Wind turbine transport support device and wind turbine transport support method

Abstract

To provide a windmill transport aiding device that identifies a range of a ground object which interferes with a vehicle and a blade before actually transporting the blade.SOLUTION: A windmill transport aiding device 10 includes an acquisition unit 21, a first movement processing unit 22a, a first determination unit 22b, a second movement processing unit 24a, a second determination unit 24b and a second range calculation unit 24c. The acquisition unit 21 acquires three-dimensional route data along a transport route on which a blade for use with a windmill of wind power generation equipment is transported, a first vehicle model including the blade as being mounted in a lying position, and a second vehicle model including the blade as being mounted in an erected position. The first movement processing unit moves the first vehicle model 65, the first determination unit 22b determines whether or not ground object data interferes with it, the second movement processing unit 24a moves the second vehicle model 66, and the second determination unit 24b determines whether or not the ground object data interferes with it. The second range calculation unit 24c calculates a range of interference with the second vehicle model 66.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a transport support device and a transport support method for transporting a blade, which is a particularly long member of a windmill used in a wind power generation facility.

Background Art

[0002] In recent years, the use of natural energy has attracted attention, and wind power generation facilities have been built in coastal areas and mountainous regions. In particular, the construction of wind power generation facilities in mountainous regions requires the overland transportation of the components that make up large windmills. A windmill is composed of a tower that stands upright in a cylindrical shape, a nacelle placed on the upper end of the tower, and a plurality of blades (vanes) that are rotatably attached to the nacelle. Among the components of a windmill, the blade is a particularly long member, generally more than 40 m, and there are also those more than 60 m. Therefore, when building a windmill in a mountainous region, it is difficult for a large vehicle loaded with a long blade to move on a narrow and winding mountain road.

[0003] Therefore, a transport device provided with a lifting mechanism for supporting a blade at one end has been proposed (Patent Document 1). Such a transport device can run a vehicle with the blade lying down (fallen) on a straight road, and can change the blade to a standing state at a curve to reduce the turning radius and run.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, even with a transport device equipped with a rafter mechanism like the one in Patent Document 1, transporting wind turbine components in mountainous areas requires many preparations, such as widening roads and felling trees along the transport route. Furthermore, even if surveys are conducted by experienced transport workers and plans for widening and felling are made using road registers and accompanying plan drawings, the extent of widening and felling may change during actual transport operations due to factors such as the longitudinal gradient of the road, the slope gradient, and the height of the trees.

[0006] Therefore, the object of the present invention is to provide a wind turbine transport support device and a wind turbine transport support method that clarify the range of terrain that may interfere with the vehicle and the blade before actually transporting the blade, which is a long component. [Means for solving the problem]

[0007] The present invention has been made to solve at least some of the above-mentioned problems and can be realized in the following embodiments or applications.

[0008] [1] One aspect of the wind turbine transport support device according to the present invention is: An acquisition unit that acquires three-dimensional path data along a transport route for transporting blades used in wind turbines for wind power generation equipment, a first vehicle model of three-dimensional data including a vehicle transporting the blades and the blades loaded in a prone position on the vehicle, and a second vehicle model of three-dimensional data including the vehicle and the blades loaded in an upright position on the vehicle. A first movement processing unit moves the first vehicle model along the transport route in the three-dimensional path data, In the processing of the first movement processing unit, the feature data included in the three-dimensional path data is A first determination unit that determines whether or not it interferes with the first vehicle model, A second movement processing unit moves the second vehicle model along a portion of the transport route in which the first determination unit has determined that the feature data interferes with the first vehicle model, The second determination unit determines whether the feature data interferes with the second vehicle model in the processing of the second movement processing unit, A range calculation unit that calculates the range of interference in the processing of the second determination unit, It is characterized by having the following features.

[0009] [2] In one embodiment of the wind turbine transport support device, The aforementioned area may be the area to be widened and / or the area to be cut down.

[0010] [3] In one embodiment of the wind turbine transport support device, It also includes an angle calculation unit, A portion of the aforementioned transport route is divided into multiple sections, The second vehicle model is capable of changing the blade from the reclined state to the upright state to at least a number of upright angles, The second movement processing unit moves each of the second vehicle models, which are set to the plurality of upright angles, along a portion of the transport path. The angle calculation unit can calculate the upright angle of the second vehicle model, which has been determined not to interfere by the processing of the second determination unit, in accordance with the section.

[0011] [4] In one embodiment of the wind turbine transport support device, It also includes an angle calculation unit, The second vehicle model is capable of changing the blade from the reclined state to the upright state to at least a number of upright angles, The second movement processing unit moves the second vehicle model along a portion of the transport path while changing the upright angle of the blade. The angle calculation unit can calculate the upright angle that allows the second vehicle model to move without interfering with the feature data in the processing of the second movement processing unit, corresponding to a part of the transport route.

[0012] [5] In one embodiment of the wind turbine transport support device, It can be provided with a display unit that displays the range.

[0013] [6] In one aspect of the transportation support device for the windmill, The display unit can display the starting point and the ending point for moving the second vehicle model on the map data.

[0014] [7] One aspect of the windmill transportation support method according to the present invention is Three-dimensional route data along the transportation route for transporting the blade used for the windmill of the wind power generation facility, A first vehicle model composed of three-dimensional data including the vehicle for transporting the blade and the blade loaded in a state of lying on the vehicle, A second vehicle model composed of three-dimensional data including the vehicle and the blade loaded in a state of standing on the vehicle, are acquired, The first vehicle model is moved along the transportation route in the three-dimensional route data, and it is determined whether the ground object data included in the three-dimensional route data interferes with the first vehicle model. When it is determined that the ground object data interferes with the first vehicle model, the second vehicle model is moved along a part of the transportation route where the interference occurs, and it is further determined whether the ground object data interferes with the second vehicle model. When it is determined that the ground object data interferes with the second vehicle model, it is characterized in that the interference range in the ground object data is calculated.

