Apparatus and method for checking dynamic interference based on point cloud related to construction, plant and hi-tech field equipment installation

Abstract

A point cloud-based dynamic interference check device for field equipment installation is disclosed. The dynamic interference check device may include a communication unit, an input unit, and a processor that collects point cloud data of equipment and the site where the equipment is installed through the communication unit or the input unit. When the starting point and destination point of the equipment's movement are input at the site, the processor includes a movement path setting unit that sets one or more movement paths connecting the starting point and the destination point, an interference degree calculation unit that calculates an interference degree based on weights for each set movement path, and a movement path determination unit that determines the movement path of the equipment based on the calculated interference degree. By providing the dynamic interference check device, equipment installation at the site can be effectively performed at a reduced cost without performing 3D modeling.

Description

Technology Field

[0001] The present disclosure relates to a method for checking point cloud-based dynamic interference in construction, plant, and high-tech field equipment installations, an apparatus for the same, and a program. Background Technology

[0002] When equipment or structures are installed at construction, plant, and high-tech sites, collisions or interference with structures already built on-site may occur during movement for installation.

[0003] If a collision or interference occurs between the equipment or structure to be installed and a structure already established at the site, the movement work must inevitably be halted, and the modification of the movement path is unavoidable.

[0004] Furthermore, situations may arise where existing equipment and structures must be removed and relocated from the site. This may result in repeated redundant work to reinstall the removed equipment after the relocation is complete; consequently, this increases construction time and manpower, leading to significant cost increases and a higher risk of safety accidents.

[0005] Furthermore, since equipment and structures are often expensive products, damage to them due to collisions and interference during the assembly process can result in massive losses in terms of on-site safety issues and costs. Prior art literature

[0006] Published Patent Application No. 10-2021-0047985 (Date of publication: May 3, 2021) The problem to be solved

[0007] The purpose of the embodiments disclosed in this disclosure is to provide a method for predicting in advance, based on a point cloud, whether collisions and interferences will occur on a movement path when moving to install equipment or structures at construction, plant, and high-tech sites.

[0008] The problems that this disclosure aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by a person skilled in the art from the description below. means of solving the problem

[0009] A point cloud-based dynamic interference check device for field equipment installation according to the present disclosure for achieving the aforementioned technical problem may include a communication unit; an input unit; and a processor that collects point cloud data of equipment and the field where the equipment is installed through the communication unit or the input unit.

[0010] The processor may include: a movement path setting unit that sets one or more movement paths connecting the starting point and the destination point when the starting point and destination point of the equipment's movement are input at the site; an interference calculation unit that calculates an interference degree based on weights for each of the set movement paths; and a movement path determination unit that determines the movement path of the equipment based on the calculated interference degree.

[0011] The point cloud data of the above equipment includes coordinate system data of the above equipment expressed in three-dimensional space, and the point cloud data of the above site may include coordinate system data of the construction environment, plant construction environment, or high-tech module construction environment of the above site expressed in three-dimensional space.

[0012] The interference calculation unit may be configured to calculate the degree of interference between the equipment and the pre-established environment of the site according to the movement of the equipment in the set movement path, and to calculate the degree of interference for each set movement path based on the number of critical points where the point cloud data of the equipment and the point cloud data of the site interfere, the number of warning points where interference is possible, a first weight for the critical points, and a second weight for the warning points.

[0013] The above movement path determining unit may be configured to determine the movement path with the lowest degree of interference as the movement path of the equipment.

[0014] The processor may be configured to derive an avoidance method for the equipment by considering at least one of rotational movement, vertical movement, and horizontal movement of the equipment to avoid the pre-established environment of the site at a critical point or warning point on the set movement path.

[0015] The dynamic interference check device may further include a display, and the processor may be configured to distinguish critical points and warning points on the selected movement path by color and output them to the display when one of the set movement paths is selected.

[0016] A dynamic interference check method performed by a computing device according to the present disclosure for achieving the aforementioned technical problem may include: collecting point cloud data of equipment and a site where said equipment is installed; setting one or more movement paths connecting said starting point and said destination point when said starting point and said destination point of the equipment are input at said site; calculating an interference degree based on weights for each of said set movement paths; and determining a movement path based on said calculated interference degree.

