Information processing device, information processing method, and program

Abstract

Provided are an information processing device, an information processing method, and a program that make it possible to identify the maximum size of work vehicles that can be used. An information processing device according to the present disclosure comprises: a data acquisition means for acquiring three-dimensional data of a facility and travel path data representing a travel path; a width calculation means for executing width calculation processing for calculating, using the three-dimensional data, a first distance between a point of interest on the travel path and an object located in a first direction as viewed from the point of interest, and a second distance between the point of interest and an object located in a second direction as viewed from the point of interest; a calculation control means for sequentially setting points on the travel path as the point of interest and performing control to execute the width calculation processing for each point of interest; and an allowable size calculation means for calculating the maximum size in the width direction of work vehicles that can travel within the facility, on the basis of the first distance and the second distance calculated for each point of interest.

Description

Information processing device, information processing method, and program

[0001] The present disclosure relates to an information processing device, an information processing method, and a program.

[0002] There is known a technique for determining whether an object such as heavy machinery interferes with a structure present at a work site by using three-dimensional data of the work site, such as computer-aided design (CAD) data or point cloud data measured by a laser scanner, etc., and three-dimensional data of the object. For example, Patent Document 1 discloses a crane interference check system that uses a model of a structure to be constructed and a model of a specific crane to determine whether the specific crane will interfere with the structure.

[0003] JP 2017-16489 A

[0004] The above-mentioned technology disclosed in Patent Document 1 and elsewhere is a technology for determining whether a specific heavy machine is available for use at a work site, and therefore cannot make a determination if the heavy machine to be used has not been determined. In other words, the above-mentioned technology is not a technology for providing the size of the available work vehicle, and is therefore useless if the work vehicle to be used has not been determined.

[0005] Therefore, one of the objectives that the embodiments disclosed in this specification aim to achieve is to provide an information processing device, an information processing method, and a program that are capable of grasping the maximum size of available work vehicles.

[0006] An information processing device according to a first aspect of the present disclosure has: a data acquisition means for acquiring three-dimensional data of a facility in which one or more objects are located, and movement route data indicating a movement route of a work vehicle within the facility; a width calculation means for executing a width calculation process using the three-dimensional data to calculate a first distance between the object existing in a first direction as viewed from a point of interest on the movement route and the point of interest, and a second distance between the object existing in a second direction opposite to the first direction as viewed from the point of interest and the point of interest, the first direction and the second direction being the width direction of the work vehicle at the point of interest; a calculation control means for sequentially setting points on the movement route as the points of interest, and controlling the width calculation process to be executed for each of the set points of interest; and an allowable size calculation means for calculating the maximum widthwise size of the work vehicle that can move within the facility based on the first distance and the second distance for each point of interest.

[0007] An information processing method according to a second aspect of the present disclosure includes: acquiring three-dimensional data of a facility in which one or more objects are located, and movement route data indicating a movement route of a work vehicle within the facility; performing a width calculation process using the three-dimensional data to calculate a first distance between the object located in a first direction from a point of interest on the movement route and the point of interest, and a second distance between the object located in a second direction opposite to the first direction from the point of interest and the point of interest, the first direction and the second direction being width directions of the work vehicle at the point of interest; sequentially setting points on the movement route as the points of interest, and controlling the width calculation process to be performed for each of the set points of interest; and calculating the maximum width size of the work vehicle capable of moving through the facility based on the first distance and the second distance for each point of interest.

[0008] A program according to a third aspect of the present disclosure causes a computer to execute the following steps: a data acquisition step of acquiring three-dimensional data of a facility in which one or more objects are located, and movement path data indicating a movement path of a work vehicle within the facility; a width calculation step of executing a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement path and the point of interest, and a second distance between the object that exists in a second direction as viewed from the point of interest that is opposite to the first direction, the first direction and the second direction being the width direction of the work vehicle at the point of interest; a calculation control step of sequentially setting points on the movement path as the points of interest and controlling the width calculation process to be executed for each of the set points of interest; and an allowable size calculation step of calculating the maximum widthwise size of the work vehicle that can move through the facility based on the first distance and the second distance for each point of interest.

[0009] According to the present disclosure, it is possible to provide an information processing device, an information processing method, and a program that are capable of determining the maximum size of a usable work vehicle.

[0010] 1 is a block diagram showing an example of a configuration of an information processing device according to the present disclosure. FIG. 1 is a block diagram showing an example of a configuration of an information processing device according to the present disclosure. FIG. 2 is a schematic diagram showing an example of three-dimensional data and movement path data acquired by a data acquisition unit. FIG. 3 is a schematic diagram showing an example of three-dimensional data and movement path data acquired by a data acquisition unit. FIG. 4 is a plan view showing an example of a plane that is orthogonal to the direction of the movement path at a point of interest and passes through the point of interest. FIG. 5 is a perspective view showing an example of a plane that is orthogonal to the direction of the movement path at a point of interest and passes through the point of interest. FIG. 6 is a plan view showing an example of a coordinate range in which the separation distance from the plane is equal to or less than a predetermined threshold. FIG. 7 is a schematic diagram showing a direction in which a distance is calculated, a point of interest, and three-dimensional data on the plane. FIG. 8 is a schematic diagram showing a direction in which a distance is calculated in a width calculation process and a height calculation process. FIG. 9 is a flowchart showing an example of an operation of an information processing device according to the present disclosure. FIG. 10 is a block diagram showing an example of a configuration of an information processing device according to the present disclosure. FIG. 11 is a flowchart showing an example of an operation of an information processing device according to the present disclosure. Fig. 1 is a plan view schematically showing the range of data cut out by a data cutout unit for depth calculation processing. Fig. 2 is a flowchart showing an example of the operation of an information processing device according to the present disclosure. Fig. 3 is a flowchart showing an example of the operation of an information processing device according to the present disclosure. Fig. 4 is a block diagram showing an example of the configuration of an information processing device according to the present disclosure. Fig. 5 is a flowchart showing an example of the operation of an information processing device after the maximum size of a work vehicle that can move through a facility has been calculated. Fig. 6 is a block diagram showing an example of the hardware configuration of a computer that realizes an information processing device.

[0011] For clarity of explanation, the following description and drawings may be omitted or simplified as appropriate. In each drawing, identical or corresponding elements are designated by the same reference numerals, and redundant description is omitted as necessary for clarity of explanation. Furthermore, each drawing is merely an example for describing one or more embodiments. Each drawing is not related to only one particular embodiment, but may also be related to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessarily required to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0012] <Outline of the embodiment> An example of the configuration of an information processing device 10 will be described below with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of the information processing device 10. The information processing device 10 has a data acquisition unit 11, a width calculation unit 12, a calculation control unit 13, and an allowable size calculation unit 14. The information processing device 10 is, for example, any device equipped with computer resources.

[0013] The data acquisition unit 11 acquires data necessary to calculate the size of a work vehicle that can be used at a facility that is a work site. Specifically, the data acquisition unit 11 acquires three-dimensional data of a facility in which one or more objects are located, and movement path data that indicates the movement path of the work vehicle within the facility. The data acquisition unit 11 acquires, for example, point cloud data as the three-dimensional data of the facility, but may also acquire three-dimensional data such as mesh data or polygon data.

[0014] The width calculation unit 12 executes a width calculation process that calculates a first distance and a second distance using the three-dimensional data acquired by the data acquisition unit 11. Here, the first distance is the distance between an object that exists in a first direction as viewed from a point of interest on a travel path indicated in the travel path data acquired by the data acquisition unit 11 and the point of interest. Furthermore, the second distance is the distance between an object that exists in a second direction as viewed from the point of interest and the point of interest. Note that the first direction and the second direction are both width directions of the work vehicle at the point of interest, but are opposite directions starting from the point of interest.