[0015] [8] One aspect of the windmill transportation support method according to the present invention is Three-dimensional route data along the transportation route for transporting the blade used for the windmill of the wind power generation facility, A first vehicle model composed of three-dimensional data including the vehicle for transporting the blade and the blade loaded in a state of lying on the vehicle, A second vehicle model of three-dimensional data including the vehicle and the blade loaded so as to be changeable to at least a plurality of standing angles from the state of lying on the vehicle to the state of standing on the vehicle, are acquired, Move the first vehicle model along the transportation route in the three-dimensional route data, and determine whether the ground object data included in the three-dimensional route data interferes with the first vehicle model. When it is determined that the ground object data interferes with the first vehicle model, move the second vehicle model while changing the standing angle along a part of the transportation route where the interference occurs. In the movement of the second vehicle model, further determine whether the ground object data interferes with the second vehicle model. Calculate the standing angle that changes corresponding to the section of the transportation route where the ground object data does not interfere with the second vehicle model. Calculate the interference range in the ground object data corresponding to a part of the transportation route other than the section.

Advantages of the Invention

[0016] According to the windmill transportation support device and the windmill transportation support method of the present invention, before actually transporting the blades, the range of ground objects that interfere with the vehicle and the blades can be clarified. Therefore, it is possible to formulate plans for road widening and tree felling without relying on the experience of the transportation workers. Therefore, according to the windmill transportation support device and the windmill transportation support method of the present invention, it is possible to support the transportation workers and improve the work efficiency.

Brief Description of the Drawings

[0017] [Figure 1] It is a schematic configuration diagram of the windmill transportation support device according to the present embodiment. [Figure 2] It is a schematic diagram for explaining an example of three-dimensional route data. [Figure 3] It is a schematic diagram for explaining an example of the first vehicle model. [Figure 4] It is a schematic diagram for explaining an example of the second vehicle model. [Figure 5] It is a schematic diagram for explaining an example of displaying the interference range on the map data. [Figure 6]This is a flowchart of the wind turbine transportation support method according to this embodiment. [Figure 7] This is a schematic diagram of the wind turbine transport support device according to Modification 1. [Figure 8] This is a flowchart of the wind turbine transportation support method according to Modification 1. [Figure 9] This is a flowchart of the wind turbine transportation support method according to Modification 2. [Modes for carrying out the invention]

[0018] Preferred embodiments of the present invention will be described in detail below with reference to the drawings. The embodiments described below are not intended to unduly limit the scope of the present invention as described in the claims. Furthermore, not all of the configurations described below are necessarily essential components of the present invention.

[0019] 1. Wind turbine transport support device The wind turbine transport support device 10 (hereinafter simply referred to as "transport support device 10") according to this embodiment will be described using Figures 1 to 5. Figure 1 is a schematic configuration diagram of the transport support device 10 according to this embodiment, Figure 2 is a schematic diagram for explaining an example of three-dimensional route data 50, Figure 3 is a schematic diagram for explaining an example of a first vehicle model 65, Figure 4 is a schematic diagram for explaining an example of a second vehicle model 66, and Figure 5 is a schematic diagram for explaining an example of showing the range of interference on the map data 57.

[0020] As shown in Figure 1, the transportation support device 10 comprises, for example, a processing unit 20, a storage unit 30, an operation unit 32, and a display unit 34. The transportation support device 10 is, for example, a computer device, may be a tablet terminal, or may be configured by connecting multiple server devices to each other. The processing unit 20 is, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The storage unit 30 is, for example, a storage medium such as ROM (Read Only Memory), RAM (Random Access Memory), or HDD (Hard Disk Drive). The operation unit 32 is, for example, a user interface such as a mouse, touch panel, or keyboard. The display unit 34 is, for example, a liquid crystal display (LCD) or another known display device (e.g., an organic EL (Electro Luminescence)), and may be equipped with various user interfaces (GUI (Graphical User Interface)) as part of the operation unit 32. The transportation support device 10 may also be equipped with a communication interface for high-speed data communication with an external system. In the example shown in Figure 1, an MMS 40 (Mobile Mapping System) and a mobile terminal 46 are connected as external systems, but the system is not limited to this. Furthermore, part or all of the transportation support device 10 may be located on the cloud via the internet.

[0021] The processing unit 20 comprises at least an acquisition unit 21, a first movement processing unit 22a, a first determination unit 22b, a second movement processing unit 24a, a second determination unit 24b, and a second range calculation unit 24c. The processing unit 20 may also comprise a first range calculation unit 22c, a first output control unit 22d, and a second output control unit 24d. In this embodiment, "unit" does not merely mean a physical means, but also includes cases where the functions of the "unit" are realized by a program. Furthermore, the functions of one "unit" may be realized by two or more physical means or programs.

[0022] The acquisition unit 21 acquires three-dimensional route data 50 along a transport route 52 for transporting blades 64 used in wind turbines of a wind power generation facility, a first vehicle model 65 of three-dimensional data including a vehicle 60 transporting the blades 64 and the blades 64 loaded in a prone position on the vehicle 60, and a second vehicle model 66 of three-dimensional data including the vehicle 60 and the blades 64 loaded in an upright position on the vehicle 60. The three-dimensional route data 50 is shown in Figure 2, the first vehicle model 65 is shown in Figure 3, and the second vehicle model 66 is shown in Figure 4. The three-dimensional route data 50, the first vehicle model 65, and the second vehicle model 66 are stored, for example, in the storage unit 30.

[0023] As shown in Figure 2, the three-dimensional path data 50 includes feature data such as a transport route 52 which is a road, a slope 54 adjacent to the transport route 52, and trees 56 adjacent to the transport route 52. The feature data included in the three-dimensional path data 50 may also include road structures such as guardrails, road edges, and curbs, painted markings such as white lines, road signs, marker posts such as traffic lights, and buildings near the road. Furthermore, the three-dimensional path data 50 may include the position data of each object in the three-dimensional coordinate system.

[0024] Three-dimensional path data 50 can be created by a mobile measuring device that measures features along a planned transport route 52. Examples of mobile measuring devices include a vehicle-type MMS 40 equipped with measuring instruments 42, or an unmanned aerial vehicle such as a drone. The MMS 40 can be a commercially available, known mobile mapping system. The measuring instruments 42 include, for example, a GNSS (Global Navigation Satellite System) receiver, an IMU (Inertial Measurement Unit), an odometer, etc., for obtaining positional data from the MMS 40, a laser scanner for obtaining three-dimensional point cloud data, and a camera for capturing images of features. The laser scanner can utilize LIDAR (Laser Imaging Detection and Ranging) technology, a remote sensing technology using laser light. Furthermore, the three-dimensional path data 50 may incorporate not only data from the MMS 40, but also, for example, the results of manual surveying.

