinate where heavy machinery is placed. Furthermore, the route planning device and route planning method of this disclosure create a route plan from the coordinates for laying utility poles on a map near the work site to the pole installation location, and display this as a heat map.
[0008] Specifically, this disclosure is: A first acquisition unit that acquires the location of the pole and the location of obstacles, A mapping unit that applies the acquired pole installation locations and obstacle locations to a map of the area near the work site, and sets a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations, A second acquisition unit that acquires the number of divisions for dividing the aforementioned work area, A planning unit generates a route plan from the coordinates where the heavy machinery is placed, through the coordinates where the utility poles are laid, to the pole installation location, based on the combination of all coordinates where the heavy machinery is placed and all coordinates where the utility poles to be erected are laid, according to the number of divisions acquired by the second acquisition unit, and aggregates the search success probability and route travel time for each route plan to assign a score. A display unit that displays a heat map of aggregated points for each coordinate where heavy machinery is placed, Route planning device equipped with That is the case.
[0009] This disclosure is, The planning unit ranks paths with a high probability of success in the generated path plan, and paths with a short travel time, and scores them based on their efficiency using these two ranks. It is characterized by the following:
[0010] Specifically, this disclosure is: A first acquisition unit that acquires the location of the pole and the location of obstacles, A mapping unit that applies the acquired pole installation locations and obstacle locations to a map of the area near the work site, and sets a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations, A second acquisition unit that acquires the number of divisions for dividing the aforementioned work area, A planning unit generates a route plan from the coordinates where the utility poles to be erected are laid down to the pole erection location within the divided work area according to the number of divisions acquired by the second acquisition unit, and aggregates the route travel time in each route plan. A display unit that shows the aggregated route travel time as a heat map, Route planning device equipped with That is the case.
[0011] This disclosure is, The aforementioned first acquisition unit further acquires the size of the heavy machinery and the size of the utility pole, The planning unit generates a route plan considering the size of the heavy machinery and the size of the utility poles. characterized in that.
[0012] The present disclosure further includes a sensor unit that scans the obstacle position, and the first acquisition unit acquires the obstacle position from the sensor unit characterized in that.
[0013] Specifically, the present disclosure where a path planning device performs a first acquisition step of acquiring the building column position and the obstacle position; a mapping step of applying the acquired building column position and the obstacle position to a map in the vicinity of the work place, and setting a work area of a predetermined width centered at a position separated from the acquired building column position by a predetermined distance; a second acquisition step of acquiring the number of divisions for dividing the work area; a planning step of generating a path plan from the coordinates for arranging the heavy equipment to the building column position via the coordinates for laying down the utility poles to be erected within the work area divided according to the number of divisions acquired in the second acquisition step, and aggregating and scoring the search success probability and the path movement time in each path plan; a display step of displaying a heat map of the scores aggregated for each coordinate for arranging the heavy equipment; and a path planning method for executing the above is provided.
[0014] The present disclosure where in the planning step, the paths with a high search success probability in the generated path plans are ranked highly, the paths with a short path movement time are ranked highly, and scoring is performed based on the two ranks according to efficiency characterized in that.
[0015] Specifically, the present disclosure where a path planning device performs a first acquisition step of acquiring the building column position and the obstacle position; A mapping step involves applying the acquired pole installation locations and obstacle locations to a map of the area near the work site, and setting a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations. A second acquisition step involves obtaining the number of divisions to divide the aforementioned work area, A planning step is to generate a route plan from the coordinates where the utility poles to be erected are laid down to the pole erection location within the divided work area according to the number of divisions obtained in the second acquisition step, and to aggregate the route travel time in each route plan, A display step that shows the aggregated route travel time as a heat map, Path planning method to be executed That is the case.
[0016] This disclosure is, In the aforementioned first acquisition step, the size of the heavy machinery and the size of the utility pole are further acquired. In the planning step, a route plan is generated considering the size of the heavy machinery and the size of the utility poles. It is characterized by the following:
[0017] Specifically, this disclosure is: A program to make a computer function as a path planning device. That is the case.
