JP7784982B2 - Mobile body work plan creation system, mobile body work plan creation method, and mobile body work plan creation program - Google Patents

Description

This disclosure relates to a mobile object work planning system, a mobile object work planning method, and a mobile object work planning program that create on-site work plans for work on mobile objects.

In rail-based transportation systems, such as railways, yard work plans are created for work on trains at depots, and work is carried out in accordance with these plans. Traditionally, yard work plans have primarily been created manually by the person in charge of creating them.

In recent years, technologies for automatically creating yard work plans using computers have been proposed. One known technology for automatically creating yard work plans involves registering templates for work and shunting processes and applying the template according to the desired yard work plan content to resolve constraint violations. Patent Document 1 also discloses a yard plan creation device that uses PERT (Program Evaluation and Review Technique) to create a yard plan network that defines the occurrence order of each event, such as track presence, shunting, or work, and the temporal relationships between events, and then uses metaheuristics to search for a solution that minimizes constraint violations.

JP 2009-51444 A

When applying a template to resolve constraint violations, a template that conforms to the structure of the target premises is used. Using a template registered according to the structure of a specific premises may make it impossible to create a premises work plan for a premises with a different structure from that specific premises. For this reason, when applying a template, it is difficult to implement a general method for creating premises work plans that is independent of the premises structure. When searching for a solution using metaheuristics, the premises work plan created depends on the search method, making it difficult to guarantee that a solution can be obtained under any conditions. Depending on the conditions of the premises work plan or the premises structure, it may not be possible to create a premises work plan. Furthermore, whether applying a template to resolve constraint violations or searching for a solution using metaheuristics, the solution obtained is limited to a constraint-satisfying solution, making it difficult to obtain a more efficient premises work plan.

The present disclosure has been made in light of the above, and aims to provide a mobile work plan creation system that can create a yard work plan regardless of the yard work plan conditions or yard structure, and that enables the creation of a more efficient yard work plan.

In order to solve the above-mentioned problems and achieve the objectives, the mobile object work planning system disclosed herein is a mobile object work planning system that creates an on-site work plan, which is a schedule for the movement and work of each of multiple mobile objects within the premises of a facility having multiple areas including a storage area where mobile objects are stored and a work area where work is performed on the mobile objects. The mobile object work plan creation system according to the present disclosure includes: an acquisition unit that acquires arrival and departure time information indicating the arrival time, which is the time when each mobile object enters a premises, and the departure time, which is the time when each mobile object leaves the premises, and work schedule information indicating the work schedule for each mobile object; a graph generation unit that generates, for each mobile object, a graph having nodes arranged at certain time intervals for each zone and links connecting the nodes based on information indicating the configuration of the facility, assuming a plane including a first axis representing each zone and a second axis representing time; a constraint equation generation unit that generates, based on the generated graph, the arrival and departure time information, and the work schedule information, constraint equations that express constraint conditions on the movement of each mobile object between zones included in the plurality of zones or the placement of each mobile object in the plurality of zones; and an on-site work plan calculation unit that calculates an on-site work plan by finding a solution that satisfies the constraint equation based on a predetermined evaluation function for the movement of each mobile object. The graph generation unit generates, for each mobile object, a graph having a plurality of links, including links connecting nodes between which the mobile object can move and links indicating that the mobile object will stay in the zone. The on-site work plan calculation unit uses the links included in the graph as decision variables and finds, as a solution, decision variables that satisfy the constraint equations and minimize the evaluation function.

The mobile object work plan creation system disclosed herein has the advantage of being able to create a yard work plan regardless of the yard work plan conditions or the yard structure, and of being able to obtain a more efficient yard work plan.

FIG. 1 is a diagram illustrating a configuration example of a mobile object work plan creation system according to a first embodiment. FIG. 1 is a diagram schematically illustrating an example of the configuration of a vehicle depot for which an on-site work plan is created in the first embodiment. FIG. 1 is a diagram for explaining an outline of an in-plant work plan created by a mobile object work plan creation system according to a first embodiment. FIG. 1 is a diagram for explaining an overview of a process for creating an on-site work plan by a mobile object work plan creation system according to a first embodiment. FIG. 1 is a diagram for explaining constraint equations generated by a start-time location constraint generation unit in the constraint equation generation unit of the mobile object operation planning system according to the first embodiment. FIG. 1 is a diagram for explaining constraint equations generated by a movement constraint generation unit in the constraint equation generation unit of the mobile object work planning system according to the first embodiment. FIG. 1 is a diagram for explaining constraint expressions generated by a work execution constraint generation unit in the constraint expression generation unit of the mobile object work planning system according to the first embodiment. FIG. 1 is a diagram for explaining constraint equations generated by a path conflict constraint generation unit in the constraint equation generation unit of the mobile object operation planning system according to the first embodiment. 1 is a flowchart showing a processing procedure performed by a mobile object work plan creation system according to a first embodiment; FIG. 1 is a diagram for explaining a first function for reducing the calculation load in the mobile object work plan creation system according to the first embodiment. FIG. 10 is a diagram for explaining a second function for reducing the calculation load in the mobile object work plan creation system according to the first embodiment. 10 is a flowchart for explaining a third function for reducing the calculation load in the mobile object work plan creation system according to the first embodiment. FIG. 1 is a diagram illustrating an example of setting a boundary time for a target period in the mobile object work plan creation system according to the first embodiment. FIG. 1 is a diagram illustrating an example of a hardware configuration for realizing a mobile object work plan creation system according to a first embodiment.

The mobile object work planning system, mobile object work planning method, and mobile object work planning program according to the embodiments are described in detail below with reference to the accompanying drawings.

Embodiment 1.
FIG. 1 is a diagram illustrating an example of the configuration of a mobile object work planning system 10 according to a first embodiment. The mobile object work planning system 10 creates an on-site work plan, which is a schedule of movement and work for each of a plurality of mobile objects within the premises of a facility. In the first embodiment, the facility is a railroad depot where a train set of railroad cars is stored. The mobile object is, for example, a train set of railroad cars. Note that a train set of railroad cars also includes a single-car train set. In the first embodiment, an example is described in which the mobile object is a train set of railroad cars, but the mobile object is not limited to a train set of railroad cars and may be transportation equipment such as a bus, truck, or automobile. Hereinafter, a train set of railroad cars will be simply referred to as a "train set."

Before explaining the configuration of the mobile object work plan creation system 10, we will explain the configuration of the vehicle depot for which the yard work plan is created. Figure 2 is a diagram that schematically shows an example configuration of the vehicle depot for which the yard work plan is created in embodiment 1.