[0025] As shown in Figures 3 and 4, the first vehicle model 65 and the second vehicle model 66 are three-dimensional data created based on the actual vehicle configuration during the transport of the blade 64. Preferably, the first vehicle model 65 and the second vehicle model 66 reflect the size and shape of the actual vehicle 60 and blade 64, but to improve processing speed, they may be made larger, for example, by about 50 cm to 100 cm than the actual size, or they may be box-shaped models that reflect the maximum width, maximum length, and maximum height. The reason why the first vehicle model 65 and the second vehicle model 66 are larger than the actual size is that, in addition to improving processing speed, interference can be avoided during actual transport even if there is a difference between the feature data and the actual feature. The first vehicle model 65 and the second vehicle model 66 include, for example, a trailer-type vehicle 60 comprising a towing vehicle 61 in which a driver rides and a towed vehicle 62 on which the blade 64 is carried, a luffing mechanism 63 installed on the towed vehicle 62, and a blade 64 supported by the luffing mechanism 63 so as to be able to be raised and lowered. The first vehicle model 65 and the second vehicle model 66 may be prepared as separate models, or, since only the state of the blade 64 is different, the first vehicle model 65 may be used as the second vehicle model 66 by changing the upright angle θ of the blade 64. The luffing mechanism 63 supports the blade 64 and includes a drive mechanism that changes the blade 64 between a reclined state where the blade 64 extends substantially horizontally and a state where the blade 64 is upright, for example, at 60 degrees to the horizontal plane. The upright angle θ in the upright state differs depending on the type of vehicle 60, but it is preferable to set it to the maximum upright angle θ of the luffing mechanism 63 within the range that is drivable in order to avoid interference in the second vehicle model 66. Wind turbine towers are also long members, but are generally cut into lengths that can be transported and are therefore not transported using the luffing mechanism 63. In contrast, since blades 64 cannot be cut, the interference range is wider than that of the tower when the blades 64 are reclined, so measures such as the luffing mechanism 63 or cutting down trees in the interference range are necessary.

[0026] The first movement processing unit 22a executes a process to move the first vehicle model 65, as shown in Figure 3, along the transport route 52 in the three-dimensional route data 50, as shown in Figure 2. The first movement processing unit 22a can move the first vehicle model 65 along the three-dimensional coordinate values ​​of the transport route 52 in the three-dimensional route data 50 acquired by the acquisition unit 21, for example, by input operations from the operation unit 32, and simulate actual transport.

[0027] The first determination unit 22b performs a process to determine whether the feature data included in the three-dimensional path data 50 interferes with the first vehicle model 65 during the processing of the first movement processing unit 22a. When the first vehicle model 65 is moved along the transport path 52, for example, the blade 64 makes a large turn on a curve in a mountain road, causing the first vehicle model 65, particularly the blade 64, to come into contact with feature data such as slopes 54 or trees 56. In that case, the first determination unit 22b determines that there is interference and can simultaneously output the relevant portion of the transport path 52 where interference was determined. If the first determination unit 22b determines that there is no interference, it can be determined that the vehicle can travel along the transport path 52 without changing to the second vehicle model 66. Furthermore, for example, when transporting a wind turbine tower, it is transported in a prone position, similar to the blades 64. Therefore, by creating a three-dimensional model of the vehicle transporting the tower, interference with feature data along the transport route 52 can be determined, as shown in the first vehicle model 65. If the tower interferes, the features in the interference area can be removed, or the tower can be cut and shortened.

[0028] The first range calculation unit 22c performs a process to calculate the range of interference in the processing of the first determination unit 22b. If the first determination unit 22b determines that interference occurs, the second movement processing unit 24a and the second determination unit 24b need to further determine whether or not interference occurs using the second vehicle model 66.

[0029] The first output control unit 22d outputs the range that interferes with the first vehicle model 65 calculated by the first range calculation unit 22c. The first output control unit 22d can output the range of interference to, for example, the storage unit 30, the display unit 34, or an external device. The range of interference output from the first output control unit 22d can be displayed on the display unit 34 overlaid on three-dimensional path data, displayed on the display unit 34 as a cross-sectional or longitudinal section, or displayed on the display unit 34 overlaid on a two-dimensional map. Such output information may also be printed on paper. By outputting the range of interference, for example, the construction plan can be explained in an easy-to-understand manner to residents and managers of geographical features (national government, local government), and the cross-sectional and longitudinal sections can be used for designing additional construction work. If, for example, interference can be avoided by slightly removing geographical features (such as cutting the tops of trees) based on this output information, it is not necessary to proceed with processing the second vehicle model 66.

[0030] The second movement processing unit 24a executes a process to move the second vehicle model 66 along a portion of the transport route 52 where the first determination unit 22b has determined that the feature data interferes with the first vehicle model 65. The second vehicle model 66 has a narrower turning range of the blades 64 on curves than the first vehicle model 65 because the blades 64 are upright, for example, at the maximum upright angle θ that the vehicle can travel at. Therefore, the second movement processing unit 24a is expected to reduce interference even on a portion of the transport route 52 where the first determination unit 22b has determined that interference occurs. The second movement processing unit 24a can move the second vehicle model 66 along the portion of the route, for example, by input from the operation unit 32, and can simulate transport with the blades 64 upright.

[0031] The second determination unit 24b performs a process to determine whether the feature data interferes with the second vehicle model 66 in the processing of the second movement processing unit 24a. If the feature data that the first determination unit 22b determined to interfere is determined not to interfere by the second determination unit 24b, it can be determined that a portion of the transport route 52 is traversable in the form of the second vehicle model 66. If the second determination unit 24b also determines that there is interference, it can be determined that even in the form of the second vehicle model 66, the vehicle cannot travel unless the interference with the feature is resolved. Simulation using the first vehicle model 65 and the second vehicle model 66 reduces errors due to the inexperience of transport workers and improves work efficiency.

[0032] The second range calculation unit 24c performs the process of calculating the interference range in the processing of the second determination unit 24b. If the second determination unit 24b determines that interference occurs, it is necessary to modify the terrain within the interference range to the extent that it is drivable. By calculating the interference range with the second range calculation unit 24c, the range of terrain that will interfere with the vehicle 60 and the blade 64 can be clearly defined before actually transporting the blade 64. This makes it possible to accurately plan road widening and tree felling 56 without relying on the experience of the transport operator. Such planning supports the transport operator. And this support for the transport operator reduces the need for sudden interference avoidance work during transport, and as a result improves work efficiency. It is possible.