[0018] Furthermore, the inventions disclosed above can be combined as much as possible. [Effects of the Invention]
[0019] According to this disclosure, it is possible to provide a route planning device and route planning method that can present workers with efficient arrangements of heavy machinery and utility poles without relying on the workers' skills. [Brief explanation of the drawing]
[0020] [Figure 1] This is a diagram illustrating the operation of related heavy machinery. [Figure 2] This is a diagram illustrating the configuration of the route planning device in this disclosure. [Figure 3] This is a diagram illustrating the operation of the route planning device in this disclosure. [Figure 4] This diagram illustrates a map showing the locations of poles and obstacles. [Figure 5] This is a diagram illustrating a map that defines the work area. [Figure 6] This is a diagram illustrating a map showing the division of the work area. [Figure 7] This diagram illustrates a map that specifies the coordinates for placing heavy machinery. [Figure 8] This diagram illustrates a map that specifies the coordinates for laying down utility poles. [Figure 9] This figure shows the probability of a successful search and the time taken to travel along the path. [Figure 10] This figure summarizes the probability of successful exploration and the time taken to travel along the path, and assigns a score to each. [Figure 11] This diagram visualizes the points corresponding to the coordinates for laying a utility pole horizontally. [Figure 12] This is a diagram showing a heatmap display. [Figure 13] This figure shows the distribution of path travel time. [Figure 14] This is a diagram showing a heatmap display. [Modes for carrying out the invention]
[0021] Embodiments of this disclosure will be described in detail below with reference to the drawings. However, this disclosure is not limited to the embodiments shown below. These examples are illustrative, and this disclosure can be implemented in various modified and improved forms based on the knowledge of those skilled in the art. In this specification and in the drawings, components with the same reference numerals refer to the same components.
[0022] (Embodiment 1) Figure 2 shows the configuration of the route planning device of this disclosure. In Figure 2, the route planning device 10 includes a first acquisition unit 11 that acquires pole installation locations and obstacle locations, a mapping unit 12 that applies the acquired pole installation locations and obstacle locations to a map of the vicinity of the work site and sets a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations, a second acquisition unit 13 that acquires the number of divisions to divide the work area, a planning unit 14 that generates a route plan from the coordinates where the heavy machinery is placed to the pole installation locations via the coordinates where the utility poles to be erected are laid down, using combinations of all coordinates where the heavy machinery is placed and all coordinates where the utility poles to be erected are laid down in the work area divided according to the number of divisions acquired by the second acquisition unit, and aggregates the search success probability and route travel time in each route plan to convert them into points, and a display unit 15 that displays the aggregated points for each coordinate where the heavy machinery is placed as a heat map.
[0023] The operation of the route planning device of this disclosure is shown in Figure 3. In Figure 3, the operation of the route planning device of this disclosure comprises a first acquisition step 21, a mapping step 22, a second acquisition step 23, a planning step 24, and a display step 25. The operation will be described below with reference to Figures 2 and 3.
[0024] (First acquisition step) The worker inputs the pole erection locations within the work area, as well as the locations of existing obstacles and other obstacles such as utility pole equipment. The first acquisition unit 11 of the route planning device 10 acquires the input pole erection locations and obstacle locations. The route planning device 10 may also acquire obstacle locations from a sensor unit (not shown) that scans the work area, located outside the route planning device 10. Alternatively, the route planning device 10 may be equipped with a sensor unit (not shown) that scans the work area, and the sensor unit may scan for obstacle locations. The first acquisition unit 11 will acquire the obstacle locations from the sensor unit. If the sensor unit scans for obstacle locations, the obstacle locations can be acquired without human intervention.
[0025] The first data acquisition unit may further acquire the size of the heavy machinery and the size of the utility pole to be laid down. This allows for accurate calculation of the areas where the heavy machinery can pass during route planning.
[0026] (Mapping step) The mapping unit 12 of the route planning device 10 applies the acquired pole installation locations and obstacle locations to a map of the area near the work site. Figure 4 shows the map with the pole installation locations and obstacle locations applied. In Figure 4, 31 is an obstacle location and 32 is a pole installation location. In Figure 4, the black circles 31 indicate existing utility poles, and the dashed lines 31 indicate existing power lines.