A rolling stock depot has multiple areas where trains can enter. These areas include storage areas where trains are stored and work areas where work is carried out on the trains. A train enters a storage track, which is a line within a storage area, and is stored there by stopping on the track. In the following explanation, the storage track will be considered a storage area. A train on which work is to be carried out enters a work track, which is a line within the work area. Work is carried out on the train while it is stopped on the work track. Work such as periodic inspections, train inspections, and interior cleaning is carried out on the work tracks. Work designated for each work track is carried out. In the following explanation, the work track will be considered a work area. If there are multiple storage tracks within a yard, each storage track will be considered a storage area. If there are multiple work tracks within a yard, each work line will be considered a work area.

The entrance track is the track that trains use to enter the depot from outside. Trains that have traveled on the main line, which is the line used for commercial operations, enter the depot via the entrance track. The departure track is the track that trains use to leave the depot from inside. Trains within the depot return to the main line via the departure track. Note that the entrance track and departure track are each considered to be areas included in the multiple areas that trains can enter.

In the example shown in Figure 2, the yard has an approach track, an outgoing track, I sidings, and two service tracks. I is any integer greater than or equal to 2. Each of the I sidings is referred to as the first siding, second siding, third siding, ..., Ith siding. Each of the two service tracks is referred to as the first service track and second service track. The approach track and the outgoing track are connected in parallel. The I sidings are connected in parallel. The two service tracks are connected in parallel. The bundle of approach tracks and outgoing tracks is connected to the bundle of I sidings by a single connecting line. The bundle of I sidings is connected to the bundle of two service tracks by a single connecting line.

The yard work plan for the rolling stock depot shown in Figure 2 is a schedule for the movement of each train set between the approach track, the departure track, the I-train storage track, and two work tracks, as well as the work to be done on each train set. Figure 3 is a diagram for explaining an overview of the yard work plan created by the mobile unit work plan creation system 10 according to the first embodiment.

Figure 3 shows an example of the movement and work schedule for three train sets in the first siding, second siding, third siding, ..., first siding, first service line, and second service line. In Figure 3, "A," "B," and "C" each represent a train set. In Figure 3, the period during which the train set is present on each line is represented by a bar graph. Also in Figure 3, the movement of train sets between lines is represented by lines connecting the bar graphs. In the example shown in Figure 3, for example, train set "A" is parked in the second siding, then moves from the second siding to the second service line, where work is carried out. Then, train set "A" moves from the second service line to the third siding, where it is parked. In this way, within the yard, train sets move back and forth between the sidings and service lines to carry out work.

The configuration of the rolling stock depot for which the yard work plan is created is not limited to the configuration shown in Figure 2. The number of work tracks within the yard is not limited to two and can be any number. The connection between the tracks can be changed as appropriate. The yard may also have sidings, which are tracks that allow trains to retreat as needed when moving between storage tracks and work tracks. In this case, the area where the sidings are installed is also included in the multiple areas that trains can enter. In the example shown in Figure 2, the entrance and exit tracks are separate tracks, but a common line may also be used as the entrance and exit tracks.

Next, the configuration of the mobile object work plan creation system 10 will be described. As shown in FIG. 1, the mobile object work plan creation system 10 includes an input unit 11, a graph generation unit 12, an acquisition unit 13, a constraint equation generation unit 14, an on-site work plan calculation unit 15, and an output unit 16. The graph generation unit 12, the acquisition unit 13, the constraint equation generation unit 14, and the on-site work plan calculation unit 15 constitute a processing unit that processes information.

Input unit 11 receives information on the train schedule for each train on the main line, work schedule information indicating the planned work to be performed on each train, and information indicating the configuration of the depot. The train schedule information includes information on the arrival time, which is the time when each train enters the yard, and information on the departure time, which is the time when each train leaves the yard.

The graph generation unit 12 imagines a plane including a first axis representing each zone and a second axis representing time, and generates a graph for each train set, with nodes arranged for each zone at time intervals and links connecting the nodes. The graph generation unit 12 acquires information indicating the configuration of the depot from the input unit 11, and generates a graph based on the acquired information. Details of the graph will be described later. The graph generation unit 12 outputs the generated graph to the constraint equation generation unit 14.

The acquisition unit 13 includes a departure and arrival time information acquisition unit 21 and a work schedule information acquisition unit 22. The departure and arrival time information acquisition unit 21 acquires train schedule information from the input unit 11 and acquires departure and arrival time information from the train schedule information. The departure and arrival time information is information that indicates the arrival time, which is the time when each train enters the train depot, and the departure time, which is the time when each train departs from the train depot. The work schedule information acquisition unit 22 acquires the work schedule information from the input unit 11. In this way, the acquisition unit 13 acquires departure and arrival time information and work schedule information. The acquisition unit 13 outputs the acquired departure and arrival time information and the acquired work schedule information to the constraint equation generation unit 14.

The constraint equation generation unit 14 generates constraint equations that represent constraint conditions on the movement of each train set between multiple areas or the placement of each train set in multiple areas. The constraint equation generation unit 14 generates constraint equations based on the graph generated by the graph generation unit 12, departure and arrival time information, and work schedule information. The constraint equations represent constraint conditions that must be satisfied by the yard work plan.

The constraint equation generation unit 14 includes a start location constraint generation unit 23, a movement constraint generation unit 24, an area conflict constraint generation unit 25, a work execution constraint generation unit 26, and a path conflict constraint generation unit 27. The constraint equation generation unit 14 generates constraint equations in each of the start location constraint generation unit 23, the movement constraint generation unit 24, the area conflict constraint generation unit 25, the work execution constraint generation unit 26, and the path conflict constraint generation unit 27. Details of each unit included in the constraint equation generation unit 14 will be described later. The constraint equation generation unit 14 outputs the generated constraint equations to the premises work plan calculation unit 15.

The yard work plan calculation unit 15 calculates the yard work plan by finding a solution that satisfies the constraint equations and is based on a preset evaluation function for the movement of each train. The yard work plan calculation unit 15 outputs the calculated yard work plan to the output unit 16. The output unit 16 outputs the yard work plan to a device external to the mobile object work plan creation system 10.

Figure 4 is a diagram illustrating an overview of the process of creating an on-site work plan by the mobile object work planning system 10 according to the first embodiment. In the first embodiment, the mobile object work planning system 10 formulates the on-site work planning problem as an integer programming problem and calculates the on-site work plan by finding an optimal solution based on an evaluation index.

Figure 4 shows an example of a graph generated by the graph generation unit 12. In Figure 4, the vertical axis represents the lines for each area. That is, the vertical axis is the first axis representing each area within the premises. Each line within the premises corresponds to the resources available in the premises work plan. The horizontal axis is the second axis representing time. Note that the graph generation unit 12 generates information represented by a graph such as that shown in Figure 4. The graph conceptually represents the content of the information generated by the graph generation unit 12.