[0033] The interference range calculated by the second range calculation unit 24c is, for example, the range in which the road is widened and / or the range in which the trees 56 are cut down. Widening the road allows the vehicle 60 to travel without the blade 64 coming into contact with the ground, and cutting down the trees 56 prevents contact between the blade 64 and the trees 56.

[0034] The second output control unit 24d can output the range of interference with, for example, the storage unit 30, the display unit 34, or an external device. The second output control unit 24d outputs the interference range calculated by the second range calculation unit 24c to, for example, the display unit 34. As shown in Figure 5, the display unit 34 may display the interference range (logging range 58, widening range 59). By displaying the interference range together with the map data 57 on the display unit 34, it becomes easier for those performing transportation work to understand the interference range. In addition, the interference range output from the second output control unit 24d can be overlaid on the three-dimensional route data and displayed on the display unit 34, or the interference range can be displayed on the display unit 34 as a cross-sectional or longitudinal section. Furthermore, such output information may be printed on paper. By outputting the interference range, for example, the construction plan can be explained in an easy-to-understand manner to residents and managers of local structures (national government, local government), and the cross-sectional and longitudinal sections can be used for designing additional construction work. The second output control unit 24d may output an area that may interfere with external devices, such as a mobile terminal 46 or a car navigation system. Display devices such as the display unit 34 and the mobile terminal 46 may display the simulated vehicle 60 route as a curve on the transport route 52. The driver of the vehicle 60 may perform transport operations while viewing the route displayed on the display unit 34 and the mobile terminal 46.

[0035] The display unit 34 can display the starting point 53a and ending point 53b for moving the second vehicle model 66 on the map data. The starting point 53a and ending point 53b are the starting and ending points of the movement of the second vehicle model 66 along a part of the transport route 52 by the second movement processing unit 24a. By displaying the starting point 53a and ending point 53b on the map data 57, the person performing the transport work can clearly recognize where to start raising the blade 64 and where to lower the blade 64, thereby improving the transport speed. For example, before the transport work, markers such as traffic cones or security guards can be placed on the actual transport route in accordance with the starting point 53a and ending point 53b displayed on the display unit 34, etc., to facilitate the transport work. In addition, by clearly defining the starting point 53a and ending point 53b, it is possible to prevent widening or cutting down areas that are not needed, thus reducing costs.

[0036] 2. Methods for supporting the transportation of wind turbines An example of a wind turbine transportation support method using the transportation support device 10 described in Figures 1 to 5 will be explained according to the flowchart in Figure 6. Figure 6 is a flowchart of the wind turbine transportation support method according to this embodiment.

[0037] As shown in Figure 6, the wind turbine transport support method (hereinafter simply referred to as the "transport support method") includes the steps of acquiring data (S10), moving the first vehicle model 65 (S20), determining interference (S30), moving the second vehicle model 66 (S40), determining interference (S50), calculating the interference range (S60), and outputting (S70). The transport support method may further include the steps of calculating the interference range (S32), outputting (S34), modifying feature data (S80), and outputting (S82), as shown in Figure 6. The transport support method can execute steps S10 to S82 in order, for example, by executing a program stored in the storage unit 30, or it may be executed according to a program received from an external source via a communication interface. The transport support method can, for example, divide a long transport route 52 into multiple sections and execute it for each section.

[0038] S10: The process of acquiring data, etc., involves the acquisition unit 21 of the processing unit 20 in the transport support device 10 acquiring, for example, three-dimensional route data 50 along the transport route 52 (for example, one section of the transport route 52 shown in Figure 5) for transporting blades 64 used in wind turbines of wind power generation equipment, a first vehicle model 65 of three-dimensional data including a vehicle 60 transporting the blades 64 and the blades 64 loaded in a prone position on the vehicle 60, and a second vehicle model 66 of three-dimensional data including the vehicle 60 and the blades 64 loaded in an upright position on the vehicle 60, from, for example, the storage unit 30 and the MMS 40. By acquiring each of these three-dimensional data, it becomes possible to perform a simulation of the transport operation.

[0039] S20: The process of moving the first vehicle model 65 is, for example, in the first movement processing unit 22a, the process of moving the first vehicle model 65 acquired by the acquisition unit 21 along the transport route 52 in the three-dimensional route data 50 acquired by the acquisition unit 21. By this process, the first vehicle model 65 is placed in the same three-dimensional coordinate system as the three-dimensional route data 50, and the driving of the first vehicle model 65 can be simulated. This process is less affected by the experience of the transport operator.

[0040] S30: The interference determination process is a process in which, when the first vehicle model 65 moves in S20, for example, the first determination unit 22b determines whether the feature data (such as slopes 54 and trees 56) included in the three-dimensional path data 50 interferes with the first vehicle model 65. If in S30 it is determined that the feature data interferes with the first vehicle model 65 (YES), then S40 is executed. The part of the transport path 52 where interference is determined is an area that the first vehicle model 65 cannot travel in as is, and is an area that the second vehicle model 66 can travel in. Also, if in S30 it is determined that the feature data does not interfere with the first vehicle model 65 (NO), then the process is terminated. By repeating S20 and S30, the travel route with the smallest area in which the first vehicle model 65 interferes with features in the transport path 52 may be found. S30 may be processed while S20 is being executed.

[0041] S32: The step of calculating the interference range is the step of calculating the range in the feature data that interferes with the first vehicle model 65 when the first range calculation unit 22c determines that the feature data interferes with the first vehicle model 65 (YES). In the case of transportation by vehicles that do not use a relief mechanism like the tower described above, logging or road widening can be performed in the range calculated in S32. S32 may be processed while S30 is being executed.

[0042] S34: The output process involves the first output control unit 22d outputting the interference range calculated by the first range calculation unit 22c to, for example, the display unit 34, the mobile terminal 46, and a printing device (not shown). The output information in S34 may be three-dimensional data or two-dimensional data such as a map using it. The range output in S34 can be used, for example, for a residents' briefing session for wind turbine installation. Furthermore, after all the processing in Figure 6 has been completed, the worker may perform verification work on the range output in S34, and if it is determined that interference can be avoided by, for example, slightly cutting down trees, the feature data may be modified to avoid interference.