[0027] Next, a work area of a predetermined size is set, centered at a predetermined distance from the acquired pole installation location. Figure 5 shows a map with the work area set. In Figure 5, work area 33 is set relative to Figure 4. The center of work area 33 is at a predetermined distance from the acquired pole installation location 32. Here, work area 33 is set to be 30m square, with the longitudinal direction of the existing power line as the X-axis, and the center of the work area set 10m in the Y-axis direction from pole installation location 32. These settings are examples.
[0028] (Second acquisition step) The worker inputs the number of divisions to be made in dividing the work area. The second acquisition unit 13 acquires the input number of divisions.
[0029] (Planning steps) The planning steps will be explained using Figures 6 to 8. In Figures 6 to 8, 31 is the location of the obstacle, 32 is the location of the pole, 33 is the work area, 34 is the coordinates for positioning the heavy machinery, and 35 is the coordinates for laying the utility pole down.
[0030] The planning unit 14 divides the work area into a matrix according to the number of divisions acquired by the second acquisition unit 13, as shown in Figure 6. The planning unit 14 specifies the coordinates 34 for positioning the heavy machinery, as shown in Figure 7. It is preferable to use the tip of the heavy machinery as the coordinate of the heavy machinery. Next, the planning unit 14 specifies the coordinates 35 for laying the utility poles to be erected, as shown in Figure 8.
[0031] In this state, a path plan is generated from coordinate 34 where the heavy machinery is placed, through coordinate 35 where the utility pole to be erected is laid, to the pole erection position 32. A path plan is generated for all combinations of coordinates where the heavy machinery is placed and all coordinates where the utility pole to be erected is laid, and the search success probability and path travel time for each path plan are calculated. As shown in Figure 9, for each coordinate where the heavy machinery is placed, the search success probability and path travel time are obtained for all coordinates where the utility pole to be erected is laid.
[0032] One path planning method is path planning using random sampling techniques. Specifically, RRT (Rapidly Exploring Random Tree) and RRT* (Rapidly Exploring Random Tree Star) are examples. The success probability of the search is the ratio of the number of times the path search was successful, divided by the number of attempts to search the path, for the path from the coordinates where the heavy machinery is placed, through the coordinates where the utility pole is laid, to the pole installation location. Examples of failed path searches include cases where the heavy machinery does not reach the pole installation location via the coordinates where the utility pole is laid, or where the path is blocked by an obstacle. The number of searches is set in advance. The path travel time is the time required for the heavy machinery to travel from the coordinates where the heavy machinery is placed, through the coordinates where the utility pole is laid, to the pole installation location, and is the relative speed obtained by dividing the path length by a predetermined speed. The median of the searched portion may be used as the path travel time. Alternatively, the average of the searched portion may be used as the path travel time.
[0033] If the first acquisition unit 11 acquires the size of the heavy machinery and the size of the utility pole, it can perform a path search considering these sizes in relation to obstacles. Examples of heavy machinery size include the total length, width, and length of the arm that grips the utility pole. Utility pole size includes the length along the long axis of the utility pole. The path from the coordinates where the heavy machinery is placed to the coordinates where the utility pole is laid down may consider only the size of the heavy machinery, while the path from the coordinates where the utility pole is laid down to the erection position may consider both the size of the heavy machinery and the size of the utility pole.
[0034] The planning unit 14 aggregates and scores the success probability of the pass planning and the travel time for each generated path plan. An example of aggregation and scoring is shown in Figure 10. As shown in Figure 10, the success probability of pass planning is ranked on a scale of 0 to 4, with paths that have a high success probability being ranked highly and paths with a low success probability being ranked low. The trajectory execution time is ranked on a scale of 1 to 4, with paths that have a short travel time being ranked highly and paths with a long travel time being ranked low. The product of the success probability rank and the trajectory execution time rank is calculated and used as the score for each combination of coordinates where heavy machinery is placed and coordinates where utility poles are laid down.