[0017] The point cloud data of the above equipment includes coordinate system data of the above equipment expressed in three-dimensional space, and the point cloud data of the above site may include coordinate system data of the construction environment, plant construction environment, or high-tech module construction environment of the above site expressed in three-dimensional space.

[0018] The step of calculating the interference degree may include the step of calculating the interference degree between the equipment and the pre-established environment at the site due to the movement of the equipment along the set movement path.

[0019] The step of calculating the degree of interference with the pre-established environment may include the step of calculating the degree of interference for each set movement path based on the number of critical points where the point cloud data of the equipment and the point cloud data of the site interfere, the number of warning points where interference is possible, a first weight for the critical points, and a second weight for the warning points.

[0020] In addition to this, a computer program stored on a computer-readable recording medium for executing the present disclosure may be further provided.

[0021] In addition, a computer-readable recording medium for recording a computer program for executing a method for implementing the present disclosure may be further provided. Effects of the invention

[0022] According to the aforementioned means for solving the problem of the present disclosure, when moving to install equipment or structures at construction, plant, and high-tech sites, the occurrence of collisions and interference on the movement path can be predicted in advance based on a point cloud, thereby allowing for the performance of preliminary measures to prevent collisions, reducing on-site construction costs, and enabling cost reduction effects by not performing complex 3D modeling.

[0023] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0024] FIG. 1 is a diagram schematically illustrating a situation in which a point cloud-based dynamic interference check device for field equipment installation according to the present disclosure is applied. FIG. 2 is a block diagram showing the configuration of a dynamic interference check device according to the present disclosure. FIG. 3 is a sequence diagram illustrating a point cloud-based dynamic interference check method according to the present disclosure. FIGS. 4(a) and FIGS. 4(b) are drawings for explaining a method for distinguishing the degree of interference between point cloud-based equipment according to the present disclosure and a pre-established environment at the site. FIGS. 5 through 9 are drawings for illustrating a dynamic interference check method according to the present disclosure. Specific details for implementing the invention

[0025] Throughout this disclosure, the same reference numerals denote the same components. This disclosure does not describe all elements of the embodiments, and general content in the art to which this disclosure pertains or content that overlaps between embodiments is omitted. The terms 'part, module, component, block' as used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of 'parts, modules, components, blocks' may be implemented as a single component, or a single 'part, module, component, block' may include a plurality of components.

[0026] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connections include connections made via a wireless communication network.

[0027] Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0028] Throughout the specification, when it is stated that a component is located "on" another component, this includes not only cases where a component is in contact with another component, but also cases where another component exists between the two components.

[0029] The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

[0030] Singular expressions include plural expressions unless there is an obvious exception in the context.

[0031] In each step, identification codes are used for convenience of explanation and do not describe the order of the steps; the steps may be performed differently from the specified order unless a specific order is clearly indicated in the context.

[0032] The operating principles and embodiments of the present disclosure will be described below with reference to the attached drawings.

[0033] In this specification, the 'point cloud-based dynamic interference check device for field equipment installation according to the present disclosure' includes all various devices capable of performing computational processing and providing results to a user. For example, the point cloud-based dynamic interference check device for field equipment installation according to the present disclosure may include a computer, a server device, and a portable terminal, or may take the form of any one of them.

[0034] Here, the computer may include, for example, a notebook, desktop, laptop, tablet PC, slate PC, etc. equipped with a web browser.

[0035] The above server device is a server that processes information by communicating with an external device, and may include an application server, a computing server, a database server, a file server, a game server, a mail server, a proxy server, and a web server.

[0036] The above portable terminal may include, for example, all types of handheld-based wireless communication devices such as PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminals, smartphones, etc., as well as wearable devices such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted devices (HMDs).