[0043] S40: The process of moving the second vehicle model 66 is, for example, when the second movement processing unit 24a determines that the feature data interferes with the first vehicle model 65, the process of moving the second vehicle model 66 along a part of the interfering transport path 52. This process places the second vehicle model 66 in the same three-dimensional coordinate system as the three-dimensional path data 50, and the movement of the second vehicle model 66 can be simulated.

[0044] S50: The interference determination process involves the second determination unit 24b determining whether the feature data interferes with the second vehicle model 66 when the second vehicle model 66 moves in S40. This is a process for making further determinations. If it is determined in S50 that the feature data interferes with the second vehicle model 66 (YES), then S60 is executed. The portion of the transport route 52 that is determined to interfere is an area that the second vehicle model 66 cannot travel through even in its current state, so processing of the interfering features is necessary. Alternatively, if it is determined in S50 that the feature data does not interfere with the second vehicle model 66 (NO), then the process is terminated. By repeating S40 and S50, the travel route that minimizes the area in which the second vehicle model 66 interferes with features in the portion of the transport route 52 that was determined to interfere in S30 may be found. S50 may be processed while S40 is being executed.

[0045] S60: The step of calculating the interference range is performed in the second range calculation unit 24c when it is determined that the feature data (in the example of Figure 2, the slope 54 and the trees 56) interfere with the second vehicle model 66 (YES), and calculates the interference range in the feature data (in the example of Figure 5, the tree felling range 58 and the road widening range 59). S60 may be processed while S50 is being executed.

[0046] S70: The output process involves the second output control unit 24d outputting the interference range calculated by the second range calculation unit 24c to, for example, the display unit 34, the mobile terminal 46, and a printing device (not shown). The output interference range can be used to plan road widening or tree felling 56. Furthermore, if the start point 53a and end point 53b of the transport route 52, which the first determination unit 22b has determined to be interfering, are displayed on the display unit 34 or the like, the person performing the transport work can easily determine the change in the undulation state of the blade 64 on the actual transport route 52.

[0047] S80: The process of changing feature data is a process in the second range calculation unit 24c in which the feature data within the range calculated in S60 is changed. Changing feature data is a process that is performed on three-dimensional feature data, for example, by changing the felling range 58 of trees 56 and the widening range 59 of roads. Furthermore, in the second movement processing unit 24a, the second vehicle model 66 may be placed on the transport route 52 of the three-dimensional route data 50 after the feature data has been changed, and a driving simulation may be performed to confirm that there is no interference.

[0048] S82: The output process involves the second output control unit 24d reflecting the range modified in S80 in a two-dimensional map, a three-dimensional route, and a design drawing, and then outputting them to, for example, the display unit 34, the mobile terminal 46, and a printing device (not shown). Alternatively, a simulation of driving the second vehicle model 66 over the range modified in S80 may be displayed as a video.

[0049] According to the transportation support method of this embodiment, the range of terrain that may interfere with the vehicle 60 and the blade 64 can be clearly defined before the blade 64 is actually transported. Therefore, plans for road widening and tree felling 56 can be formulated without relying on the experience of the person performing the transportation work. Thus, according to the transportation support method of this embodiment, it is possible to support the person performing the transportation work and improve work efficiency.

[0050] 3. Variation 1 The transportation support method according to Modified Example 1 will be explained using Figures 7 and 8. Figure 7 is a schematic diagram of the wind turbine transportation support device 100 according to Modified Example 1, and Figure 8 is a flowchart of the wind turbine transportation support method according to Modified Example 1.

[0051] The wind turbine transport support device 100 according to Modification 1 is basically the same as the transport support device 10 described above, so redundant explanations will be omitted. As shown in Figure 7, the transport support device 100 can further include an angle calculation unit 25a and a third output control unit 25b in addition to the processing unit 20 of the transport support device 10.

[0052] The second vehicle model 66 acquired by the acquisition unit 21 can be changed to at least several upright angles θ (Figure 4) from a reclined state to an upright state of the blade 64. Multiple upright angles θ are pre-set between 0 degrees, when the blade 64 is reclined, and the maximum value of the highest upright state in the luffing mechanism 63 used in the second vehicle model 66, for example, 60 degrees. Multiple upright angles θ are set at predetermined angles, for example, 10 degrees, 20 degrees, 30 degrees, ... 60 degrees.

[0053] The second movement processing unit 24a moves each of the second vehicle models 66, which are set to multiple upright angles θ, along a portion of the transport route 52. In this application, "a portion of the transport route 52" is a portion of the transport route 52 where the first determination unit 22b has determined that the feature data interferes with the first vehicle model 65. For example, the second movement processing unit 24a can move a second vehicle model 66 loaded with a blade 64 at the smallest pre-set upright angle θ along a portion of the transport route 52, and then move second vehicle model 66 loaded with blades 64 at gradually larger angles. Conversely, it may change from a large angle to a small angle, or if interference between blades 64 at different angles and feature data can be determined, multiple second vehicle models 66 may be moved simultaneously. The second movement processing unit 24a may simulate at all pre-set upright angles θ, or it may not need to simulate at larger upright angles θ after the smallest upright angle θ at which interference between feature data and the second vehicle model 66 is determined.

[0054] Furthermore, it is preferable that at least a portion of the transport route 52 is converted into three-dimensional data in a state where it is divided into multiple sections. The acquisition unit 21 may acquire the entire transport route 52 in the three-dimensional route data 50 in a state where it is divided into multiple sections, or the processing unit 20 may divide only the portion of the transport route 52 that the first determination unit 22b has determined to interfere into multiple sections. By dividing it into multiple sections, the second determination unit 24b can determine whether or not there is interference for each section, thereby reducing the processing burden on the processing unit 20.

[0055] The angle calculation unit 25a can calculate the upright angle θ of the second vehicle model 66 that has been determined not to interfere by the processing of the second determination unit 24b, corresponding to the section of the transport route 52. The upright angle θ calculated by the angle calculation unit 25a is the non-interference angle determined by the second determination unit 24b in conjunction with the movement of each of the second vehicle model 66, which has been set to multiple upright angles θ in the second movement processing unit 24a. Since this upright angle θ is calculated corresponding to each section of the transport route 52, a non-interference upright angle θ is calculated for each section.