[0035] (Display step) For example, visualizing the score for the coordinates where the utility pole is laid flat for each coordinate where heavy machinery is placed results in Figure 11. It is also acceptable to visualize only combinations that have obtained a certain level of good scores. In this case, the coordinates where the utility pole is laid flat (white circles) are obtained as a searchable area. The display unit 15 displays the aggregated scores for each coordinate where heavy machinery is placed (square marks) as a heatmap. An example of a heatmap display is shown in Figure 12. In Figure 12, the scores are listed in order of goodness as 16, 12, and 9. It is also acceptable to create a heatmap only for combinations that have obtained a certain level of good scores. For example, scores of 9 or higher as in Figure 12.
[0036] (Operator's operation) Once the worker obtains a heatmap for each coordinate where heavy machinery will be placed, they can select the optimal combination of coordinates for placing the heavy machinery and the coordinates for tilting the utility poles. The worker then operates the heavy machinery based on this arrangement. The heavy machinery operates according to the worker's commands (Figure 3, 26).
[0037] As described above, the route planning device and route planning method of this disclosure can present workers with an efficient arrangement of heavy machinery and utility poles without relying on their skills. Workers can clarify the positions where heavy machinery and utility poles should be placed in advance, which can shorten the time required for pole erection work.
[0038] The routing planning device described herein can also be implemented using a computer and a program. The program that causes the computer to function as a routing planning device can be recorded on a recording medium or provided over a network.
[0039] (Embodiment 2) Figure 2 shows the configuration of the route planning device of this disclosure. In Figure 2, the route planning device 10 includes a first acquisition unit 11 that acquires pole installation locations and obstacle locations, a mapping unit 12 that applies the acquired pole installation locations and obstacle locations to a map of the vicinity of the work site and sets a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations, a second acquisition unit 13 that acquires the number of divisions to divide the work area, a planning unit 14 that generates route plans from the coordinates where the utility poles to be installed are laid to the pole installation locations in the divided work areas according to the number of divisions acquired by the second acquisition unit, and aggregates the route travel time in each route plan, and a display unit 15 that displays the aggregated route travel time as a heat map.
[0040] The operation of the route planning device of this disclosure is shown in Figure 3. In Figure 3, the operation of the route planning device of this disclosure comprises a first acquisition step 21, a mapping step 22, a second acquisition step 23, a planning step 24, and a display step 25. The operation will be described below with reference to Figures 2 and 3.
[0041] (First acquisition step) The worker inputs the pole erection locations within the work area, as well as the locations of existing obstacles and other obstacles such as utility pole equipment. The first acquisition unit 11 of the route planning device 10 acquires the input pole erection locations and obstacle locations. The route planning device 10 may also acquire obstacle locations from a sensor unit (not shown) that scans the work area, located outside the route planning device 10. Alternatively, the route planning device 10 may be equipped with a sensor unit (not shown) that scans the work area, and the sensor unit may scan for obstacle locations. The first acquisition unit 11 will acquire the obstacle locations from the sensor unit. If the sensor unit scans for obstacle locations, the obstacle locations can be acquired without human intervention.
[0042] The first data acquisition unit may further acquire the size of the heavy machinery and the size of the utility pole to be laid down. This allows for accurate calculation of the areas where the heavy machinery can pass during route planning.
[0043] (Mapping step) The mapping unit 12 of the route planning device 10 applies the acquired pole installation locations and obstacle locations to a map of the area near the work site. Figure 4 shows the map with the pole installation locations and obstacle locations applied. In Figure 4, 31 is an obstacle location and 32 is a pole installation location. In Figure 4, the black circles 31 indicate existing utility poles, and the dashed lines 31 indicate existing power lines.
[0044] Next, a work area of a predetermined size is set centered at a predetermined distance from the acquired pole installation location. Figure 5 shows a map with the work area set. In Figure 5, work area 33 is set relative to Figure 4. The center of work area 33 is at a predetermined distance from the acquired pole installation location 32. Here, work area 33 is set to be 12m square, the longitudinal direction of the existing power line 31 is defined as the X-axis, the direction perpendicular to the longitudinal direction of the existing power line 31 is defined as the Y-axis, and the center of the work area is set 5m in the Y-axis direction from the obstacle location 31 marked with a black circle. These settings are examples.