[0015] The calculation control unit 13 sequentially sets points on the movement path indicated in the movement path data acquired by the data acquisition unit 11 as points of interest to be used in the width calculation process, and controls the width calculation unit 12 to execute the width calculation process for each of the set points of interest. In other words, the calculation control unit 13 controls the setting of points of interest and the execution of the width calculation process by the width calculation unit 12 for the set points of interest to be repeated.

[0016] The allowable size calculation unit 14 calculates the maximum widthwise size of the work vehicle that can move through the facility based on the results of the width calculation process for each of the set attention points. That is, the allowable size calculation unit 14 calculates the maximum widthwise size of the work vehicle that can move through the facility based on the first distance and the second distance to each of the attention points.

[0017] The information processing device 10 calculates the distance from the travel path to a surrounding object based on the three-dimensional data of the facility and the travel path data, and calculates the maximum widthwise size of a work vehicle that can travel through the facility based on this calculation result. Therefore, the information processing device 10 can determine the maximum size of a usable work vehicle. Note that this effect can also be obtained in an information processing method including the above-described processing of the information processing device 10, a program that performs the above-described processing of the information processing device 10, or a non-transitory computer-readable medium on which the program is stored.

[0018] More specific embodiments will be described below. First Embodiment An example of the configuration of an information processing device 100 will be described below with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of the information processing device 100.

[0019] The information processing device 100 includes a data acquisition unit 101, a data cropping unit 102, a width calculation unit 103, a height calculation unit 104, a calculation control unit 105, an allowable size calculation unit 106, and an output unit 107. The information processing device 100 is a device that calculates the size of a work vehicle, such as a heavy machine or a truck, that can be used at a facility that is a work site. Here, the work vehicle may be a vehicle directly driven by a driver, a vehicle remotely driven by a remote operator, or an autonomously moving vehicle.

[0020] The data acquisition unit 101 corresponds to the data acquisition unit 11 described above. The data acquisition unit 101 acquires data necessary to calculate the size of a work vehicle that can be used at a facility that is a work site. The data acquisition unit 101 acquires three-dimensional data of a facility in which one or more objects are located, and movement path data that indicates the movement path of the work vehicle within the facility. The facility that is the work site is, for example, a power facility such as a substation, but is not limited to this and may be any facility.

[0021] The acquired three-dimensional data of the facility includes three-dimensional data of one or more objects located in the facility. In this embodiment, the data acquisition unit 101 acquires point cloud data of the facility as the three-dimensional data of the facility. However, three-dimensional data such as mesh data or polygon data may also be acquired. The point cloud data is acquired, for example, by scanning a predetermined range of space including the facility using a LiDAR (Light Detection and Ranging) device. The LiDAR device measures the distance to the object using a Time of Flight (ToF) method. The LiDAR device then generates points indicating the shape of the object based on the measurement results.

[0022] The travel route data is data that indicates a travel route in a coordinate system that is applied to the three-dimensional data of the facility. In this embodiment, the travel route data is, for example, a set of a series of discrete points, i.e., a set of coordinate values, but it does not necessarily have to be data of discrete points and may be data representing a line, etc.

[0023] The data acquisition unit 101 may acquire the three-dimensional data of the facility and the travel path data by reading the data from any storage device that stores the data, or by receiving the data from another device that provides the data. The data acquisition unit 101 may acquire the point cloud data directly from the LiDAR device. The storage device that stores the data may include the memory 502 described below.

[0024] 3 and 4 are schematic diagrams showing examples of three-dimensional data and movement path data acquired by the data acquisition unit 101. FIG. 3 is a perspective view of a three-dimensional model of a facility, and FIG. 4 is a plan view of the three-dimensional model of the facility. FIGS. 3 and 4 show three-dimensional data of a facility in which objects such as equipment 91a to 91h are placed on a ground surface 90. Also, in FIGS. 3 and 4, a movement path 95 of a work vehicle is indicated by an arrow. The movement path 95 is a series of coordinate points or lines located at a certain height. In the example shown in FIGS. 3 and 4, the movement path 95 is set at a certain height above the ground surface 90 in the three-dimensional model of the facility. Note that this certain height is a height (e.g., any height of one meter or less) at which the vehicle body of any of the work vehicles that are candidates for use is expected to be present.

[0025] The data clipping unit 102 performs a process of clipping three-dimensional data used in width calculation processing and height calculation processing, which will be described later, from the three-dimensional data of the facility acquired by the data acquisition unit 101. In this embodiment, the data clipping unit 102 clips data having coordinates that are orthogonal to the direction of the movement route at the point of interest and whose distance from a plane that passes through the point of interest is equal to or less than a predetermined threshold. Here, the point of interest is a point on the movement route that is set by the calculation control unit 105, which will be described later, and can also be referred to as a point included in the movement route or a point that constitutes the movement route.

[0026] In this embodiment, the data extracted by the data extracting unit 102 will be described with reference to Fig. 5 to Fig. 7. Fig. 5 shows a plane S perpendicular to the direction of the movement path 95 at the attention point P and passing through the attention point P. １ 6 is a plan view showing an example of the plane S. １ The distance from the predetermined threshold d ０ 1 is a plan view schematically showing a range of coordinates as follows. When point cloud data is used as three-dimensional data, the outline of an object is represented by discrete points, and therefore, data representing the outline of the object does not exist in the gaps between the discrete points. For this reason, in the width calculation process and height calculation process described later, the plane S １ When only the data existing on the plane S is referenced, the discrete points representing the outline of the object are １ If the object is located at a position shifted from the target point P, the distance to the object near the target point P cannot be calculated appropriately. ０ The data belonging to the space having the thickness determined by the threshold d ０ The value of is set to a value corresponding to the interval between discrete points included in the three-dimensional data. When point cloud data is used as the three-dimensional data, the plane S １ It is preferable to extract data belonging to a three-dimensional space of a predetermined thickness including the plane S １ In particular, when three-dimensional data representing the outline of an object using continuous data such as mesh data or polygon data is used, only data belonging to the plane S １ Furthermore, in the width calculation process described below, the data cropping unit 102 may crop three-dimensional data at or above a predetermined height to prevent erroneous calculation of the distance between the ground or floor and the point of interest as the distance between the equipment installed in the facility and the point of interest due to grass, stones, unevenness of the terrain, etc.

[0027] Next, the width calculation unit 103 and the height calculation unit 104 will be described. The width calculation unit 103 and the height calculation unit 104 calculate the distance from the set attention point P to surrounding objects. Note that the width calculation unit 103 corresponds to the width calculation unit 12 described above. The width calculation unit 103 executes a width calculation process to calculate the distance between the attention point P and surrounding objects in the width direction of the work vehicle, and the height calculation unit 104 executes a height calculation process to calculate the distance between the attention point P and surrounding objects in the height direction of the work vehicle. The width calculation process calculates the distance from the attention point to the object that is closest to the attention point in the width direction. Similarly, the height calculation process calculates the distance from the attention point to the object that is closest to the attention point in the height direction.

[0028] FIG. 8 shows the plane S shown in FIGS. １ The direction in which the distance is calculated, the point of interest P, and the plane S １ 8 is a schematic diagram showing three-dimensional data of the direction in which the distance is calculated, the point of interest P, and the plane S, as viewed from the direction of the moving path at the point of interest P. １ FIG. 1 is a schematic diagram showing the above three-dimensional data.