A graph has multiple nodes and multiple links. For each line, a node is placed at each time interval. In Figure 4, dashed lines representing each line and dashed lines representing times at regular time intervals are arranged in a grid pattern, and nodes are placed at the intersections of the dashed lines representing each line and the dashed lines representing times at regular time intervals. Hereinafter, the time intervals at which nodes are placed are referred to as "unit times." Note that in the example shown in Figure 4, no nodes are placed for the first work line. Because the on-site work plan created in embodiment 1 does not include a schedule for work on the first work line, the graph generation unit 12 generates a graph that does not include nodes for the first work line.

In addition, in Figure 4, each link is represented by a thin arrow between nodes. Any two of the lines shown on the vertical axis are designated as the first line and the second line, and the link between a node on the first line and a node on the second line represents the movement of trains between the first line and the second line. The movement of trains between lines within a yard is called shunting.

In the graph, links are established between nodes to which trains can move. For each line shown on the vertical axis, links between nodes on the same line indicate that the train has not moved from that line and is present on that line. In the example shown in Figure 4, links between nodes on the second work line indicate that the train will remain on the second work line for work on that line. Links indicating that the train will remain on the second work line for work connect nodes that are separated by the time required for that work. In the example shown in Figure 4, three times the unit time corresponds to the work time on the second work line. The graph generation unit 12 creates a graph like the one shown in Figure 4 for each of multiple trains. Note that in Figure 4, nodes and links are omitted from the illustration for some of the storage tracks within the yard.

The yard work plan calculation unit 15 uses each link as a decision variable and finds, as a solution, decision variables that satisfy the constraint equations and minimize the evaluation function. For each link, the value of the decision variable is set to "1" when that link is used, and "0" when that link is not used. A link between a node on a first line and a node on a second line that is "1" indicates that the movement indicated by that link is included in the yard work plan. A link between nodes on the same line that is "1" indicates that the train's stay on that line during the link's duration is included in the yard work plan. In embodiment 1, the evaluation equation, which is the evaluation function, represents the number of movements between areas for each train. The yard work plan calculation unit 15 uses an integer programming problem solver to find decision variables that minimize the evaluation function while satisfying the constraints in the yard work plan.

In Figure 4, thick arrows represent links with a value of "1." Also in Figure 4, nodes from which links with a value of "1" exit and nodes to which links with a value of "1" enter are represented by open circles. Other nodes are represented by filled circles. The yard work plan calculation unit 15 calculates the yard work plan for each train set by combining links with a value of "1." Time _t0 is the start point of the target period of the yard work plan. The time _tout when the train set departs from the outbound track is the departure time when the train set leaves the yard. The time _tin when the train set enters the inbound track is the arrival time when the train set enters the yard. The train set is operated on the main line during the period from time _tout to time _tin . The time _tout and the time _tin of each train set are determined based on the arrival and departure time information of each train set.

Next, we will explain each constraint equation generated by each part of the constraint equation generation unit 14. Figure 5 is a diagram for explaining the constraint equation generated by the start location constraint generation unit 23 of the constraint equation generation unit 14 of the mobile body work plan creation system 10 according to the first embodiment. The start location constraint generation unit 23 generates a constraint equation that represents the start location constraint condition. The start location constraint condition is a constraint condition determined by the area in which the train is located at the start of the period covered by the yard work plan.

Assuming that the vehicle unit v is on the line r _v at time t ₀ , which is the start point of the target period, the start location constraint is expressed by the constraint equation, which is the following equation (1).

E ^O _v,t,r represents the set of links that leave the node at time t on the line r, which is a resource, in the graph of the configuration v. In equation (1), e represents a link included in the set of links that leave the node at time _t on the line r _v in the graph of the configuration v. _{x e} represents the decision variable of link e. V represents the set of configurations. Equation (1) indicates that for the configuration v, the sum of the decision variables for all links included in the set of links that leave the node at time _t on the line _{r v} is "1".

In FIG. 5 , the links surrounded by ellipses 30 are links exiting from a node on the second storage track at time _t0 . For example, when a certain train set is present on the second storage track at time _t0 , the start-time location constraint is that one of the links surrounded by ellipses 30 is used. In this case, one of the links surrounded by ellipses 30 has a decision variable of "1," and all other links surrounded by ellipses 30 have decision variables of "0." Therefore, the sum of the decision variables for all links surrounded by ellipses 30 is "1." The line on which the train set is present at time _t0 is determined based on the contents of the yard work plan for the target period immediately preceding the current target period. The start-time location constraint generator 23 generates constraint expressions representing the start-time location constraint for all train sets included in V, which is a set of train sets. For a train set present on the main line at time _t0 , the start-time location constraint is that the train set is not present on any of the lines within the yard.

Figure 6 is a diagram illustrating constraint equations generated by the movement constraint generation unit 24 of the constraint equation generation unit 14 of the mobile object work plan creation system 10 according to the first embodiment. The movement constraint generation unit 24 generates constraint equations that represent movement constraint conditions. The movement constraint conditions are constraint conditions regarding the combination of the entry of a train into an area and the exit of a train from an area, for each area.

The movement constraint is expressed by the constraint equation, equation (2) below.

E ^I _v,t,r represents the set of links entering a node on line r, which is a resource, at time t in the graph of configuration v. ^{N IO} _v represents the set of nodes with at least one link entering or leaving the node in the graph of configuration v. Equation (2) indicates that for configuration v, the sum of the decision variables of all links entering a node on line r at time t and time t is equal to the sum of the decision variables of all links leaving a node on line r at time t.

In Figure 6, the links surrounded by solid ellipse 31 are links entering the node at a certain time on the second storage track. In Figure 6, the links surrounded by dashed ellipse 32 are links leaving the node at a certain time on the second storage track. In the example shown in Figure 6, because a train set is present on the second storage track at that time, the decision variable for one of the links surrounded by ellipse 31 is "1," and the decision variables for all other links surrounded by ellipse 31 are "0." Also, the decision variable for one of the links surrounded by ellipse 32 is "1," and the decision variables for all other links surrounded by ellipse 32 are "0." The sum of the decision variables for all links surrounded by ellipse 31 is "1," and the sum of the decision variables for all links surrounded by ellipse 32 is also "1." Therefore, for a node where a train set exists, the sum of the decision variables for all links entering the node is equal to the sum of the decision variables for all links leaving the node.

Furthermore, for a node where no train formation exists, the sum of the decision variables for all links leading into that node is "0", and the sum of the decision variables for all links leaving that node is also "0". Therefore, for a node where no train formation exists, the sum of the decision variables for all links leading into that node is equal to the sum of the decision variables for all links leaving that node. The movement constraint generation unit 24 generates constraint equations that represent movement constraint conditions for all train formations included in V, which is the set of train formations.