[0037] Functions related to artificial intelligence according to the present disclosure are operated through a processor and memory. The processor may be composed of one or more processors. In this case, the one or more processors may be general-purpose processors such as CPUs, APs, and DSPs (Digital Signal Processors), graphics-dedicated processors such as GPUs and VPUs (Vision Processing Units), or artificial intelligence-dedicated processors such as NPUs. The one or more processors control the processing of input data according to predefined operation rules or artificial intelligence models stored in memory. Alternatively, if the one or more processors are artificial intelligence-dedicated processors, the artificial intelligence-dedicated processors may be designed with a hardware structure specialized for processing a specific artificial intelligence model.

[0038] FIG. 1 is a diagram schematically illustrating a situation in which a point cloud-based dynamic interference check device (100 in FIG. 2, hereinafter referred to as the “dynamic interference check device”) is applied to field equipment installation according to the present disclosure. Here, the field (PL) may be a site related to construction, plant, high-tech, etc., but the embodiments are not limited thereto.

[0039] Referring to FIG. 1, the dynamic interference check device (100) can predict in advance that an installation target (10A), such as equipment or a structure, will collide with or interfere with an environment (e.g., 20A) that has been established in advance at the site (PL) while moving for installation at the site (PL).

[0040] Specifically, the dynamic interference check device (100) can check that the installation target (10A) does not collide with or interfere with the construction environment (20A) of the site (PL) on the movement path (P) of the installation target (10A) when the installation target (10A) moves from the starting point (SP) to the destination point (EP) at the site (PL), and can guide the movement of the installation target (10A).

[0041] Here, the installation target (10A) may include various equipment, facilities (e.g., boilers, generators, etc.) and structures, but the embodiments are not limited thereto, and in this specification, equipment is described as an example of the installation target. The pre-established environment (20A) of the site (PL) may include various structures, equipment, facilities, etc. of a construction site, a plant construction environment, and a high-tech module construction environment, but the embodiments are not limited thereto.

[0042] The dynamic interference check device (100) can prevent interference between the equipment and the site (site structure) based on a point cloud. Here, interference can include all various situations in which collision and / or damage or delay in movement occurs between the equipment and obstacles at the site.

[0043] The “point cloud” described in this specification may represent a set of data in a coordinate system, particularly a set of multiple points spread out in three-dimensional space, and such a point cloud may be defined as a three-dimensional coordinate system (x, y, z) in particular for a three-dimensional model. For convenience of explanation, the process for acquiring a point cloud in this specification—that is, the process of generating a point cloud through three-dimensional measurement equipment such as a Lidar sensor or an RGB-D sensor—refers to known technology, and a separate detailed description thereof is omitted.

[0044] However, since the dynamic interference check device (100) checks dynamic interference based on a point cloud, it does not perform 3D modeling of the site or equipment, so it can predict interference between the equipment and the site simply and accurately.

[0045] FIG. 2 is a block diagram showing the configuration of a dynamic interference check device (100) according to the present disclosure.

[0046] Referring to FIG. 2, a dynamic interference check device (100) according to the present disclosure may include a communication unit (110), an input unit (120), a display (140), a memory (150), and at least one processor (190). Since the components illustrated in FIG. 2 are not essential for implementing the dynamic interference check device (100) according to the present disclosure, the dynamic interference check device (100) described herein may have more or fewer components than those listed above.

[0047] Among the above components, the communication unit (110) may include one or more components that enable communication with an external device, for example, may include at least one of a broadcast receiving module, a wired communication module, a wireless communication module, a short-range communication module, and a location information module. (Selective use of only what is necessary)

[0048] The input unit (120) is for inputting video information (or signal), audio information (or signal), data, or information input from a user, and may include at least one of at least one camera, at least one microphone, and a user input unit. Voice data or image data collected by the input unit (120) may be analyzed and processed into a user control command.

[0049] The display (140) displays (outputs) information processed by the device. For example, the display (140) may display execution screen information of an application (e.g., an application) running on the device, or UI (User Interface) and GUI (Graphic User Interface) information based on such execution screen information.

[0050] The memory (150) can store data supporting various functions of the device and programs for the operation of the control unit, and can store input / output data (e.g., music files, still images, videos, etc.), and can store a number of application programs (or applications) running on the device, data for the operation of the device, and commands. At least some of these application programs can be downloaded from an external server via wireless communication.