[0029] The width calculation unit 103 uses three-dimensional data to perform width calculation processing for a point of interest P set by a calculation control unit 105, which will be described later. Specifically, the width calculation unit 103 calculates a width in a direction D as viewed from the point of interest P. Ｒ The distance from the point of interest P to the object present in Ｒ Also referred to as a direction D from the point of interest P. Ｌ The distance from the point of interest P to the object present in Ｌ The height calculation unit 104 calculates the height of a point of interest P set by a calculation control unit 105 (described later) using three-dimensional data. Specifically, the height calculation unit 104 calculates the direction D as seen from the point of interest P. Ｕ The distance from the point of interest P to the object present in Ｕ Also referred to as a direction D from the point of interest P. Ｄ The distance from the point of interest P to an object (ground or floor) present on the ＤIn addition, when the height of the set attention point P is known, that is, the distance L Ｄ is known, the distance L Ｄ The calculation process may be omitted.

[0030] Direction D Ｒ and direction D Ｌ are both in the width direction of the work vehicle at the point of interest P. That is, the direction D Ｒ and direction D Ｌ is a direction corresponding to the width direction of the work vehicle when the work vehicle passes through the attention point P. As shown in FIG. Ｒ and direction D Ｌ is the reverse direction starting from the point of interest P. Ｕ and direction D Ｄ are both in the height direction of the work vehicle at the point of interest P. That is, the direction D Ｕ and direction D Ｄ is a direction corresponding to the height direction of the work vehicle when the work vehicle passes the attention point P. As shown in FIG. Ｕ and direction D Ｄ is the reverse direction starting from the point of interest P.

[0031] 9 is a schematic diagram showing the directions in which distances are calculated in the width calculation process and the height calculation process. As shown in FIG. 9, each direction in which the distances are calculated may be a radial direction including a direction deviated from the reference direction within a predetermined deviation angle range. That is, the direction D Ｒ is the reference direction D Ｒ１ The reference direction D may be any direction whose angle with the reference direction D is within a predetermined angle θ. Ｒ１ is a horizontal direction starting from the attention point P, and is one of two directions that perpendicularly intersect with the direction of the movement path at the attention point P (for example, the direction to the right of the traveling direction of the work vehicle). Ｌ is the reference direction D Ｌ１ The reference direction D may be any direction whose angle with the reference direction D is within a predetermined angle θ. Ｌ１is a horizontal direction starting from the attention point P, and is the other of the two directions perpendicular to the direction of the movement path at the attention point P (for example, the direction to the left of the traveling direction of the work vehicle). Ｕ is the reference direction D Ｕ１ The reference direction D may be any direction whose angle with the reference direction D is within a predetermined angle θ. Ｕ１ is a vertically upward direction starting from the point of interest P. Ｄ is the reference direction D Ｄ１ The reference direction D may be any direction whose angle with the reference direction D is within a predetermined angle θ. Ｄ１ is a vertically downward direction starting from the point of interest P.

[0032] When the direction in which the distance is calculated is a radial direction as shown in FIG. 9, the width calculation unit 103 calculates the minimum distance among the calculated distances as the distance L Ｒ or distance L Ｌ For example, the direction D from the point of interest P is Ｒ When a plurality of distances are calculated as distances from the attention point P to objects present in the radial direction D, that is, when a plurality of distances are calculated as distances from the attention point P to objects present in the radial direction D, Ｒ When the distances to the multiple points present in are calculated, the smallest distance among these multiple distances is the distance L Ｒ Similarly, when the direction in which the distance is calculated is a radial direction as shown in FIG. 9, the height calculation unit 104 uses the smallest distance among the calculated distances as the distance L Ｕ or distance L Ｄ Adopted as.

[0033] In this embodiment, the width calculation process and the height calculation process are performed on the data cut out by the data cut-out unit 102. This makes it possible to avoid performing distance calculation processes for coordinate points that are unnecessary for the width calculation process or the height calculation process (for example, coordinate points that are located inside the radial direction but are located far away from the axis of the reference direction). Note that in the width calculation process, the distance between each coordinate point of the three-dimensional data cut out by the data cut-out unit 102 (each point of the point cloud data) and the point of interest P is calculated, and then the distance between each coordinate point of the three-dimensional data cut out by the data cut-out unit 102 and the point of interest P is calculated. Ｒ Or direction D ＬSimilarly, in the height calculation process, the distance between each coordinate point of the three-dimensional data extracted by the data extraction unit 102 (each point of the point cloud data) and the point of interest P is calculated, and then the calculation result for the point in the direction D Ｕ Or direction D Ｄ Alternatively, only the calculation results for points in the direction of may be extracted.

[0034] In the present embodiment, the width calculation process and the height calculation process are performed on the data extracted by the data extraction unit 102, but the width calculation process and the height calculation process may be performed on the 3D data acquired by the data acquisition unit 101. That is, the data extraction unit 102 may be omitted from the information processing device 100.

[0035] When the direction in which the distance is calculated is a radial direction as shown in FIG. 9, the width calculation unit 103 calculates the distance in the direction D Ｒ The length between the object and the point of interest P is the reference direction D Ｒ１ In this case, the width calculation unit 103 may calculate the length projected onto an axis parallel to the direction D Ｌ The length between the object and the point of interest P is also calculated using the reference direction D Ｌ１ Similarly, the height calculation unit 104 calculates the length projected onto an axis parallel to the reference direction D Ｕ１ or D Ｄ１ Alternatively, the length projected onto an axis parallel to the axis may be calculated.

[0036] The calculation control unit 105 corresponds to the calculation control unit 13 described above. The calculation control unit 105 sequentially sets points on the movement path indicated in the movement path data acquired by the data acquisition unit 101 as points of interest to be used in the width calculation process and the height calculation process. For example, the calculation control unit 105 sets points of interest at predetermined intervals, starting from the starting point of the movement path. The calculation control unit 105 also controls the width calculation unit 103 to perform the width calculation process for each of the set points of interest, and controls the height calculation unit 104 to perform the height calculation process for each of the set points of interest. In this way, the calculation control unit 105 controls to repeatedly set points of interest and perform the width calculation process and the height calculation process for the set points of interest.

[0037] The allowable size calculation unit 106 corresponds to the allowable size calculation unit 14 described above. The allowable size calculation unit 106 calculates the maximum widthwise size of the work vehicle that can move through the facility based on the results of width calculation processing for each set attention point. That is, the allowable size calculation unit 106 calculates the distance L Ｒ and distance L Ｌ Specifically, the allowable size calculation unit 106 calculates the maximum widthwise size of the work vehicle that can move through the facility based on the distance L Ｒ The minimum distance L Ｒｍｉｎ and the distance L to each point of interest. Ｌ The minimum distance L Ｌｍｉｎ The maximum widthwise size of the work vehicle that can move through the facility is calculated using the minimum distance L. The movement route indicated by the movement route data is not necessarily set in the center of the gap between the object on the left and the object on the right in the traveling direction of the work vehicle. Therefore, when the work vehicle needs to move along the movement route, the allowable size calculation unit 106 calculates the minimum distance L as the maximum widthwise size of the work vehicle that can move through the facility. Ｒｍｉｎ and the minimum distance L Ｌｍｉｎ However, if the work vehicle does not necessarily need to move along the travel route, the allowable size calculation unit 106 may calculate the length by doubling the distance L at each target point. Ｒ and distance L Ｌ The smallest sum of the above may be calculated as the maximum widthwise size of the work vehicle that can move through the facility.

[0038] Furthermore, the allowable size calculation unit 106 calculates the maximum size in the height direction of the work vehicle that can move through the facility based on the results of the height calculation process for each of the set attention points. Ｕ and distance L Ｄ Based on the above, the maximum size in the height direction of the work vehicle that can move through the facility is calculated. Specifically, the distance L Ｕ The minimum distance L Ｕｍｉｎ and the distance L to each point of interest. Ｄ The minimum distance L ＤｍｉｎThe maximum width of the work vehicle that can move through the facility is calculated using the distance L Ｄ If a known constant value is used as Ｄｍｉｎ Specifically, the allowable size calculation unit 106 calculates the minimum distance L Ｕｍｉｎ and the minimum distance L Ｄｍｉｎ The sum of these is calculated as the maximum size in the height direction of a work vehicle that can move through the facility.