[0045] (Second acquisition step) The worker inputs the number of divisions to be made in dividing the work area. The second acquisition unit 13 acquires the input number of divisions.
[0046] (Planning steps) The planning steps will be explained using Figures 6 to 8. In Figures 6 to 8, 31 is the location of the obstacle, 32 is the location of the pole, 33 is the work area, 34 is the coordinates for positioning the heavy machinery, and 35 is the coordinates for laying the utility pole down.
[0047] The planning unit 14 divides the work area into a matrix according to the number of divisions acquired by the second acquisition unit 13, as shown in Figure 6. The planning unit 14 specifies the coordinates 34 for positioning the heavy machinery, as shown in Figure 7. It is preferable to use the tip of the heavy machinery as the coordinate of the heavy machinery. Next, the planning unit 14 specifies the coordinates 35 for laying the utility pole to be erected, as shown in Figure 8. In this embodiment, the path from the coordinates for positioning the heavy machinery to the coordinates 35 for laying the utility pole to be erected is not included in the path travel time, so the coordinates 34 for positioning the heavy machinery may be used as the coordinates for laying the utility pole.
[0048] In this state, a path plan is generated from coordinate 35 where the utility pole to be erected will be laid down to the erection position 32. Within the divided work area, a path plan is generated from coordinate 35 where the utility pole to be erected will be laid down to the erection position 32, and the path travel time for each path plan is calculated. The path travel time is obtained for all coordinates where the utility pole to be erected will be laid down.
[0049] One path planning method is path planning using random sampling techniques. Specifically, RRT (Rapidly Exploring Random Tree) and RRT* (Rapidly Exploring Random Tree Star) are examples. Examples of path planning failures include cases where the machine does not reach the installation location from the coordinates where the utility pole will be laid down within a predetermined calculation time, or where the path is blocked by an obstacle. The number of searches is predetermined. In this embodiment, the path travel time refers to the time required for the heavy machinery to reach the installation location from the coordinates where the utility pole will be laid down, and is a relative speed obtained by dividing the path length by a predetermined speed. The median of the number of searches may be used as the path travel time. Alternatively, the average value of the number of searches may be used as the path travel time.
[0050] If the first acquisition unit 11 acquires the size of the heavy machinery and the size of the utility pole, it can perform a path search considering these sizes in relation to obstacles. Examples of heavy machinery size include the total length, width, and length of the arm that grips the utility pole. Utility pole size includes the length along the long axis of the utility pole. The path from the coordinates where the utility pole is laid down to the erection position may also take into account the size of the heavy machinery and the size of the utility pole.
[0051] The planning unit 14 aggregates the trajectory execution time (TET) for each generated route plan when the search is successful and calculates the SCORE as shown in equation (1). The SCORE is an indicator of the ease of construction when installing heavy machinery and utility poles used in utility pole construction.
number
number
[0052] To avoid Ttotal becoming infinite when pathfinding fails, the following equation is used. Tk=Tfailed (3) In this embodiment, N path searches are performed, and all TET values when the path search is successful are represented by a probability distribution. Following the concept of the sigma method (see, for example, Non-Patent Document 2), the TET value with a probability of 3σ may be defined as Tfailed. Figure 13 shows the distribution of path travel time TET when 10 path searches are performed. From Figure 13, Tfailed = 18.01. Alternatively, when the path search fails, instead of applying equation (3), the SCORE may be the average value of the TET values when the path search was successful.
[0053] (Display step) In the planning step, the planning unit 14 performs pathfinding 10 times for each coordinate where the utility pole will be laid down and calculates the SCORE. After that, the display unit 15 displays the SCORE for each coordinate where the utility pole will be laid down as a heatmap. An example of a SCORE heatmap is shown in Figure 14. In Figure 14, the white circles 31 represent existing utility poles, the dashed lines 31 represent existing power lines, and 32 represents the pole installation location, with the heavy machinery positioned in the center of the map. The density on the right side of Figure 14 represents the SCORE value. Darker colors indicate a higher SCORE.