[0051] The memory (150) may include at least one type of storage medium among flash memory type, hard disk type, SSD type (Solid State Disk type), SSD type (Silicon Disk Drive type), multimedia card micro type, card type memory (e.g., SD or XD memory, etc.), RAM (random access memory; RAM), SRAM (static random access memory), ROM (read-only memory; ROM), EEPROM (electrically erasable programmable read-only memory), PROM (programmable read-only memory), magnetic memory, magnetic disk, and optical disk. Additionally, the memory may be a database that is separated from the device but connected via wired or wireless connection.

[0052] At least one processor (190) may be implemented as a memory that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of components within the device, and at least one processor (not shown) that performs the aforementioned operation using the data stored in the memory. In this case, the memory and the processor may each be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

[0053] The processor (190) may include a movement path setting unit (191), an interference calculation unit (193), and a movement path determination unit (193), and will be described in detail below in FIG. 3.

[0054] In addition, the processor (190) can control one or a combination of the components described above in order to implement various embodiments according to the present disclosure described in FIGS. 3 to 9 below on the device.

[0055] At least one component may be added or removed in response to the performance of the components shown in FIG. 2. Additionally, it will be readily understood by those skilled in the art that the relative positions of the components may be changed in response to the performance or structure of the system.

[0056] Meanwhile, each component illustrated in Figure 2 refers to a software and / or hardware component such as a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

[0057] FIG. 3 is a sequence diagram illustrating a point cloud-based dynamic interference check method according to the present disclosure. FIG. 4(a) and FIG. 4(b) are drawings for explaining a method for distinguishing the degree of interference between a point cloud-based equipment and a pre-established environment at the site according to the present disclosure.

[0058] The processor (190) can collect point cloud data of the equipment and the site where the equipment is installed (S310).

[0059] The processor (190) can collect point cloud data of the equipment and the site where the equipment is installed through the communication unit (110) or the input unit (120) (S310).

[0060] The point cloud data of the equipment may include coordinate system data of the equipment expressed in three-dimensional space, and the point cloud data of the site may include coordinate system data of the site's construction environment, plant construction environment, or high-tech module construction environment expressed in three-dimensional space. In an embodiment, the processor (190) may generate point cloud data after collecting only raw data for generating the point cloud.

[0061] After step S310, the movement path setting unit (191) of the processor (190) can set one or more movement paths connecting the starting point and the destination point of the equipment's movement at the site (S320).

[0062] In an embodiment, when the processor (190) receives or obtains the starting point and destination point of the equipment's movement in advance, it can set various movement paths connecting the starting point and destination point based on map information of the site, and can provide them through the display (140) sorted by distance or preference.

[0063] After step S320, the interference calculation unit (193) of the processor (190) can calculate the interference based on weights for each set movement path (S330).

[0064] The interference calculation unit (193) can calculate the degree of interference between the equipment and the pre-established environment of the site due to the movement of the equipment in the set movement path.

[0065] Specifically, the interference calculation unit (193) can calculate the interference degree for each set movement path based on the number of critical points where the point cloud data of the equipment and the point cloud data of the site interfere, the number of warning points where interference is possible, a first weight for the critical points, and a second weight for the warning points.

[0066] Referring to FIG. 4(a), the interference calculation unit (193) can determine a critical point (AR1) if there is an area (AR1) of interference between the point cloud data of the equipment and the point cloud data of the site. For example, the interference calculation unit (193) can set a critical point when the collision range (distance between point clouds) is within 2 mm, but the value is not limited to the embodiment.

[0067] Referring to FIG. 4(b), the interference calculation unit (193) can determine a warning point (AR2) if there is a narrow area (AR2) that is not interfered with between the point cloud data of the equipment and the point cloud data of the site. For example, the interference calculation unit (193) can set a warning point when the collision range is 2 mm or more and 10 mm or less, but the numerical value is not limited to the embodiment.