[0039] The output unit 107 outputs the maximum size of a work vehicle that can move through the facility calculated by the allowable size calculation unit 106. The output unit 107 may display the output of the maximum size of a work vehicle that can move through the facility on a display or may transmit it to another device.

[0040] Next, a specific processing flow of each component shown in Fig. 2 will be described with reference to the flowchart of Fig. 10. Fig. 10 is a flowchart showing an example of the operation of the information processing device 100.

[0041] In step S100, the allowable size calculation unit 106 sets a sufficiently large value as the initial value of each variable for the maximum size of the work vehicle that can move in the facility. Ｒｍｉｎ , minimum distance L Ｌｍｉｎ , minimum distance L Ｕｍｉｎ , and the minimum distance L Ｄｍｉｎ Set a sufficiently large value as the initial value of

[0042] Next, in step S101, the data acquisition unit 101 acquires three-dimensional data of the facility and data on the movement route of the work vehicle. Next, in step S102, the calculation control unit 105 sets a point of interest. Next, in step S103, the data clipping unit 102 clips three-dimensional data to be used for width calculation processing and height calculation processing from the three-dimensional data of the facility acquired in step S101. Next, in step S104, the width calculation unit 103 and the height calculation unit 104 perform width calculation processing and height calculation processing for the point of interest set in step S102.

[0043] Next, in step S105, the allowable size calculation unit 106 updates the values ​​of each variable regarding the maximum size of a work vehicle that can move within the facility based on the distance calculated in step S104. That is, if a value smaller than the current variable value is calculated in step S104, the allowable size calculation unit 106 updates the current variable value to the smaller value. For example, the allowable size calculation unit 106 updates the value of each variable based on the distance L calculated in step S104. Ｒ is the minimum distance L Ｒｍｉｎ If it is smaller than the current value of Ｒｍｉｎ Update the value of

[0044] Next, in step S106, the calculation control unit 105 determines whether all points constituting the movement route have been set as attention points. If all points constituting the movement route have been set as attention points (YES in step S106), the process proceeds to step S107. If all points constituting the movement route have not been set as attention points (NO in step S106), the process returns to step S102, and the next point is set as the attention point.

[0045] In step S107, the allowable size calculation unit 106 calculates the maximum size of the work vehicle that can move through the facility based on the values ​​of the variables. In this embodiment, the allowable size calculation unit 106 calculates the minimum distance L Ｒｍｉｎ , minimum distance L Ｌｍｉｎ , minimum distance L Ｕｍｉｎ , and the minimum distance L Ｄｍｉｎ Then, in step S108, the output unit 107 outputs the maximum size of the work vehicle that can move through the facility.

[0046] The above describes the first embodiment. The information processing device 100 calculates the distance from the travel path to a surrounding object based on the three-dimensional data of the facility and the travel path data, and calculates the maximum width and height dimensions of a work vehicle that can travel through the facility based on the calculation results. Therefore, the information processing device 100 can determine the maximum width and height dimensions of a usable work vehicle.

[0047] <Second Embodiment> Next, a second embodiment will be described. The travel route indicated by the travel route data is not necessarily set in the center of the gap between an object on the left side and an object on the right side of the traveling direction of the work vehicle. In other words, the travel route indicated by the travel route data may be a travel route that is biased to the right or left side of the traveling direction. Therefore, in this embodiment, a technology that can correct this bias and output a travel route will be described.

[0048] An example configuration of an information processing device 100a capable of outputting a travel path with bias corrected will be described with reference to Fig. 11. Fig. 11 is a block diagram showing an example configuration of the information processing device 100a. The information processing device 100a shown in Fig. 11 differs from the information processing device 100 shown in Fig. 2 in that it further includes a midpoint calculation unit 108 and a path correction unit 109. Below, configurations and processes that differ from those of the information processing device 100 shown in Fig. 2 will be described, and overlapping descriptions will be omitted as appropriate.

[0049] The midpoint calculation unit 108 calculates the direction D from the point of interest P. Ｒ and the object in the direction D from the point of interest P. Ｌ That is, the midpoint calculation unit 108 calculates the coordinates of the midpoint of the gap between the object and the set attention point P in the direction D. Ｒ Distance L in the direction Ｒ and a point away from the point of interest P in the direction D Ｌ Distance L in the direction Ｌ The position of the midpoint between the point separated by 1000 and the point (i.e., the coordinates of the midpoint) is calculated.

[0050] Furthermore, the path correction unit 109 corrects the movement path indicated by the movement path data acquired by the data acquisition unit 101 based on the midpoints whose positions are calculated by the midpoint calculation unit 108 for each point of interest. That is, the path correction unit 109 corrects the movement path of the work vehicle in the facility based on the positions of the midpoints. Specifically, for example, the path correction unit 109 corrects the movement path so that it passes through each midpoint. That is, the path correction unit 109 generates a path consisting of a series of midpoints as the corrected movement path.

[0051] Furthermore, in this embodiment, the output unit 107 outputs not only the maximum size of the work vehicle, but also travel route data indicating the travel route corrected by the route correction unit 109. Note that in this embodiment, a travel route with reduced bias is generated by the correction made by the route correction unit 109. For this reason, the allowable size calculation unit 106 calculates the distance L Ｒ and distance L Ｌ It is preferable to calculate the minimum value of the sum of the above as the maximum widthwise size of the work vehicle that can move through the facility. Ｒｍｉｎ and the minimum distance L Ｌｍｉｎ It is expected that a larger size will be calculated compared to when the smaller of the two lengths is doubled.

[0052] Next, the specific processing flow of each component shown in FIG. 11 will be described with reference to the flowcharts of FIGS. 12A and 12B. FIGS. 12A and 12B are flowcharts showing an example of the operation of the information processing device 100a. The flowcharts shown in FIGS. 12A and 12B differ from the flowchart shown in FIG. 10 in that step S200 is inserted as the next step after step S104, and step S201 is inserted as the next step after step S107. The flowcharts shown in FIGS. 12A and 12B also differ from the flowchart shown in FIG. 10 in that step S108 is replaced with step S202. The differences from the flowchart shown in FIG. 10 will be described below.

[0053] Description of the processes from step S100 to step S104 will be omitted. As described above, in the flowcharts shown in Figures 12A and 12B, after the process of step S104, the process proceeds to step S200. In step S200, the midpoint calculation unit 108 calculates the position of the midpoint in the width direction. After step S200, the process proceeds to step S105.

[0054] Description of the processing from step S105 to step S107 will be omitted. As described above, in the flowcharts shown in Figures 12A and 12B, after processing in step S107, the processing proceeds to step S201. In step S201, the path correction unit 109 corrects the travel path based on the coordinates of each midpoint calculated in step S200. Then, the processing proceeds to step S202. In step S202, the output unit 107 outputs the maximum size of the work vehicle that can move through the facility and the travel path corrected in step S201.

[0055] The above describes the second embodiment. According to the information processing device 100a, the position of the midpoint is calculated and the movement path is corrected based on the midpoint. Therefore, it is possible to obtain a movement path with reduced bias.

[0056] Third Embodiment Next, a third embodiment will be described. This embodiment differs from the first embodiment in that the maximum size in the width direction is calculated for a plurality of heights. Below, the features that differ from the first embodiment will be described, and overlapping descriptions will be omitted as appropriate.