[0054] (Operator's operation) Once the worker obtains the heatmap, they can select the optimal coordinates for laying the utility poles. The worker then operates the heavy machinery based on this arrangement. The heavy machinery operates according to the worker's instructions (Figure 3, 26).
[0055] As described above, the route planning device and route planning method of this disclosure can present workers with an efficient arrangement of utility poles without relying on their skills. Workers can clarify the locations where utility poles will be placed in advance, which can shorten the time required for pole installation work.
[0056] The routing planning device described herein can also be implemented using a computer and a program. The program that causes the computer to function as a routing planning device can be recorded on a recording medium or provided over a network. [Industrial applicability]
[0057] This disclosure can be applied to various industries, including the information and communications industry. [Explanation of Symbols]
[0058] 10: Route planning device 11:First Acquisition Department 12: Mapping section 13:Second acquisition part 14: Planning Department 15: Display section 21: First Acquisition Step 22: Mapping Step 23: Second Acquisition Step 24: Planning Steps 25: Display Step 31: Obstacle location 32:Pole erection position 33: Work Area 34: Coordinates for placing heavy machinery 35: Coordinates for laying the utility pole down
Claims
1. A first acquisition unit that acquires the location of the pole and the location of obstacles, A mapping unit that applies the acquired pole installation locations and obstacle locations to a map of the area near the work site, and sets a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations, A second acquisition unit that acquires the number of divisions for dividing the aforementioned work area, A planning unit generates a route plan from the coordinates where the heavy machinery is placed, through the coordinates where the utility poles are laid, to the pole installation location, based on the combination of all coordinates where the heavy machinery is placed and all coordinates where the utility poles to be erected are laid, according to the number of divisions acquired by the second acquisition unit, and aggregates the search success probability and route travel time for each route plan to assign a score. A display unit that displays a heat map of aggregated points for each coordinate where heavy machinery is placed, A route planning device equipped with the following features.
2. The route planning device according to claim 1, characterized in that the planning unit ranks routes with a high probability of success in the generated route plan, ranks routes with a short route travel time, and scores them based on efficiency using the two ranks.
3. The aforementioned first acquisition unit further acquires the size of the heavy machinery and the size of the utility pole, The route planning device according to claim 1, characterized in that the planning unit generates a route plan taking into account the size of the heavy machinery and the size of the utility poles.
4. The system further includes a sensor unit that scans the location of the aforementioned obstacle, The path planning device according to claim 1, characterized in that the first acquisition unit acquires the position of the obstacle from the sensor unit.
5. The route planning device, The first acquisition step involves obtaining the location of the pole and the location of any obstacles. A mapping step involves applying the acquired pole installation locations and obstacle locations to a map of the area near the work site, and setting a work area of a predetermined size centered on a location a predetermined distance away from the acquired pole installation locations. A second acquisition step involves obtaining the number of divisions to divide the aforementioned work area, A planning step is to generate a route plan from the coordinates where the heavy machinery is placed, through the coordinates where the utility poles are laid, to the pole installation location, using combinations of all coordinates where the heavy machinery is placed and all coordinates where the utility poles to be erected are laid, according to the number of divisions obtained in the second acquisition step, and then aggregate and score the search success probability and route travel time for each route plan. A display step that shows a heat map of the aggregated points for each coordinate where heavy machinery is placed, A path planning method that performs the following actions.
6. The route planning method according to claim 5, characterized in that, in the planning step, routes with a high probability of success in the generated route plan are ranked highly, routes with a short route travel time are ranked highly, and a score is assigned based on efficiency based on the two ranks.
7. In the aforementioned first acquisition step, the size of the heavy machinery and the size of the utility pole are further acquired. The route planning method according to claim 5, characterized in that the planning step generates a route plan taking into account the size of the heavy machinery and the size of the utility pole.
8. A program for causing a computer to function as a route planning device as described in claim 1.