[0056] Therefore, by outputting the upright angle θ calculated by the angle calculation unit 25a to, for example, the display unit 34 from the third output control unit 25b, it is possible to determine what upright angle θ the blade 64 should be set to for each section in a part of the transport route 52 that was found to interfere with the first vehicle model 65, so that the second vehicle model 66 can move without interfering with the terrain data. Then, by driving the vehicle 60 while changing the upright angle θ of the blade 64 in each section during actual transport, the vehicle 60 can be driven without interference even if the blade 64 is not necessarily set to the maximum upright angle θ. In an actual vehicle 60, the higher the blade 64 is, the lower the stability during driving and the higher the risk of tipping over. For stable driving of the vehicle 60, it is desirable to keep the blade 64 as low as possible, so it is desirable to set the smallest possible upright angle θ in each section within the range that does not interfere, based on the information output from the third output control unit 25b.

[0057] According to the modified example 1, the transport support device 100, in addition to the transport support device 10 in Figure 1, provides information for stably driving the vehicle 60 while keeping the upright angle θ of the blade 64 small during actual transport.

[0058] Next, following the flowchart in Figure 8, an example of a wind turbine transportation support method according to Modification 1 using the transportation support device 100 in Figure 7 will be described. Note that processes that overlap with the explanation in Figure 6 will be omitted.

[0059] The transportation support method according to Modification 1 includes the steps of acquiring data, etc. (S10), moving the first vehicle model 65 (S20), determining interference (S30), moving the second vehicle model 66 (S40), determining interference (S50), calculating the upright angle θ (S56), and calculating the interference range (S60). The transportation support method may further include the steps of calculating the interference range (S32), outputting (S34), confirming whether all upright angles θ have been executed (S52), changing the upright angle θ (S54), outputting (S58), outputting (S70), changing feature data (S80), and outputting (S82). The transportation support method according to Modification 1 can execute steps S10 to S82 in order, for example, by executing a program stored in the storage unit 30, or it may be executed according to a program received from an external source via a communication interface.

[0060] S10: The process of acquiring data, etc., involves the acquisition unit 21 acquiring three-dimensional route data 50 along a transport route 52 for transporting blades 64 used in wind turbines of a wind power generation facility, a first vehicle model 65 of three-dimensional data including a vehicle 60 transporting the blades 64 and the blades 64 loaded in a prone position on the vehicle 60, and a second vehicle model 66 of three-dimensional data including the vehicle 60 and the blades 64 loaded on the vehicle 60 so as to be able to change from a prone position to an upright position at at least a plurality of upright angles θ.

[0061] S20: The process of moving the first vehicle model 65 involves the first movement processing unit 22a moving the first vehicle model 65 along the transport route 52 in the three-dimensional route data 50.

[0062] S30: In the interference determination step, the first determination unit 22b determines whether the feature data included in the three-dimensional path data 50 interferes with the first vehicle model 65. S32 and S34 are the same as in Figure 6.

[0063] S40: The process of moving the second vehicle model 66 is performed when the first determination unit 22b determines that the feature data interferes with the first vehicle model 65. The second movement processing unit 24a moves the second vehicle model 66 along a part of the interfering transport path 52 while changing the upright angle θ. For example, in the first S40, the second vehicle model 66 with the blade 64 set to the minimum value of the upright angle θ closest to the prone position may be moved. If it is determined in S50 that there is no interference with this second vehicle model 66, simulations with other angles become unnecessary. The upright angle θ can be changed by repeatedly executing S52 and S54 after determining the presence or absence of interference in S50, which will be described later.

[0064] S50: In the interference determination process, the second determination unit 24b further determines whether the feature data interferes with the second vehicle model 66 during the movement of the second vehicle model 66. If the second determination unit 24b determines that there is interference (YES), S52 is executed. If the second determination unit 24b determines that there is no interference (NO), S56 and S58 are executed in order. S50 performs the determination for all sections of the transport route 52 in which it was determined in S30 that there is interference (YES) with the first vehicle model 65. Then, when the second vehicle model 66 is moved at a certain angle, if there is no interference in all sections, it is determined that there is no interference (NO). Conversely, if there is interference in a certain section of the transport route 52, it is determined that there is interference (YES).

[0065] S52: The step of confirming whether all upright angles θ have been executed is performed by the second movement processing unit 24a confirming whether S40 and S50 have been executed for all of the preset upright angles θ when the second determination unit 24b determines that interference occurs (YES). If unit 24a determines that all upright angles θ have been executed (YES), then S60, S70, S80, and S82 are executed in order. If S52 is "YES", then all upright angles θ have been executed, and it is confirmed that the upright angle θ at this time is the maximum value. If the second movement processing unit 24a determines in this step that all upright angles θ have not been executed (NO), then S54 is executed.

[0066] S54: The process of changing the upright angle θ involves the second movement processing unit 24a changing the upright angle θ of the blade 64 of the second vehicle model 66, which was already executed in S40, to a different angle among a set of multiple upright angles θ. For example, if the first time the upright angle θ is set to the minimum value, then each time S54 is executed, the angle can be changed from small to large. In that case, the determination by S52 will be "YES" only when S40 and S50 are executed on the second vehicle model 66 which is set to the maximum upright angle θ among the multiple upright angles θ.

[0067] S56: In the process of calculating the upright angle θ, the angle calculation unit 25a calculates the upright angle θ that changes in accordance with the sections of the transport route 52 in which the feature data does not interfere with the second vehicle model 66. That is, in S56, the upright angle θ that does not interfere is calculated for each small section of the transport route 52. For example, if in S40 the angles are calculated in increasing order from the minimum upright angle θ and in S50 it is determined that there is no interference (NO), then the upright angle θ that does not interfere is calculated for all sections of the transport route 52 that were executed up to that determination. In that case, since the feature data does not interfere with the second vehicle model 66, it is not necessary to calculate the range of interference. Also, even if it is determined that there is interference (YES) in S50 and all upright angles θ have been executed (YES) in S52, there are upright angles θ that interfere in some sections of the transport route 52 but not in others. Therefore, the angle calculation unit 25a can calculate the upright angle θ that corresponds to the sections that were determined not to interfere. Furthermore, if interference is determined to occur (YES) at the maximum upright angle θ in S50, the maximum upright angle θ corresponding to the section where interference was determined may also be calculated.