[0057] In this embodiment, the calculation control unit 105 sets not only a point on the movement path but also a plurality of points obtained by changing the height of the point as the point of interest for the width calculation process. Fig. 13 is a schematic diagram showing points of interest set for the width calculation process. As shown in Fig. 13, the calculation control unit 105 sets not only a point of interest P on the movement path but also a point of interest P that is different in height from the point of interest P, for example, as the point of interest for the width calculation process. １ ~P ３ Note that the attention point P and the attention point P １ ~P ３ The horizontal positions of all the points of interest are the same. The points of interest are set at a predetermined interval (for example, one meter) in the vertical direction. Although a total of four points of interest are set in FIG. 13, the number of points of interest that can be set is not limited to four.

[0058] In this embodiment, the width calculation unit 103 calculates the distance L Ｒ and distance L ＬIn this embodiment, the allowable size calculation unit 106 calculates the maximum widthwise size of the work vehicle that can move through the facility for each height of the point set as the target point for width calculation processing.

[0059] The following describes the processing flow of this embodiment that differs from the flow shown in Fig. 10. In this embodiment, the processing for the width direction variables in step S100 differs from that in embodiment 1. In this embodiment, the allowable size calculation unit 106 prepares, as width direction variables, multiple variables corresponding to multiple attention points with different heights, and sets sufficiently large values ​​as the initial values ​​of these multiple variables.

[0060] In this embodiment, in step S102, the calculation control unit 105 sets multiple points as focus points for width calculation processing, and in step S104, the width calculation unit 103 performs width calculation processing for the multiple focus points that have been set. Then, in step S107, the allowable size calculation unit 106 calculates the maximum widthwise size of the work vehicle that can move through the facility for each height at which the focus points are set.

[0061] The third embodiment has been described above. According to this embodiment, the allowable width size is calculated at various heights. This makes it possible to grasp a more detailed size as the maximum size of a work vehicle that can move through a facility. In particular, if the side of an object placed in a facility is not perpendicular to the ground or floor, it is expected that the allowable size will vary depending on the height. However, according to this embodiment, it is possible to grasp an appropriate allowable size. For example, even if the work site is a facility where slanted pillars or equipment with partially protruding sides are placed, it is possible to appropriately grasp the size of a work vehicle that can move through the facility.

[0062] Although the present embodiment has been described focusing on the differences from the first embodiment, the features of the present embodiment are not limited to the first embodiment, and may be combined with other embodiments.

[0063] <Fourth Embodiment> Next, a description will be given of a fourth embodiment. This embodiment differs from the first embodiment in that the maximum size in the depth direction of a work vehicle that can move through a facility is also calculated.

[0064] An example configuration of an information processing device 100b that also calculates the maximum depth-wise size of a work vehicle that can move through a facility will be described with reference to Fig. 14. Fig. 14 is a block diagram showing an example configuration of the information processing device 100b. The information processing device 100b shown in Fig. 14 differs from the information processing device 100 shown in Fig. 2 in that it further includes a depth calculation unit 110. Below, configurations and processes that differ from the information processing device 100 shown in Fig. 2 will be described, and overlapping descriptions will be omitted as appropriate.

[0065] In this embodiment, the data clipping unit 102 further performs a process of clipping three-dimensional data used in the depth calculation process, which will be described later, from the three-dimensional data of the facility acquired by the data acquisition unit 101. Specifically, for the depth calculation process, the data clipping unit 102 clips the following data from the three-dimensional data of the facility. The data clipping unit 102 clips data having coordinates where the distance from a vertical plane passing through the direction of the movement path at the attention point is equal to or less than a first threshold value, and where the height is equal to or greater than a predetermined second threshold value. Here, the first threshold value is a value set according to the provisional or final maximum size in the width direction of the work vehicle that can move through the facility. Note that the provisional maximum size is the minimum distance L at the time when width calculation process has only been completed for some of the attention points. Ｒｍｉｎ and the minimum distance L Ｌｍｉｎ The maximum width calculated based on the above.

[0066] 15 is a plan view schematically showing the range of data cut out by the data cutout unit 102 for depth calculation processing. ２ is a vertical plane that passes through the direction of the movement path 95 at the attention point P and is perpendicular to the horizontal plane. Also, range R is the range of data that is cut out by the data cutout unit 102 for the depth calculation process. Note that in FIG. 15 , direction D is the direction in which the distance is calculated in the depth calculation process. Ｆ and direction D Ｂ are also indicated by arrows.

[0067] As shown in FIG. 15, the data extracting unit 102 extracts the vertical plane S ２ The distance from the first threshold d １ In FIG. 15, data having coordinates that are equal to or less than the first threshold d １ is, for example, half the value of the provisional or final maximum size calculated based on the calculation results of the width calculation process. That is, in the example shown in FIG. 15 , data with a width corresponding to the maximum widthwise size of a work vehicle capable of moving through the facility is extracted. Furthermore, in this embodiment, the data extraction unit 102 extracts data from the data included in range R that has coordinates where the height is equal to or greater than a predetermined second threshold. This is to prevent the depth calculation process from erroneously calculating the distance between the ground or floor and the point of interest as the distance between equipment located in the facility and the point of interest due to grass, stones, unevenness of the terrain, etc. Note that if the ground or floor is flat, the data extraction unit 102 may extract data without using height constraints.

[0068] Next, the depth calculation unit 110 will be described. Like the width calculation unit 103 and the height calculation unit 104, the depth calculation unit 110 also calculates the distance from the set attention point P to surrounding objects. The depth calculation unit 110 executes a depth calculation process to calculate the distance between the attention point P and surrounding objects in the depth direction of the work vehicle. In the depth calculation process, the distance from the attention point P to the object that is closest to the attention point in the depth direction is calculated. The depth calculation unit 110 performs the depth calculation process for the attention point P set by the calculation control unit 105 using three-dimensional data. Specifically, the depth calculation unit 110 calculates the distance in the direction D as seen from the attention point P. Ｆ The distance from the point of interest P to the object present in Ｆ Also referred to as a direction D from the point of interest P. Ｂ The distance from the point of interest P to the object present in Ｂ (also referred to as "(

[0069] Direction D Ｆ and direction D Ｂ are both in the depth direction of the work vehicle at the point of interest P. That is, the direction D Ｆ and direction D Ｂis a direction corresponding to the depth direction of the work vehicle when the work vehicle passes through the attention point P. As shown in FIG. Ｆ and direction D Ｂ is the reverse direction starting from the point of interest P. As in the width calculation process and the height calculation process, each direction for which a distance is calculated in the depth calculation process may be a radial direction including a direction deviated from a reference direction within a predetermined deviation angle range. For example, direction D Ｆ is the reference direction D Ｆ１ The reference direction D may be any direction whose angle with the reference direction D (not shown) is within a predetermined angle θ. Ｆ１ is a horizontal direction starting from the attention point P, and is the direction toward the front of the work vehicle in the direction of the movement path at the attention point P. Similarly, the direction D Ｂ is the reference direction D Ｂ１ The reference direction D may be any direction whose angle with the reference direction D (not shown) is within a predetermined angle θ. Ｂ１ is a horizontal direction starting from the attention point P, and is the direction toward the rear of the work vehicle within the direction of the movement path at the attention point P.

[0070] When the direction in which the distance is calculated in the depth calculation process is a radial direction, the depth calculation unit 110 sets the smallest distance among the calculated distances as the distance L Ｆ or distance L Ｂ For example, the direction D from the point of interest P is Ｆ When a plurality of distances are calculated as distances from the attention point P to objects present in the radial direction D, that is, when a plurality of distances are calculated as distances from the attention point P to objects present in the radial direction D, Ｆ When the distances to the multiple points present in are calculated, the smallest distance among these multiple distances is the distance L Ｆ Adopted as.