[0068] The interference calculation unit (193) may set the first weight for the critical point to be greater than the second weight for the warning point, but the embodiment is not limited thereto.

[0069] In an embodiment, the interference calculation unit (193) can calculate the interference of each movement path based on the following [Equation 1].

[0070] [Equation 1]

[0071] Interference of movement path = (1st weight) X (Number of critical points) + (2nd weight) X (Number of warning points)

[0072] After step S330, the movement path determination unit (195) of the processor (190) can determine the movement path based on the calculated interference (S340).

[0073] The movement path determining unit (195) can determine the movement path with the lowest degree of interference as the movement path of the equipment.

[0074] At this time, the movement path determination unit (195) may consider the path movement load along with interference. For example, the movement path determination unit (195) may consider the time required for the movement path, the distance traveled, the cost incurred due to the use of heavy equipment, the difficulty of movement, and the possibility of avoiding interference. For example, the movement path determination unit (195) may determine a movement path with a lower path load than a path where the interference is lowest but the time required is excessive, the distance traveled is long, and expensive heavy equipment is used. Additionally, the movement path determination unit (195) may provide information to the movement path decision authority regarding the interference, the time required for the movement path, the distance traveled, the cost incurred due to the use of heavy equipment, the difficulty of movement, and whether avoidance is possible.

[0075] In an embodiment, when the interference calculation unit (193) calculates the first weight and second weight values, it can calculate the weight values ​​based on information regarding the time required for the movement path, the distance traveled, the cost incurred due to the use of heavy equipment, the difficulty of movement, and whether interference can be avoided.

[0076] In an embodiment, the processor (190) can derive an avoidance method for the equipment by considering at least one of rotational movement, vertical movement, and horizontal movement of the equipment to avoid the pre-established environment of the site at a critical point or warning point on a set movement path.

[0077] The processor (190) can simulate a method for the equipment to avoid a structure at the site and output it through the display (140).

[0078] The processor (190) may consider other routes if there is no possibility of avoiding a specific route and damage to equipment or existing structures is expected.

[0079] FIGS. 5 to 9 are drawings illustrating a dynamic interference check method according to the present disclosure. FIGS. 5 and 6 are drawings illustrating a method of displaying the degree of interference between equipment and the site in a specific movement path by distinguishing it by color according to the present disclosure, and FIG. 7 is a drawing illustrating a method of calculating a gap using dimensions to determine the degree of interference between equipment and a structure at the site according to the present disclosure. FIGS. 8(a) and 8(b) show a screen providing the results of performing a dynamic interference check according to the present disclosure in the form of a report. FIG. 9 is a drawing illustrating a process of simulating the movement of equipment over time according to the present disclosure.

[0080] Referring to FIG. 5, when the processor (190) moves the installation target (10B) under a pre-established environment (20B) at the site, it can output critical points highlighted in red and warning points highlighted in green. The colors may be implemented in various ways depending on the embodiment.

[0081] Referring to FIG. 6, the processor (190) may output critical points and warning points distinguished by color, and may provide an item for selecting critical points and warning points in a separate display item (AA). For example, when a specific critical point (2) is selected, the processor (190) may output the location and degree of interference of the critical point (2) to the display (140).

[0082] When describing Fig. 7, dX is the displacement component in the X-axis direction of the global coordinate system, dY is the displacement component in the Y-axis direction of the global coordinate system, dZ is the displacement component in the Z-axis direction of the global coordinate system, and dXY is , dYZ is , dXZ is , dXYZ is It can respond to the back.

[0083] The processor (190) can calculate the gap (CL1, CL2) between the equipment (10C) and the structure (20C) at the site, and based on this, can guide the rotational movement, vertical movement, horizontal movement, etc. of the equipment (10C) or the structure (20C) at the site in chronological order and output it to the display (140). When guiding the movement, the processor (190) can output the equipment for the movement and the equipment usage information together to the display (140).

[0084] Referring to FIG. 8(a) and FIG. 8(b), the processor (190) can provide dynamic interference check information viewed from various angles to the display (140) in the form of a report, and the processor (190) can also provide a separate menu for the user to select only the VIEW of the desired direction.