The area conflict constraint generation unit 25 generates constraint expressions that represent area conflict constraint conditions. Area conflict constraint conditions are constraint conditions regarding area conflicts where two or more trains exist in the same area during the same period. In embodiment 1, a maximum of one train can exist on a single line at the same time. Area conflict constraint conditions can be considered constraint conditions that exclude area conflicts where two or more trains exist on a single line at the same time.

The area conflict constraint is expressed by the following constraint equation (3):

E ^R _v,t,r represents the set of links entering the node at time t on the resource line r in the graph of the train set v, and the set of links where the train set exists on the line r from before time t across time t. T represents the set of times. R represents the set of resource lines.

The sum for e, which is one of the double sums in equation (3), represents the sum of the decision variables for all links included in E ^R _v,t,r in the graph of train set v. The other double sum in equation (3) represents the sum for all train sets v included in V. Equation (3) represents that the result of adding up the sum of the decision variables for all links included in E ^R _v,t,r for all train sets v is 1 or less. In other words, equation (3) represents that the total number of train sets v using line r at time t is 1 or less. The area conflict constraint generator 25 generates constraint equations that represent area conflict constraint conditions for all train sets v included in V.

Figure 7 is a diagram illustrating constraint equations generated by the work execution constraint generation unit 26 of the constraint equation generation unit 14 of the mobile object work plan creation system 10 according to the first embodiment. The work execution constraint generation unit 26 generates constraint equations that represent work execution constraint conditions. The work execution constraint conditions are constraint conditions regarding the execution of work indicated in the work schedule information for each train set.

The work execution constraints are expressed by the constraint equation (4) below.

E ^W _v,d,w represents a set of links for operation w scheduled to be performed on day d in the graph of organization v. A link for operation w is a link between nodes on the operation line on which operation w is performed. D represents a set of days. W represents a set of operations. Equation (4) indicates that for organization v, the sum of the decision variables for all links included in the set of links for operation w is "1".

In Figure 7, the links surrounded by ellipses 33 are links for the second work line. For example, suppose the work to be performed on the second work line is train inspection, and train inspection is scheduled for train set v on a day during the target period. The decision variable for one of the links surrounded by ellipses 33 is "1," and the decision variables for all other links surrounded by ellipses 33 are "0." Therefore, the sum of the decision variables for all links surrounded by ellipses 33 is "1." Because each work line within the yard is linked to work, work execution constraints can be set based on the links between nodes on the work lines. The work execution constraint generation unit 26 generates constraint equations that represent work execution constraints for all train sets included in V, which is a set of train sets, that are scheduled for work.

Note that in the above description, it is assumed that one task is linked to each task line. For example, if task w can be performed on either of two or more task lines, i.e., if task w is linked to two or more task lines, the task execution constraint generation unit 26 generates a constraint equation in which the sum of the decision variables for the links between those two or more task lines is "1."

Figure 8 is a diagram illustrating constraint equations generated by the route conflict constraint generation unit 27 of the constraint equation generation unit 14 of the mobile object operation planning system 10 according to the first embodiment. The route conflict constraint generation unit 27 generates constraint equations that represent route conflict constraint conditions. A route conflict constraint condition is a constraint condition regarding route conflict in which two or more trains enter the same route during the same period.

In the configuration shown in Figure 2, for example, shunting of train set "A" from the second service line to the second storage line and shunting of train set "B" from the first storage line to the first service line cannot be performed simultaneously, as this would result in a route conflict at the connecting lines between each storage line and each service line.

The path conflict constraint is expressed by the following constraint equation (5):

E ^C _v,t,r1,r2 represents a set of links representing interchanges that cause a route conflict with the interchange from the first line r1 to the second line r2. The sum for e, which is one of the double sums in equation (5), represents the sum of the decision variables for all links included in E ^C _v,t,r1,r2 in the graph of train set v. The other double sum in equation (5) represents the sum for all train sets v included in V. Equation (5) indicates that the result of summing the decision variables for all links included in E ^C _v,t,r1,r2 for all train sets v is less than or equal to 1.

In Figure 8, the links surrounded by ellipses 34 are links at a certain time in the graph of vehicle unit v. If the sum of the decision variables for the links surrounded by ellipses 34 that are in a relationship that causes route conflicts with each other is summed for all vehicle units v, and the sum is 1 or less, route conflicts at that time can be eliminated. The route conflict constraint generation unit 27 generates constraint equations that represent the route conflict constraint conditions for all vehicle units v included in V.

The on-site work plan calculation unit 15 finds a solution that satisfies each of the constraints shown in equations (1) to (5). This allows the mobile object work plan creation system 10 to create an on-site work plan that satisfies all of the initial location constraints, movement constraints, area conflict constraints, work execution constraints, and route conflict constraints.

Here, the constraints used are the start location constraint, movement constraint, area conflict constraint, work execution constraint, and route conflict constraint, but constraints other than these may also be added. For example, if there is a line with a limit on usage time, a usage time constraint may be added. Constraints on the working hours of workers involved in the work, the number of workers involved in the work, or the number of workers performing shunting may also be added.

Next, we will explain the evaluation function. The evaluation function represents the number of times each train moves between sections, i.e., the number of times each train is shunted. The evaluation function is expressed by the following equation (6).

E ^M _v represents a set of links representing shunting in the graph of train set v. The yard work plan calculation unit 15 finds, as a solution, a decision variable that minimizes the evaluation function. This allows the mobile body work planning system 10 to create a yard work plan that can reduce the number of shuntings for each train set. In other words, the mobile body work planning system 10 can create a more efficient yard work plan that satisfies all of the constraints.

Here, the number of shunting operations for each train set is used as the evaluation criterion, but the evaluation criterion may be a combination of evaluation criteria other than the number of shunting operations. For example, when creating a yard work plan by changing the basic plan, which is the basis for the yard work plan, the number of elements of the yard work plan that are changed from the basic plan may be used as the evaluation criterion. By being able to reduce the number of elements that are changed from the basic plan, the efficiency of creating the yard work plan can be improved. Furthermore, when it is necessary to relax the constraints in order to create the yard work plan, the degree of relaxation of the constraints may be used as the evaluation criterion. The degree of relaxation of the constraints can be reduced.

Next, the processing steps performed by the mobile object work plan creation system 10 will be described. Figure 9 is a flowchart showing the processing steps performed by the mobile object work plan creation system 10 according to the first embodiment.