[0071] In this embodiment, the depth calculation process is performed on the data cut out by the data cut-out unit 102. This makes it possible to avoid performing distance calculation process for coordinate points that are unnecessary for the depth calculation process (for example, coordinate points that are located inside the radial direction but are located far away from the axis of the reference direction). Note that in the depth calculation process, the distance between each coordinate point of the three-dimensional data cut out by the data cut-out unit 102 (each point of the point cloud data) and the point of interest P is calculated, and then the distance is calculated in the direction D. Ｆ Or direction D Ｂ Alternatively, only the calculation results for points existing in the direction of the arrows may be extracted. In addition, in this embodiment, the depth calculation process is performed on the data extracted by the data extraction unit 102, but the depth calculation process may also be performed on the 3D data acquired by the data acquisition unit 101.

[0072] Furthermore, when the direction in which the distance is calculated in the depth calculation process is a radial direction, the depth calculation unit 110 calculates the distance in the direction D Ｆ The length between the object and the point of interest P is the reference direction D Ｆ１ Similarly, the depth calculation unit 110 may calculate the length of the projection onto an axis parallel to the direction D Ｂ The length between the object and the point of interest P is also calculated using the reference direction D Ｂ１ Alternatively, the length projected onto an axis parallel to the axis may be calculated.

[0073] The calculation control unit 105 of this embodiment sequentially sets points on the movement path indicated in the movement path data acquired by the data acquisition unit 101 as points of interest to be used in the width calculation process, height calculation process, and depth calculation process. Then, similar to the control of the width calculation process and height calculation process, the calculation control unit 105 controls the depth calculation unit 110 to execute the depth calculation process for each of the set points of interest.

[0074] Furthermore, the allowable size calculation unit 106 of this embodiment further calculates the maximum size in the depth direction of the work vehicle that can move through the facility based on the results of the depth calculation process for each set attention point. Ｆ and distance L ＢSpecifically, the allowable size calculation unit 106 calculates the maximum size in the depth direction of the work vehicle that can move through the facility based on the distance L Ｆ The minimum distance L Ｆｍｉｎ and the distance L to each point of interest. Ｂ The minimum distance L Ｂｍｉｎ For example, the allowable size calculation unit 106 calculates the maximum size in the depth direction of the work vehicle that can move through the facility using the minimum distance L Ｆｍｉｎ and the minimum distance L Ｂｍｉｎ The sum of these is calculated as the maximum size in the depth direction of a work vehicle that can move through the facility.

[0075] Next, the specific processing flow of each component shown in Fig. 14 will be described with reference to the flowcharts of Fig. 16A and 16B. Fig. 16A and Fig. 16B are flowcharts showing an example of the operation of the information processing device 100b. The flowcharts shown in Fig. 16A and Fig. 16B differ from the flowchart shown in Fig. 10 mainly in that steps S300 to S302 have been added. Below, the differences from the flowchart shown in Fig. 10 will be described.

[0076] The processes from step S100 to step S104 are the same as those in Fig. 10, and therefore detailed description thereof will be omitted. However, in this embodiment, in step S100, the allowable size calculation unit 106 calculates two variables in the depth direction (minimum distance L Ｆｍｉｎ Variables, minimum distance L Ｂｍｉｎ The initial values ​​of these variables are set to sufficiently large values.

[0077] After the processing of step S104, in step S105, the allowable size calculation unit 106 updates the value of the variable for the width direction or height direction among the variables for the maximum size of the work vehicle that can be moved in the facility based on the distance calculated in step S104. Then, after step S104, the processing proceeds to step S300.

[0078] In step S300, the data extraction unit 102 extracts 3D data to be used in the depth calculation process from the 3D data of the facility acquired in step S101. Next, in step S301, the depth calculation unit 110 performs depth calculation processing for the point of interest set in step S102. Next, in step S302, the allowable size calculation unit 106 updates the value of the depth direction variable among the variables related to the maximum size of the work vehicle that can move in the facility, based on the distance calculated in step S301. Then, the process proceeds to step S106.

[0079] Thereafter, when the processing proceeds to step S107, the allowable size calculation unit 106 calculates the maximum size of a work vehicle that can move through the facility based on the values ​​of each variable. That is, the allowable size calculation unit 106 calculates the maximum size in the width direction, height direction, and depth direction. Then, after step S107, in step S108, the output unit 107 outputs the maximum size of a work vehicle that can move through the facility.

[0080] The above describes the fourth embodiment. According to this embodiment, the maximum depth-wise size of a work vehicle that can move through a facility is also calculated. Therefore, according to this embodiment, the maximum depth-wise size of a usable work vehicle can also be determined.

[0081] Although the present embodiment has been described focusing on the differences from the first embodiment, the features of the present embodiment are not limited to the first embodiment and may be combined with other embodiments. Also, in the present embodiment, the maximum size in the depth direction may be calculated at a plurality of heights, similar to the third embodiment.

[0082] <Fifth Embodiment> Next, a description will be given of a fifth embodiment. This embodiment differs from the first embodiment in that the range of interference caused by a work vehicle during a direction change is taken into consideration and a work vehicle that can move through the facility is identified.

[0083] An example configuration of an information processing device 100c that identifies work vehicles that can move through a facility, taking into account the range of interference caused by work vehicles turning, will be described with reference to Fig. 17. Fig. 17 is a block diagram showing an example configuration of the information processing device 100c. The information processing device 100c shown in Fig. 17 differs from the information processing device 100 shown in Fig. 2 in that it further includes a model storage unit 111, a model selection unit 112, a simulation unit 113, and a vehicle identification unit 114. Below, configurations and processes that differ from those of the information processing device 100 shown in Fig. 2 will be described, and overlapping descriptions will be omitted as appropriate.

[0084] The model storage unit 111 stores model data for various work vehicles, i.e., candidate work vehicles. Each model models not only the shape and size of the work vehicle, but also its turning motion. This turning motion may be achieved by changing the direction of the wheels, or by controlling the rotation of a pair of crawlers, such as by making a pivot turn, a gentle turn, or a super pivot turn. The model data may also include identification information for the work vehicle represented by the model (for example, the name of the work vehicle).

[0085] The model selection unit 112 selects and acquires, from among various work vehicle models, a work vehicle model that satisfies the maximum size of a work vehicle that can move through a facility, calculated by the allowable size calculation unit 106. In this embodiment, the model selection unit 112 selects and acquires, from among the models whose data is stored in the model storage unit 111, a model that satisfies the maximum size condition.

[0086] The simulation unit 113 simulates the movement of the work vehicle along the travel route. In particular, the simulation unit 113 performs the following simulation. Using the three-dimensional data of the facility acquired by the data acquisition unit 101 and the model acquired by the model selection unit 112, the simulation unit 113 simulates the turning of the work vehicle represented by the model at a turning point located on the travel route within the facility. That is, the simulation unit 113 simulates the turning operation of the work vehicle model within the space represented by the three-dimensional data of the facility acquired by the data acquisition unit 101. The simulation unit 113 uses this simulation to check whether the work vehicle will interfere with surrounding objects when turning. For example, when a work vehicle turns by turning its front wheels, the rear wheels pass on the inside of the front wheels, so even a work vehicle that meets the maximum size condition may interfere with surrounding objects when turning.

[0087] The vehicle identification unit 114 identifies a model that does not interfere with objects placed in the facility in the direction change simulation performed by the simulation unit 113. In this way, the vehicle identification unit 114 identifies a work vehicle that can move through the facility.

[0088] Furthermore, in this embodiment, the output unit 107 outputs identification information (for example, the name of the work vehicle) that identifies the work vehicle identified by the vehicle identification unit 114 .

[0089] Next, a description will be given of the processing flow of the information processing device 100c after the maximum size of a work vehicle that can move through a facility has been calculated by the allowable size calculation unit 106. Fig. 18 is a flowchart showing an example of the operation of the information processing device 100c after the maximum size of a work vehicle that can move through a facility has been calculated.