[0068] S58: The output process involves the third output control unit 25b outputting the upright angle θ calculated in S56 to, for example, the display unit 34. Based on this output, the driver of the vehicle 60 can, during actual transport, drive the vehicle 60 at the non-interfering upright angle θ calculated in S56 in certain sections of the transport route 52, and at a different angle than the above upright angle θ in other sections. In particular, since it is important for the vehicle 60 to have the smallest possible upright angle θ for the blade 64 to ensure driving stability, it is desirable for the driver to select the smallest possible upright angle θ from this output for transport, from the standpoint of driving stability.

[0069] S60: In the process of calculating the interference range, the second range calculation unit 24c calculates the interference range in the feature data corresponding to the portion of the transport route 52 other than the section of the transport route 52 that was determined not to interfere in S56. The interference range will be the range of interference with the second vehicle model 66 at the maximum upright angle θ, so the result will be the same as S60 in Figure 6. Note that when executing S60, it is determined that the upright angle θ is at its maximum value, so it is not necessary to calculate the upright angle θ in S60.

[0070] Sections S70-S82 overlap with the example in Figure 6, so the explanation will be omitted.

[0071] According to the transportation support method of Modification 1, in addition to the method shown in Figure 6, it is possible to obtain information for stably driving the vehicle 60 while keeping the upright angle θ of the blade 64 small during actual transportation.

[0072] 4. Variation 2 Using Figures 7 and 9, the transport support device 100 and transport support method according to Modification 2 will be explained. Figure 7 is a schematic diagram of the transport support device 100 according to Modification 1, but the basic configuration is the same in Modification 2, so Figure 7 will also be used in the explanation of Modification 2. Figure 9 is a flowchart of the transport support method for a wind turbine according to Modification 2. Figure 9 differs from Figure 8 in that steps S52 and S54 are omitted.

[0073] The second movement processing unit 24a of the transport support device 100 according to Modification 2 moves the second vehicle model 66 along a portion of the transport route 52 while changing the upright angle θ of the blade 64. The change in the upright angle θ is performed so that the blade 64 does not interfere with the feature data. Specifically, the change in the upright angle θ is performed by changing the upright angle θ up and down to match the height of the feature data, from the minimum value to the maximum value of the upright angle θ, so that the blade 64 does not interfere with the feature data. Furthermore, if the blade 64 interferes with the feature data even at the maximum upright angle θ, the second vehicle model 66 is moved while maintaining the maximum value for that section. Therefore, the processing by the second movement processing unit 24a does not need to be performed repeatedly with different upright angles θ as in the example in Figure 8, and can be performed in a short time.

[0074] In the modified example 2, the second determination unit 24b changes the upright angle θ in the second movement processing unit 24a so that there is no interference. Therefore, it determines that there is interference (YES) only if there is interference even at the maximum upright angle θ, and determines that there is no interference (NO) otherwise.

[0075] The angle calculation unit 25a calculates an upright angle θ that allows the second vehicle model 66 to move without interfering with the feature data in the processing of the second movement processing unit 24a, corresponding to a portion of the transport route 52. The angle calculation unit 25a can calculate the upright angle θ as changing along the transport route 52 in the processing of the second movement processing unit 24a. The change in the upright angle θ in the second movement processing unit 24a is an angle at which the blade 64 does not interfere with the feature data, except for the section where interference occurs at the maximum upright angle θ.

[0076] According to the modified example 2, the transport support device 100, in addition to the transport support device 10 in Figure 1, provides information for stably driving the vehicle 60 while keeping the upright angle θ of the blade 64 small during actual transport.

[0077] Following the flowchart in Figure 9, a transportation support method using the transportation support device 100 according to Modification 2 will be explained. Note that steps S10-S34, S58, and S80-S82 are the same as in the example in Figure 8, so redundant explanations will be omitted.

[0078] S40: The process of moving the second vehicle model 66 is performed when the first determination unit 22b determines that feature data interferes with the first vehicle model 65. The second movement processing unit 24a moves the second vehicle model 66 along a portion of the interfering transport path 52 while changing the upright angle θ. Unlike the modified example 1 in Figure 8, the second movement processing unit 24a gradually increases the upright angle θ as the second vehicle model 66 moves to avoid interference. In sections where there is feature data that cannot avoid interference even with the maximum upright angle θ, the maximum upright angle θ is adopted and the second vehicle model 66 is moved. After passing the section where interference occurs even with the maximum upright angle θ, the second vehicle model is moved while gradually decreasing the upright angle θ to avoid interference, for example, by adjusting it to the height of the feature data.

[0079] S50: The interference determination step involves the second determination unit 24b further determining whether the feature data interferes with the second vehicle model 66 during the movement of the second vehicle model 66. The process in S50 is basically the same as in the example in Figure 8, but in the modified example 2, if the second determination unit 24b determines that there is interference (YES), S62, S72, S80, and S82 are executed in order, and if the second determination unit 24b determines that there is no interference (NO), S56 and S58 are executed in order. ru.

[0080] S56: In the process of calculating the upright angle θ, if S50 is "NO", the angle calculation unit 25a calculates the upright angle θ which changes in accordance with the section of the transport route 52 where the feature data does not interfere with the second vehicle model 66.

[0081] S62: In the process of calculating the upright angle θ and the interference range, the second range calculation unit 24c calculates the interference range, and the angle calculation unit 25a calculates the upright angle θ which changes in accordance with the section of the transport route 52. The interference range calculated by the second range calculation unit 24c is the range of feature data in which the feature data interferes with the second vehicle model 66 in the section determined to interfere in the processing of S50. The upright angle θ calculated by the angle calculation unit 25a is the upright angle θ which changes up and down in accordance with the section of the transport route 52. In the section determined to interfere, the maximum upright angle θ is calculated, and in other sections, the upright angle θ which changes in accordance with the height of the feature data is calculated.

[0082] S72: The output process involves outputting the upright angle θ calculated by the angle calculation unit 25a in S62 and the interference range calculated by the second range calculation unit 24c from the third output control unit 25b to, for example, the display unit 34. Note that S80 and S82 basically overlap with the example in Figure 6, so the explanation is omitted.

[0083] According to the transportation support method of modified example 2, in addition to the method shown in Figure 6, it is possible to obtain information for stably driving the vehicle 60 while keeping the upright angle θ of the blade 64 small during actual transportation.