In step S1, the mobile object work planning system 10 acquires departure and arrival time information and work schedule information using the acquisition unit 13. The acquisition unit 13 acquires departure and arrival time information from bus schedule information input to the input unit 11. The acquisition unit 13 acquires work schedule information input to the input unit 11. Note that the acquisition unit 13 may acquire departure and arrival time information from information other than the bus schedule. The departure and arrival time information may be input to the input unit 11 by an input operation by the operator operating the mobile object work planning system 10. In this case, the acquisition unit 13 acquires the departure and arrival time information input to the input unit 11. The acquisition unit 13 outputs the acquired departure and arrival time information and the acquired work schedule information to the constraint equation generation unit 14.

In step S2, the mobile object work planning system 10 generates a graph for each train set using the graph generation unit 12. The graph generation unit 12 acquires information indicating the configuration of the vehicle depot from the input unit 11. The graph generation unit 12 generates a graph for each train set based on the information indicating the configuration of the vehicle depot. The graph generation unit 12 outputs the generated graph to the constraint equation generation unit 14. The graph generated by the graph generation unit 12 may be stored within the mobile object work planning system 10.

In step S3, the mobile object work planning system 10 generates constraint equations using the constraint equation generation unit 14 based on the departure and arrival time information and work schedule information. The constraint equation generation unit 14 generates constraint equations for each of the start location constraint condition, movement constraint condition, area conflict constraint condition, work execution constraint condition, and route conflict constraint condition. The constraint equation generation unit 14 generates constraint equations based on the graph input from the graph generation unit 12. The constraint equation generation unit 14 may read a graph stored in the mobile object work planning system 10 and generate constraint equations based on the read graph. The constraint equation generation unit 14 outputs the generated constraint equations to the yard work plan calculation unit 15.

In step S4, the mobile object work plan creation system 10 calculates an on-site work plan based on the constraint equations and the evaluation function using the on-site work plan calculation unit 15. The on-site work plan calculation unit 15 calculates an on-site work plan by finding a solution that satisfies the constraint equations generated in step S3 and minimizes the preset evaluation function.

In step S5, the mobile object work planning system 10 outputs the on-site work plan via the output unit 16. The output unit 16 outputs, for example, a file containing data on the on-site work plan to a terminal device or the like. With this, the mobile object work planning system 10 completes the processing according to the procedure shown in FIG. 9.

The mobile object work planning system 10 may also be equipped with functions to reduce the computational load when calculating an on-site work plan. Below, we will explain three functions that reduce the computational load in the mobile object work planning system 10.

Figure 10 is a diagram illustrating a first function for reducing the computational load in the mobile object operation planning system 10 according to the first embodiment. Using the first function, the constraint equation generation unit 14 generates a constraint equation for each train by omitting nodes and links in the period from the departure time to the next arrival time.

The upper part of Fig. 10 shows a graph before omitting nodes and links in the period from time _tout , which is the departure time, to time _tin , which is the next arrival time. The lower part of Fig. 10 shows a graph in which nodes and links in the period from time _tout to time _tin are omitted. The constraint equation generation unit 14 performs processing to omit nodes and links in the graph for each train set, based on the departure and arrival time information for each train set. By omitting nodes and links in the period from time _tout to time _tin and constraint equations related to these nodes and links using the first function, the mobile object operation planning system 10 can reduce the calculation load compared to before the nodes and links were omitted.

For each train set, no work or shunting is performed within the yard during the period from time t _out to time t _in , so omitting the nodes and links for each train set during the period from time t _out to time t _in does not impair the optimality of the solution obtained by the yard work plan calculation unit 15. This allows the mobile object work plan creation system 10 to reduce the calculation load while maintaining the accuracy of the calculated yard work plan.

Figure 11 is a diagram illustrating a second function for reducing the computational load in the mobile object work planning system 10 according to the first embodiment. Using the second function, the constraint equation generation unit 14 generates a constraint equation for each train by omitting nodes and links in periods excluding the fixed period until the departure time, the fixed period from the arrival time, the fixed period until the start time of the period in which work is performed, and the fixed period until the end time of the period in which work is performed.

FIG. 11 shows an example in which nodes and links in a period prior to period P up to time t _out , which is the departure time, are omitted. The upper part of FIG. 11 shows a graph before nodes and links are omitted. The lower part of FIG. 11 shows a graph in which nodes and links are omitted. Period P is a fixed period equivalent to twice the unit time. In the example shown in FIG. 11 , the train is stored in the second storage line and then moves to the outbound line. The length of period P may be set arbitrarily.

In Fig. 11, for the period before time _tout , only the nodes and links representing the entry of the train set onto the outgoing track during period P up to time _tout and the nodes and links representing the storage of the train set in storage track No. 2 are retained, and the other nodes and links are omitted. Also, in the example shown in Fig. 11, the nodes of storage track No. 1 and storage track No. 1 and the links connecting to those nodes are omitted.

Figure 11 shows an example in which nodes and links are omitted for a period excluding a certain period up to the departure time. The constraint equation generation unit 14 generates a constraint equation by omitting nodes and links for a period excluding at least one of the certain period up to the departure time, the certain period from the arrival time, the certain period up to the start time of the period in which the work is performed, and the certain period up to the end time of the period in which the work is performed. Note that for work for which a time period is specified, the start time of the period in which the work is performed is the start point of the specified time period, and the end time of the period in which the work is performed is the end point of the specified time period. For work for which a time period is not specified, the time when the work can be started is the start time of the period in which the work is performed, and the time when the work can be completed is the end time of the period in which the work is performed.

The second function of the mobile object work planning system 10 allows it to omit nodes and links for periods other than a certain period, thereby also omitting constraint equations related to those nodes and links. By omitting nodes and links for periods other than a certain period, and constraint equations related to those nodes and links, the mobile object work planning system 10 can reduce the computational load compared to before those nodes and links were omitted.

The second function restricts the period during which switching is possible. Restricting the period during which switching is possible may compromise the optimality of the solution obtained by the yard work plan calculation unit 15. The mobile object work planning system 10 can reduce the impact of reduced optimality by appropriately setting the length of the fixed period P. This allows the mobile object work planning system 10 to prevent a decrease in the accuracy of the calculated yard work plan and reduce the computational load.

Figure 12 is a flowchart illustrating a third function for reducing the computational load in the mobile object work plan creation system 10 according to the first embodiment. The third function causes the path conflict constraint generation unit 27 of the constraint equation generation unit 14 to generate a constraint equation representing the path conflict constraint condition when the solution obtained by the on-site work plan calculation unit 15 includes a path conflict.

The flowchart shown in Figure 12 shows the processing steps when the mobile object work planning system 10 generates constraint equations using the third function. In step S11, the mobile object work planning system 10 uses the constraint equation generation unit 14 to generate constraint equations for the start location constraint conditions, movement constraint conditions, area conflict constraint conditions, and work execution constraint conditions. In step S11, the constraint equation generation unit 14 does not generate constraint equations representing path conflict constraint conditions. The constraint equation generation unit 14 outputs the generated constraint equations for the start location constraint conditions, movement constraint conditions, area conflict constraint conditions, and work execution constraint conditions to the yard work plan calculation unit 15.