[0090] In step S400, the model selection unit 112 acquires all work vehicle models whose sizes are equal to or smaller than the maximum size calculated by the allowable size calculation unit 106 from among the models whose data is stored in the model storage unit 111.

[0091] Next, in step S401, the simulation unit 113 uses one of the models acquired in step S400 to simulate the movement of the work vehicle along the travel route indicated in the travel route data. In particular, the simulation unit 113 simulates the work vehicle turning at a turning point on the travel route. Then, in step S402, the simulation unit 113 checks whether the work vehicle will collide with a nearby object when turning. If the work vehicle will collide with a nearby object (YES in step S402), the process returns to step S401. When the process returns to step S401, the above-described simulation is performed for the other models acquired in step S400. If the work vehicle will not collide with a nearby object (NO in step S402), the process proceeds to step S403.

[0092] In step S403, the vehicle identification unit 114 adds the identification information of work vehicles determined not to collide with surrounding objects to the list of available work vehicles. After step S403, the process proceeds to step S404. In step S404, the simulation unit 113 determines whether simulations have been performed for all models acquired in step S400. If simulations have not been performed for all models acquired in step S400 (NO in step S404), the process returns to step S401. When the process returns to step S401, the above-described simulations are performed for the other models acquired in step S400. If simulations have been performed for all models acquired in step S400 (YES in step S404), the process proceeds to step S405. In step S405, the output unit 107 outputs a list of available work vehicles. That is, the output unit 107 outputs a list containing the identification information of work vehicles that can move within the facility.

[0093] The above describes the fifth embodiment. According to this embodiment, work vehicles that can move through the facility are identified taking into consideration the range of interference caused by work vehicles that are turning. This makes it possible to more accurately identify available work vehicles.

[0094] Although the present embodiment has been described focusing on the differences from the first embodiment, the features of the present embodiment are not limited to the first embodiment and may be combined with other embodiments. Furthermore, when the features of the present embodiment are combined with the second embodiment, the simulation unit 113 may perform a simulation using the travel path corrected by the path correction unit 109.

[0095] Any of the above-described information processing devices may be realized by a computer as shown in Fig. 19. Fig. 19 is a block diagram showing an example of the hardware configuration of a computer that realizes the information processing device. As shown in Fig. 19, a computer 500 includes an input / output interface 501, a memory 502, and a processor 503.

[0096] The input / output interface 501 is an interface for connecting to other devices so as to be able to communicate with them as necessary. For example, the input / output interface 501 may be used by the data acquisition unit 101 to acquire data, or by the output unit 107 to output information.

[0097] The memory 502 is configured, for example, by a combination of volatile memory and non-volatile memory. The memory 502 is used to store software (computer programs) including one or more instructions executed by the processor 503, data used for various processes, etc. The model storage unit 111 may be realized by the memory 502.

[0098] The processor 503 reads and executes software (computer programs) from the memory 502 to perform processing of each component of the information processing device. The processor 503 may be, for example, a microprocessor, an MPU (Micro Processor Unit), or a CPU (Central Processing Unit). The processor 503 may include multiple processors.

[0099] The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0100] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0101] Some or all of the above embodiments may also be described as, but are not limited to, the following supplementary notes. Some or all of the elements (e.g., configurations and functions) described in supplementary notes 2 to 10 that are dependent on supplementary note 1 may also be dependent on supplementary notes 11 and 12 in the same dependent relationship as supplementary notes 2 to 10. Furthermore, some or all of the elements described in any supplementary note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0102] (Supplementary Note 1) An information processing device comprising: a data acquisition means for acquiring three-dimensional data of a facility in which one or more objects are located, and movement route data that indicates a movement route of a work vehicle within the facility; a width calculation means for executing a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement route and the point of interest, and a second distance between the object that exists in a second direction that is opposite to the first direction as viewed from the point of interest and the point of interest, the first direction and the second direction being the width direction of the work vehicle at the point of interest; a calculation control means for sequentially setting points on the movement route as the points of interest, and controlling the width calculation process to be executed for each of the set points of interest; and an allowable size calculation means for calculating the maximum width size of the work vehicle that can move within the facility based on the first distance and the second distance for each point of interest. (Supplementary Note 2) The information processing device according to Supplementary Note 1, further comprising: a midpoint calculation means for calculating the position of the midpoint between a point separated by the first distance from the attention point in the first direction and a point separated by the second distance from the attention point in the second direction; and a path correction means for correcting the movement path of the work vehicle within the facility based on the midpoint for each of the attention points. (Supplementary Note 3) The information processing device according to Supplementary Note 1 or 2, wherein the calculation control means sets a point on the movement path and a plurality of points obtained by changing the height of the point as the attention point for the width calculation process, the width calculation means calculates the first distance and the second distance for each of the attention points having different heights, and the allowable size calculation means calculates the maximum widthwise size of the work vehicle that can move within the facility for each height of the point set as the attention point for the width calculation process.(Supplementary Note 4) The information processing device according to any one of Supplementary Notes 1 to 3, further comprising height calculation means that executes height calculation processing using the three-dimensional data to calculate a third distance between the object that exists in a height direction as seen from the point of interest and the point of interest, wherein the calculation control means further controls to execute the height calculation processing for each of the set points of interest, and the allowable size calculation means further calculates a maximum size in the height direction of the work vehicle that can move through the facility based on the third distance for each of the points of interest. (Supplementary Note 5) The information processing device according to Supplementary Note 4, further comprising: height calculation means that executes height calculation processing using the three-dimensional data to calculate a third distance between the point of interest and the object that exists in a height direction as seen from the point of interest, wherein the calculation control means further controls to execute the height calculation processing for each of the set points of interest, and the allowable size calculation means further calculates a maximum size in the height direction of the work vehicle that can move through the facility based on the third distance for each of the points of interest. (Supplementary Note 6) The information processing device described in any one of Supplementary Notes 1 to 5 further comprises a depth calculation means that executes a depth calculation process using the three-dimensional data to calculate a fourth distance between the object that exists in a fourth direction from a point of interest on the movement path and the point of interest, and a fifth distance between the object that exists in a fifth direction that is the opposite direction to the fourth direction from the point of interest and the point of interest, the fourth direction and the fifth direction being depth directions of the work vehicle at the point of interest; the calculation control means further controls to execute the depth calculation process for each of the set points of interest; and the allowable size calculation means further calculates the maximum size in the depth direction of the work vehicle that can move through the facility based on the fourth distance and the fifth distance for each of the points of interest. (Supplementary Note 7) The information processing device described in Supplementary Note 6, wherein the depth calculation process is performed on second data extracted from the three-dimensional data, and the second data has coordinates whose distance from a vertical plane passing through the direction of the movement path at the target point is equal to or less than a first threshold value set according to the provisional or confirmed maximum size in the width direction of the work vehicle that can move through the facility, and has coordinates whose height is equal to or greater than a predetermined second threshold value.(Supplementary Note 8) The information processing device according to any one of Supplements 1 to 7, wherein the allowable size calculation means calculates the smaller of the calculated minimum first distance or the calculated minimum second distance as the maximum widthwise size of the work vehicle capable of moving through the facility. (Supplementary Note 9) The information processing device according to Supplementary Note 2, wherein the allowable size calculation means calculates the minimum value of the sum of the first distance and the second distance for each of the attention points as the maximum widthwise size of the work vehicle capable of moving through the facility. (Supplementary Note 10) The information processing device according to any one of Supplements 1 to 9, further comprising: model selection means for selecting and acquiring, from various models of the work vehicle, a model of the work vehicle that satisfies the calculated maximum size; simulation means for using the three-dimensional data and the acquired model to simulate a turn of the work vehicle represented by the model at a turn point that is present on a movement path through the facility; and vehicle identification means for identifying the model that does not interfere with the object in the turn simulation and thereby identifying the work vehicle that can move through the facility. (Supplementary Note 11) An information processing method comprising: acquiring three-dimensional data of a facility in which one or more objects are located, and movement route data indicating a movement route of a work vehicle within the facility; executing a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement route and the point of interest, and a second distance between the object that exists in a second direction as viewed from the point of interest that is opposite to the first direction, the first direction and the second direction being width directions of the work vehicle at the point of interest; sequentially setting points on the movement route as the points of interest, and controlling to execute the width calculation process for each of the set points of interest; and calculating a maximum width size of the work vehicle that can move within the facility based on the first distance and the second distance for each point of interest.(Supplementary Note 12) A program that causes a computer to execute the following steps: a data acquisition step of acquiring three-dimensional data of a facility in which one or more objects are located, and movement path data that indicates a movement path of a work vehicle within the facility; a width calculation step of executing a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement path and the point of interest, and a second distance between the object that exists in a second direction that is opposite to the first direction as viewed from the point of interest and the point of interest, the first direction and the second direction being the width direction of the work vehicle at the point of interest; a calculation control step of sequentially setting points on the movement path as the points of interest, and controlling to execute the width calculation process for each of the set points of interest; and an allowable size calculation step of calculating the maximum widthwise size of the work vehicle that can move within the facility based on the first distance and the second distance for each point of interest.