[0084] The first vehicle model 65 and the second vehicle model 66 used in the above-described embodiments and modified examples 1 and 2 only changed the inclination angle of the blade 64, but are not limited to this, and models that match the form and mechanism of the vehicle actually used to transport the blade 64 can be adopted in the transport support device and transport support method. For example, the mounting portion of the blade 64 fixed to the luffing mechanism 63 may be configured as a vehicle model that can rotate 360 ​​degrees around the central axis of the blade 64, and a rotational movement may be added during the simulation by configuring a vehicle model that can rotate the blade 64 in a horizontal plane around the mounting portion.

[0085] The present invention is not limited to the embodiments described above, and various further modifications are possible. For example, the present invention includes configurations that are substantially identical to the configurations described in the embodiments (for example, configurations with the same function, method, and result, or configurations with the same purpose and effect). The present invention also includes configurations in which non-essential parts of the configurations described in the embodiments are replaced. The present invention also includes configurations that produce the same effects or achieve the same purpose as the configurations described in the embodiments. Furthermore, the present invention includes configurations that add known technology to the configurations described in the embodiments. [Explanation of Symbols]

[0086] 10, 100…Transportation support device, 20…Processing unit, 21…Acquisition unit, 22a…First movement processing unit, 22b…First determination unit, 22c…First range calculation unit, 22d…First output control unit, 24a…Second movement processing unit, 24b…Second determination unit, 24c…Second range calculation unit, 24d…Second output control unit, 25a…Angle calculation unit, 25b…Third output control unit, 30…Storage unit, 32…Operation unit, 34… Display unit, 40…MMS, 42…Measuring instrument, 46…Mobile terminal, 50…Three-dimensional path data, 52…Transportation route, 53a…Start point, 53b…End point, 54…Slope, 56…Trees, 57…Map data, 58…Logging area, 59…Wide-out area, 60…Vehicle, 61…Towing vehicle, 62…Towed vehicle, 63…Logging mechanism, 64…Blade, 65…First vehicle model, 66…Second vehicle model, θ… Standing angle

Claims

1. An acquisition unit that acquires three-dimensional path data along a transport route for transporting blades used in wind turbines for wind power generation equipment, a first vehicle model of three-dimensional data including a vehicle transporting the blades and the blades loaded in a prone position on the vehicle, and a second vehicle model of three-dimensional data including the vehicle and the blades loaded in an upright position on the vehicle. A first movement processing unit moves the first vehicle model along the transport route in the three-dimensional path data, The first determination unit determines whether the feature data included in the three-dimensional path data interferes with the first vehicle model in the processing of the first movement processing unit, A second movement processing unit moves the second vehicle model along a portion of the transport route in which the first determination unit has determined that the feature data interferes with the first vehicle model, The second determination unit determines whether the feature data interferes with the second vehicle model in the processing of the second movement processing unit, A range calculation unit that calculates the range of interference in the processing of the second determination unit, A wind turbine transport support device characterized by comprising the following features.

2. In the wind turbine transport support device according to claim 1, A wind turbine transport support device, characterized in that the aforementioned area is the area to be widened and / or the area to be cut down.

3. In the wind turbine transport support device according to claim 1 or claim 2, It also includes an angle calculation unit, A portion of the aforementioned transport route is divided into multiple sections, The second vehicle model is capable of changing the blade from the reclined state to the upright state to at least a number of upright angles, The second movement processing unit moves each of the second vehicle models, which are set to the plurality of upright angles, along a portion of the transport path. The wind turbine transport support device is characterized in that the angle calculation unit calculates the upright angle of the second vehicle model, which is determined not to interfere by the processing of the second determination unit, in accordance with the section.

4. In the wind turbine transport support device according to claim 1 or claim 2, It also includes an angle calculation unit, The second vehicle model is capable of changing the blade from the reclined state to the upright state to at least a number of upright angles, The second movement processing unit moves the second vehicle model along a portion of the transport path while changing the upright angle of the blade. The wind turbine transport support device is characterized in that the angle calculation unit calculates the upright angle that allows the second vehicle model to move without interfering with the feature data in the processing of the second movement processing unit, corresponding to a part of the transport route.

5. In the wind turbine transport support device according to claim 1 or claim 2, A wind turbine transport support device characterized by comprising a display unit that displays the aforementioned range.

6. In the wind turbine transport support device according to claim 5, The wind turbine transport support device is characterized in that the display unit displays the start and end points for moving the second vehicle model on map data.

7. Three-dimensional path data along the transport route for wind turbine blades used in wind power generation facilities. 、 A first vehicle model of three-dimensional data including a vehicle for transporting the blade and the blade loaded in a face-down position on the vehicle, A second vehicle model of three-dimensional data, including the vehicle and the blade loaded onto the vehicle in an upright position, Obtain, The first vehicle model is moved along the transport route in the three-dimensional route data, and it is determined whether or not the feature data included in the three-dimensional route data interferes with the first vehicle model. If it is determined that the feature data interferes with the first vehicle model, the second vehicle model is moved along the interfering part of the transport route to further determine whether the feature data interferes with the second vehicle model. A method for supporting the transport of a wind turbine, characterized in that, when it is determined that the feature data interferes with the second vehicle model, the range of interference in the feature data is calculated.

8. Three-dimensional path data along the transport route for wind turbine blades used in wind power generation facilities, A first vehicle model of three-dimensional data including a vehicle for transporting the blade and the blade loaded in a face-down position on the vehicle, A second vehicle model of three-dimensional data, including the vehicle and the blade mounted on the vehicle so as to be changeable to at least multiple upright angles from the reclined state to the upright state, Obtain, The first vehicle model is moved along the transport route in the three-dimensional route data, and it is determined whether or not the feature data included in the three-dimensional route data interferes with the first vehicle model. If it is determined that the feature data interferes with the first vehicle model, the second vehicle model is moved along the interfering part of the transport path while changing its upright angle. Further determination is made as to whether the feature data interferes with the second vehicle model during its movement. The upright angle is calculated to change in a section of the transport route where the feature data does not interfere with the second vehicle model. A method for supporting the transportation of a wind turbine, characterized by calculating the range of interference in the feature data corresponding to a part of the transportation route other than the aforementioned section.

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