In step S12, the mobile work planning system 10, via the on-site work plan calculation unit 15, finds a solution that satisfies each constraint equation generated in step S11 and minimizes the evaluation function.

In step S13, the mobile object work planning system 10 determines, via the yard work plan calculation unit 15, whether or not there is a path conflict in the solution obtained in step S12. If there is a path conflict (step S13, Yes), the mobile object work planning system 10 proceeds to step S14.

In step S14, the mobile object work planning system 10 adds constraint equations for the path conflict constraint conditions to locations where there is path conflict in the yard work plan calculation unit 15. The yard work plan calculation unit 15 detects locations where there is path conflict among the obtained solutions and instructs the path conflict constraint generation unit 27 to generate constraint equations for the detected locations. The path conflict constraint generation unit 27 generates constraint equations for the path conflict constraint conditions in accordance with the instructions. The constraint equation generation unit 14 outputs the generated constraint equations to the yard work plan calculation unit 15. The mobile object work planning system 10 adds constraint equations for the path conflict constraint conditions to each constraint equation generated in step S11, and returns the procedure to step S12.

On the other hand, if there is no route conflict (step S13, No), in step S15, the mobile object work planning system 10 outputs the obtained solution, the yard work plan, via the output unit 16. With this, the mobile object work planning system 10 ends the processing according to the procedure shown in Figure 12.

The mobile body work planning system 10 uses its third function to generate constraint equations for path conflict constraint conditions for locations where path conflict exists only if the obtained solution contains path conflict. By omitting the constraint equations for path conflict constraint conditions for locations other than locations where path conflict exists, the mobile body work planning system 10 can reduce the computational load compared to when these constraint equations are not omitted. By generating constraint equations for path conflict constraint conditions for locations where path conflict exists, the mobile body work planning system 10 can create an on-site work plan that does not include path conflict. This allows the mobile body work planning system 10 to create an on-site work plan that does not include path conflict while reducing the computational load.

When creating a daily yard work plan, the mobile object work planning system 10 may be able to arbitrarily set the time that separates the target period of the yard work plan. Figure 13 is a diagram showing an example of setting the time that separates the target period in the mobile object work planning system 10 according to the first embodiment.

The on-site work plan calculation unit 15 calculates a daily on-site work plan using arbitrarily set times as dividing times for the target period. The dividing times for the target period are the times that mark the start and end of the target period. The dividing times for the target period are set, for example, by input operations by the operator operating the mobile work plan creation system 10.

The upper part of Figure 13 shows an example in which midnight is used as the dividing time. The lower part of Figure 13 shows an example in which a certain time between midnight and 12 noon is used as the dividing time. In Figure 13, the arrival time of the train at the yard, the period during which the train is parked at the yard, and the departure time of the train from the yard are conceptually represented by solid arrows or dash-dot arrows. Also in Figure 13, the dividing times of the target period are represented by dashed lines.

Most trains typically begin commercial operation during the morning rush hour. They then end commercial operation at a time determined for each train, and by late at night, many of them are parked in the depot. Given this situation, if the cutoff time for the target period were uniformly set at midnight, the cutoff time would be the time when most of the trains are in the depot. In this case, yard work plans for many of the trains would be created without taking into account the circumstances surrounding the departure of the trains in the next target period.

In the example shown at the bottom of Figure 13, the dividing time is set to a time after the morning rush hour. This dividing time is after many trains have departed from the depot and before many of them have arrived at the depot. By setting dividing times in this way, the mobile object work plan creation system 10 can create yard work plans for many of the trains that take into account the circumstances at the time of their departure.

Next, we will explain the hardware configuration that realizes the mobile object work plan creation system 10 according to the first embodiment. Figure 14 is a diagram showing an example of the hardware configuration that realizes the mobile object work plan creation system 10 according to the first embodiment.

The mobile object operation planning system 10 is realized by a computer system including a processing circuit 40. The processing circuit 40 includes a processor 42 and memory 43. The processing circuit 40 is a circuit on which the processor 42 executes software.

The input unit 41 is an interface circuit that receives data input from the outside and provides it to the processor 42. The output unit 44 is an interface circuit that sends data from the processor 42 or memory 43 to the outside. The mobile object work planning system 10 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 43. In the processing circuit 40, the processor 42 reads and executes the mobile object work planning program stored in the memory 43, thereby realizing the functions of the mobile object work planning system 10. In other words, the processing circuit 40 has memory 43 for storing the mobile object work planning program that results in the processing of the mobile object work planning system 10. The mobile object work planning program stored in the memory 43 can also be said to cause a computer to execute the procedures and methods of the mobile object work planning system 10.

The processor 42 is a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor). The memory 43 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

The mobile object operation plan creation program stored in memory 43 may be provided in a form written to a storage medium such as a CD (Compact Disc)-ROM or a DVD (Digital Versatile Disc)-ROM, or may be provided via a communication line.

The mobile object work planning system 10 can be configured as a single device. The mobile object work planning system 10 may also be configured as two or more devices located in different locations. In this case, each of the two or more devices is realized, for example, by the hardware configuration shown in FIG. 14. The two or more devices are connected to each other so that they can communicate with each other. The mobile object work planning system 10 may also be configured as two or more server devices. For example, the mobile object work planning system 10 may be configured as a processing server and a data server.

According to embodiment 1, the mobile object work planning system 10 includes an acquisition unit 13 that acquires arrival and departure time information and work schedule information; a constraint equation generation unit 14 that generates constraint equations representing constraint conditions on the movement of each mobile object or the placement of each mobile object in multiple areas based on the arrival and departure time information and the work schedule information; and an on-site work plan calculation unit 15 that calculates an on-site work plan by finding a solution that satisfies the constraint equation and is based on a predetermined evaluation function for the movement of each mobile object. The mobile object work planning system 10 generates constraint equations using the constraint equation generation unit 14 and calculates an on-site work plan based on the constraint equations and the evaluation function, thereby creating an on-site work plan regardless of the on-site work plan conditions or the on-site structure. By finding a solution based on the evaluation function, the mobile object work planning system 10 can obtain a more efficient on-site work plan. As described above, the mobile object work planning system 10 achieves the effect of being able to create an on-site work plan regardless of the on-site work plan conditions or the on-site structure, and to obtain a more efficient on-site work plan.

The facility for which the yard work plan is created may be a facility other than a railroad depot, such as a station. The mobile object work plan creation system 10 may also create yard work plans for mobile objects other than railway vehicle formations.