[0103] This application claims priority based on Japanese Patent Application No. 2024-098432, filed on June 19, 2024, the disclosure of which is incorporated herein in its entirety by reference.

[0104] D Ｂ , D Ｄ , D Ｆ , D Ｌ , D Ｒ , D Ｕ Direction D Ｂ１ , D Ｄ１ , D Ｆ１ , D Ｌ１ , D Ｒ１ , D Ｕ１ Reference direction P, P １ -P ３ Point of interest R Range S １ Plane S ２Vertical plane 91a-91h Equipment 10 Information processing device 11 Data acquisition unit 12 Width calculation unit 13 Calculation control unit 14 Allowable size calculation unit 90 Ground 95 Movement path 100, 100a, 100b, 100c Information processing device 101 Data acquisition unit 102 Data extraction unit 103 Width calculation unit 104 Height calculation unit 105 Calculation control unit 106 Allowable size calculation unit 107 Output unit 108 Midpoint calculation unit 109 Path correction unit 110 Depth calculation unit 111 Model storage unit 112 Model selection unit 113 Simulation unit 114 Vehicle identification unit 500 Computer 501 Input / output interface 502 Memory 503 Processor

Claims

a data acquisition means for acquiring three-dimensional data of a facility in which one or more objects are located and movement path data indicating a movement path of a work vehicle within the facility; a width calculation means that executes a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement path and the point of interest, and a second distance between the object that exists in a second direction that is opposite to the first direction as viewed from the point of interest and the point of interest, wherein the first direction and the second direction are width directions of the work vehicle at the point of interest; a calculation control means for sequentially setting points on the movement path as the attention points and controlling the width calculation process to be executed for each of the set attention points; an allowable size calculation means for calculating a maximum widthwise size of the work vehicle that can move through the facility based on the first distance and the second distance to each of the attention points; An information processing device having the above. 　 a midpoint calculation means for calculating a midpoint position between a point spaced the first distance from the target point in the first direction and a point spaced the second distance from the target point in the second direction; a route correction means for correcting the travel route of the work vehicle in the facility based on the midpoint for each of the attention points; The information processing device according to claim 1 , further comprising: 　 the calculation control means sets a point on the movement path and a plurality of points obtained by changing the height of the point as the target point for the width calculation process; the width calculation means calculates the first distance and the second distance for each of the points of interest that are different in height; The allowable size calculation means calculates the maximum widthwise size of the work vehicle that can move through the facility for each height of the point set as the target point for the width calculation process.

3. The information processing device according to claim 1 or 2. 　 a height calculation unit that executes a height calculation process to calculate a third distance between the object that exists in a height direction as viewed from the point of interest and the point of interest using the three-dimensional data; The calculation control means further controls the height calculation process to be executed for each of the set attention points, The allowable size calculation means further calculates the maximum size in the height direction of the work vehicle that can move through the facility based on the third distance to each of the attention points. The information processing device according to claim 1 . 　 the width calculation process and the height calculation process are performed on first data extracted from the three-dimensional data, The first data is data that belongs to a plane that is perpendicular to the direction of the movement path at the point of interest and that passes through the point of interest, or data that has coordinates that are spaced apart from the plane by a predetermined threshold or less. The information processing device according to claim 4 . 　 a depth calculation means for executing a depth calculation process using the three-dimensional data to calculate a fourth distance between the object that exists in a fourth direction as viewed from a point of interest on the movement path and the point of interest, and a fifth distance between the object that exists in a fifth direction that is an opposite direction to the fourth direction as viewed from the point of interest and the point of interest, the fourth direction and the fifth direction being depth directions of the work vehicle at the point of interest, The calculation control means further controls the depth calculation process to be executed for each of the set attention points, The allowable size calculation means further calculates the maximum size in the depth direction of the work vehicle that can move through the facility based on the fourth distance and the fifth distance to each of the attention points. The information processing device according to claim 1 . 　 the depth calculation process is performed on second data extracted from the three-dimensional data, The second data is The distance from the vertical plane passing through the direction of the movement path at the attention point has a coordinate that is equal to or less than a first threshold value set in accordance with the provisional or final maximum size in the width direction of the work vehicle that can move through the facility, and, having a coordinate whose height is equal to or greater than a predetermined second threshold; It is data The information processing device according to claim 6 . 　 The allowable size calculation means calculates the maximum widthwise size of the work vehicle that can move through the facility as a length obtained by doubling the smaller of the calculated minimum first distance and the calculated minimum second distance. The information processing device according to claim 1 . 　 The allowable size calculation means calculates the minimum value of the sum of the first distance and the second distance for each of the attention points as the maximum widthwise size of the work vehicle that can move through the facility. The information processing device according to claim 2 . 　 a model selection means for selecting and acquiring a model of the work vehicle that satisfies the calculated maximum size from among various models of the work vehicle; a simulation means for simulating a turn of the work vehicle represented by the model at a turn point on a travel route in the facility using the three-dimensional data and the acquired model; a vehicle identification means for identifying the model that does not interfere with the object in the simulation of the direction change, thereby identifying the work vehicle that can move through the facility; The information processing device according to claim 1 , further comprising: Acquire three-dimensional data of a facility in which one or more objects are located and movement path data indicating a movement path of a work vehicle within the facility; a width calculation process is executed using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement path and the point of interest, and a second distance between the object that exists in a second direction as viewed from the point of interest that is an opposite direction to the first direction, and the point of interest, wherein the first direction and the second direction are width directions of the work vehicle at the point of interest; sequentially setting points on the movement path as the attention points, and controlling the width calculation process to be executed for each of the set attention points; Calculating the maximum widthwise size of the work vehicle capable of moving through the facility based on the first distance and the second distance to each of the points of interest. Information processing methods. a data acquisition step of acquiring three-dimensional data of a facility in which one or more objects are arranged and movement path data indicating a movement path of a work vehicle within the facility; a width calculation step of executing a width calculation process using the three-dimensional data to calculate a first distance between the object that exists in a first direction as viewed from a point of interest on the movement path and the point of interest, and a second distance between the object that exists in a second direction that is an opposite direction to the first direction as viewed from the point of interest and the point of interest, wherein the first direction and the second direction are width directions of the work vehicle at the point of interest; a calculation control step of sequentially setting points on the movement path as the attention points and controlling the width calculation process to be executed for each of the set attention points; an allowable size calculation step of calculating a maximum widthwise size of the work vehicle that can move through the facility based on the first distance and the second distance to each of the attention points; A program that causes a computer to execute the following.

Images