[0085] Referring to FIG. 9, the processor (190) can simulate the process (P1~P3) of a skybridge (10D) moving to connect a building (20D(1)) and a building (20(2)) and output it to a display (140).

[0086] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0087] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0088] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present disclosure may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the present disclosure. The disclosed embodiments are illustrative and should not be interpreted restrictively. Explanation of the symbols

[0089] 100: Dynamic interference check device, 190: Processor.

Claims

Claim 1 A point cloud-based dynamic interference check device for field equipment installation comprises: a communication unit; an input unit; and a processor that collects point cloud data of equipment and a site where said equipment is installed through said communication unit or input unit, wherein the processor includes: a movement path setting unit that sets a plurality of movement paths connecting said starting point and said destination point when said starting point and said destination point of the equipment are input at said site; and an interference degree calculation unit that calculates an interference degree for each of said set movement paths using the number of critical points where the gap between said equipment's point cloud data and said site's point cloud data is smaller than a first reference value, the number of warning points where said gap is larger than the first reference value and smaller than a second reference value, a first weight for said critical points, and a second weight for said warning points.The system includes a movement path determining unit that determines the movement path of the equipment based on the interference value calculated above, wherein the movement path determining unit compares the interference values ​​of each of the set movement paths and determines the movement path with the minimum interference value as the movement path of the equipment, wherein the interference value calculation unit calculates the interference value between the equipment and the environment represented by the point cloud data of the site according to the movement of the equipment in the set movement path based on the critical points and warning points by applying the first weight and the second weight to the number of critical points and the number of warning points, wherein the movement path determining unit determines the movement path along with the interference value based on information regarding the time required, distance traveled, cost, difficulty of movement, and possibility of interference avoidance of the movement path, wherein the processor is configured to determine movement actions including rotational movement, vertical movement, and horizontal movement of the equipment to avoid the pre-established environment of the site at a critical point or warning point on the set movement path, and wherein the point cloud data of the equipment is the equipment's A dynamic interference check device comprising coordinate system data, wherein the point cloud data of the site comprises coordinate system data of the construction environment, plant construction environment, or high-tech module construction environment of the site expressed in the three-dimensional space. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 A dynamic interference check device according to claim 1, further comprising a display, wherein the processor is configured to distinguish critical points and warning points on the selected movement path by color and output them to the display when one of the set movement paths is selected. Claim 7 A dynamic interference check method performed by a computing device, comprising: collecting point cloud data of equipment and a site where said equipment is installed; setting a plurality of movement paths connecting said starting point and said ending point when said starting point and said ending point of the equipment's movement are input at said site; for each of said set movement paths, calculating an interference degree for each of said set movement paths using a number of critical points where the gap between said equipment's point cloud data and said site's point cloud data is smaller than a first reference value, a number of warning points where the gap is larger than the first reference value and smaller than a second reference value, a first weight for said critical points, and a second weight for said warning points; comparing the interference degrees of each of said set movement paths and determining the movement path with the minimum interference degree as the movement path of said equipment; applying the first weight and the second weight to the number of said critical points and the number of said warning points to determine the interference degree between said equipment and the environment represented by said site's point cloud data according to the movement of said equipment in said set movement paths, said critical points and warning points A dynamic interference check method comprising: a step of calculating based on a point; a step of determining the movement path together with the interference degree based on information regarding the time required, distance traveled, cost, difficulty of movement, and possibility of interference avoidance of the movement path; and a step of determining movement movements including rotational movement, vertical movement, and horizontal movement of the equipment to avoid an environment represented by the point cloud data of the site at a critical point or warning point on the set movement path, wherein the point cloud data of the equipment includes coordinate system data of the equipment represented in a three-dimensional space, and the point cloud data of the site includes coordinate system data of the construction environment, plant construction environment, or high-tech module construction environment of the site represented in the three-dimensional space. Claim 8 delete Claim 9 delete Claim 10 A dynamic interference check program stored on a medium to execute the dynamic interference check method of claim 7, combined with a computer which is hardware.

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