The configurations described in the above embodiments are examples of the contents of this disclosure. The configurations of the embodiments may be combined with other known technologies. Parts of the configurations of the embodiments may be omitted or modified without departing from the spirit of this disclosure.

The various aspects of this disclosure are summarized below as appendices.

(Appendix 1)
A mobile object work plan creation system that creates an on-site work plan, which is a schedule for the movement and work of each of a plurality of mobile objects within a facility having a plurality of areas including a storage area where the mobile objects are stored and a work area where work is performed on the mobile objects, comprising:
an acquisition unit that acquires arrival and departure time information indicating an arrival time, which is the time when each of the moving objects enters the premises, and a departure time, which is the time when each of the moving objects leaves the premises, and work schedule information indicating a schedule of the work for each of the moving objects;
a constraint equation generation unit that generates a constraint equation representing a constraint condition on the movement of each of the moving objects between the areas included in the plurality of areas or on the placement of each of the moving objects in the plurality of areas based on the departure and arrival time information and the work schedule information;
an on-site work plan calculation unit that calculates the on-site work plan by finding a solution that satisfies the constraint equation, the solution being based on a preset evaluation function for the movement of each of the moving objects;
A mobile object work plan creation system comprising:
(Appendix 2)
The mobile body work plan creation system described in Appendix 1 is characterized in that the constraint equation generation unit has a start-time location constraint generation unit that generates the constraint equation representing the constraint condition determined by the area in which the mobile body is located at the start of the target period of the yard work plan.
(Appendix 3)
The mobile body work planning system described in Appendix 1 or 2, characterized in that the constraint equation generation unit has a movement constraint generation unit that generates, for each of the areas, the constraint equation that represents the constraint condition regarding the combination of the moving body's entry into the area and the moving body's exit from the area.
(Appendix 4)
The mobile object work planning system according to any one of appendices 1 to 3, wherein the constraint equation generation unit has an area conflict constraint generation unit that generates the constraint equation representing the constraint condition regarding area conflicts in which two or more of the mobile objects are present in the same area during the same period.
(Appendix 5)
A mobile body work planning system described in any one of Appendices 1 to 4, characterized in that the constraint equation generation unit has a work execution constraint generation unit that generates the constraint equation representing the constraint conditions for performing the work indicated in the work schedule information on each mobile body.
(Appendix 6)
The mobile object work plan creation system according to any one of appendices 1 to 5, wherein the constraint equation generation unit includes a path conflict constraint generation unit that generates the constraint equation representing the constraint condition regarding path conflict in which two or more of the mobile objects enter the same path in the same period.
(Appendix 7)
a graph generation unit that generates, for each of the moving bodies, a graph having nodes arranged for each time interval for each of the zones and links connecting the nodes, assuming a plane including a first axis representing each of the zones and a second axis representing time;
The mobile object work plan creation system described in any one of appendices 1 to 6, wherein the on-site work plan calculation unit uses the links as decision variables and obtains, as a solution, the decision variables that satisfy the constraint equations and minimize the evaluation function.
(Appendix 8)
8. The mobile body work plan creation system according to claim 7, wherein the evaluation function represents the number of movements of each of the mobile bodies between the areas.
(Appendix 9)
The mobile body work planning system described in Appendix 7 or 8, characterized in that the constraint equation generation unit generates the constraint equation for each mobile body by omitting the nodes and links in the period from the departure time to the next arrival time.
(Appendix 10)
The mobile body work plan creation system described in any one of Appendices 7 to 9, characterized in that the constraint equation generation unit generates the constraint equation for each mobile body by omitting the nodes and links in a period excluding at least one of a fixed period until the departure time, a fixed period from the arrival time, a fixed period until the start time of the period in which the work is performed, and a fixed period until the end time of the period in which the work is performed.
(Appendix 11)
a route conflict constraint generation unit that generates the constraint equation representing the constraint condition for routes that cause route conflict when a solution obtained by the on-site work plan calculation unit includes route conflicts in which two or more of the moving bodies enter the same route in the same period,
6. A mobile object work plan creation system according to any one of appendices 1 to 5, wherein the on-site work plan calculation unit finds a solution that satisfies the constraint equations generated by the path conflict constraint generation unit.
(Appendix 12)
A mobile work plan creation system described in any one of Appendices 1 to 11, characterized in that the on-site work plan calculation unit calculates the on-site work plan on a daily basis by using an arbitrarily set time as the dividing point of the target period of the on-site work plan.
(Appendix 13)
A mobile object work plan creation method for creating, by a mobile object work plan creation system, an on-site work plan which is a schedule for the movement of and work on each of a plurality of mobile objects within a facility having a plurality of areas including a storage area where the mobile objects are stored and a work area where work is performed on the mobile objects, the method comprising:
acquiring arrival and departure time information indicating an arrival time, which is the time when each of the mobile objects enters the premises, and a departure time, which is the time when each of the mobile objects leaves the premises, and work schedule information indicating a schedule of the work for each of the mobile objects;
generating a constraint equation representing a constraint on movement of each of the moving objects between the plurality of areas or on the location of each of the moving objects in the plurality of areas based on the departure and arrival time information and the work schedule information;
calculating the yard work plan by finding a solution that satisfies the constraint equation and is based on a preset evaluation function for the movement of each of the moving objects;
A mobile object operation plan creation method comprising:
(Appendix 14)
acquiring arrival and departure time information indicating an arrival time, which is the time when each of a plurality of moving objects enters a facility having a plurality of areas including a storage area where moving objects are stored and a work area where work is performed on the moving objects, and a departure time, which is the time when each of the moving objects leaves the facility, and work schedule information indicating a schedule for the work on each of the moving objects;
generating a constraint equation representing a constraint on movement of each of the moving objects between the plurality of areas or on the location of each of the moving objects in the plurality of areas based on the departure and arrival time information and the work schedule information;
a step of calculating a yard work plan, which is a schedule of the movements of each of the mobile objects within the yard and the work, by finding a solution that satisfies the constraint equation and is based on a preset evaluation function for the movement of each of the mobile objects;
A mobile object operation plan creation program that causes a computer to execute the above.

10 Mobile object work planning system, 11, 41 Input unit, 12 Graph generation unit, 13 Acquisition unit, 14 Constraint equation generation unit, 15 On-site work plan calculation unit, 16, 44 Output unit, 21 Arrival/departure time information acquisition unit, 22 Work schedule information acquisition unit, 23 Start time location constraint generation unit, 24 Movement constraint generation unit, 25 Area conflict constraint generation unit, 26 Work execution constraint generation unit, 27 Path conflict constraint generation unit, 30, 31, 32, 33, 34 Ellipse, 40 Processing circuit, 42 Processor, 43 Memory.

Claims (13)

A mobile object work plan creation system that creates an on-site work plan, which is a schedule for the movement and work of each of a plurality of mobile objects within a facility having a plurality of areas including a storage area where the mobile objects are stored and a work area where work is performed on the mobile objects, comprising:
an acquisition unit that acquires arrival and departure time information indicating an arrival time, which is the time when each of the moving objects enters the premises, and a departure time, which is the time when each of the moving objects leaves the premises, and work schedule information indicating a schedule of the work for each of the moving objects;
a graph generation unit that generates, for each of the moving objects, a graph having nodes arranged for each time interval for each of the areas and links connecting the nodes, assuming a plane including a first axis representing each of the areas and a second axis representing time, based on information indicating the configuration of the facility;
a constraint equation generation unit that generates a constraint equation representing a constraint condition on the movement of each of the moving objects between the areas included in the plurality of areas or on the placement of each of the moving objects in the plurality of areas based on the generated graph, the departure and arrival time information, and the work schedule information;
an on-site work plan calculation unit that calculates the on-site work plan by finding a solution that satisfies the constraint equation, the solution being based on a preset evaluation function for the movement of each of the moving objects;
Equipped with
the graph generation unit generates, for each of the moving objects, the graph having a plurality of links including the links connecting nodes through which the moving objects can move and the links indicating that the moving objects will stay in the area;
The mobile object work plan creation system is characterized in that the on-site work plan calculation unit uses the links included in the graph as decision variables and finds, as a solution, the decision variables that satisfy the constraint equations and minimize the evaluation function . The mobile object work plan creation system of claim 1, characterized in that the constraint equation generation unit includes a start-time location constraint generation unit that generates the constraint equation representing the constraint condition determined by the area in which the mobile object is located at the start of the target period of the on-site work plan. The mobile object work planning system of claim 1, characterized in that the constraint equation generation unit includes a movement constraint generation unit that generates, for each area, the constraint equation representing the constraint condition regarding the combination of the mobile object's entry into the area and the mobile object's exit from the area. The mobile object work planning system of claim 1, characterized in that the constraint equation generation unit includes an area conflict constraint generation unit that generates the constraint equation representing the constraint condition regarding area conflict when two or more of the mobile objects are present in the same area during the same period. The mobile body work planning system described in claim 1, characterized in that the constraint equation generation unit includes a work execution constraint generation unit that generates the constraint equation representing the constraint conditions for performing the work indicated in the work schedule information on each mobile body. The mobile object work planning system described in claim 1, characterized in that the constraint equation generation unit includes a path conflict constraint generation unit that generates the constraint equation representing the constraint condition regarding path conflict in which two or more mobile objects enter the same path during the same period. 2. The mobile body operation plan creation system according to claim 1 , wherein the evaluation function represents the number of movements of each of the mobile bodies between the areas. The mobile body work plan creation system according to claim 1 , characterized in that the constraint equation generation unit generates the constraint equation for each mobile body by omitting the nodes and links in the period from the departure time to the next arrival time. The mobile body work planning system of claim 1, characterized in that the constraint equation generation unit generates the constraint equation for each mobile body by omitting the nodes and links for periods excluding at least one of a certain period until the departure time, a certain period from the arrival time, a certain period until the start time of the period in which the work is performed, and a certain period until the end time of the period in which the work is performed. a route conflict constraint generation unit that generates the constraint equation representing the constraint condition for a route in which the route conflict occurs when the solution obtained by the on-site work plan calculation unit includes a route conflict in which two or more of the moving bodies enter the same route in the same period,
6. The mobile object work plan creation system according to claim 1, wherein the on-site work plan calculation unit finds a solution that satisfies the constraint equations generated by the path conflict constraint generation unit. A mobile object work plan creation system as described in any one of claims 1 to 6, characterized in that the on-site work plan calculation unit calculates the on-site work plan on a daily basis, using arbitrarily set times as dividing times for the target period of the on-site work plan. A mobile object work plan creation method for creating, by a mobile object work plan creation system, an on-site work plan which is a schedule for the movement of and work on each of a plurality of mobile objects within a facility having a plurality of areas including a storage area where the mobile objects are stored and a work area where work is performed on the mobile objects, the method comprising:
acquiring arrival and departure time information indicating an arrival time, which is the time when each of the mobile objects enters the premises, and a departure time, which is the time when each of the mobile objects leaves the premises, and work schedule information indicating a schedule of the work for each of the mobile objects;
generating, for each of the moving objects, a graph having nodes arranged for each time interval for each of the areas and links connecting the nodes, based on information indicating the configuration of the facility, on the assumption that the graph includes a plane including a first axis representing each of the areas and a second axis representing time;
generating a constraint equation representing a constraint condition on the movement of each of the moving objects between the areas included in the plurality of areas or on the placement of each of the moving objects in the plurality of areas based on the generated graph, the departure and arrival time information, and the work schedule information;
calculating the yard work plan by finding a solution that satisfies the constraint equation and is based on a preset evaluation function for the movement of each of the moving objects;
Including,
In the step of generating the graph, the graph is generated for each moving object, the graph having a plurality of links including the links connecting nodes through which the moving object can move and the links indicating that the moving object will stay in the area;
a step of calculating the on-site work plan, the step of calculating the on-site work plan includes determining, as a solution, the link included in the graph as a decision variable, and determining, as a solution, the decision variable that satisfies the constraint equation and minimizes the evaluation function . acquiring arrival and departure time information indicating an arrival time, which is the time when each of a plurality of moving objects enters a facility having a plurality of areas including a storage area where moving objects are stored and a work area where work is performed on the moving objects, and a departure time, which is the time when each of the moving objects leaves the facility, and work schedule information indicating a schedule for the work on each of the moving objects;
generating, for each of the moving objects, a graph having nodes arranged for each time interval for each of the areas and links connecting the nodes, based on information indicating the configuration of the facility, on the assumption that the graph includes a plane including a first axis representing each of the areas and a second axis representing time;
generating a constraint equation representing a constraint condition on the movement of each of the moving objects between the areas included in the plurality of areas or on the placement of each of the moving objects in the plurality of areas based on the generated graph, the departure and arrival time information, and the work schedule information;
a step of calculating a yard work plan, which is a schedule of the movements of each of the mobile objects within the yard and the work, by finding a solution that satisfies the constraint equation and is based on a preset evaluation function for the movement of each of the mobile objects;
on the computer ,
In the step of generating the graph, the graph is generated for each moving object, the graph having a plurality of links including the links connecting nodes through which the moving object can move and the links indicating that the moving object will stay in the area;
A mobile object work plan creation program characterized in that, in the step of calculating the on-site work plan, the links included in the graph are used as decision variables, and the decision variables that satisfy the constraint equations and minimize the evaluation function are found as solutions .