Mobile body work plan creation system, mobile body work plan creation method, and mobile body work plan creation program

Abstract

To provide a mobile body work planning system configured to prepare a yard operation plan regardless of a condition of the yard operation plan or a structure of a yard, and obtain a more efficient yard operation plan.SOLUTION: A mobile body work planning system 10 includes: an acquisition unit 13 which acquires departure / arrival time information indicating an arrival time at which each mobile body enters a yard and a departure time at which each mobile body leaves the yard, and work schedule information indicating a schedule of work for each mobile body; a constraint equation generation unit 14 which generates a constraint equation expressing constraints regarding traveling of each mobile body between zones included in a plurality of zones or arrangement of each of the mobile bodies in the zones, on the basis of the departure / arrival time information and the work schedule information; and a yard operation plan calculation unit 15 which calculates a yard operation plan by calculating a solution which satisfies the constraint equation, based on an evaluation function set in advance for the traveling of each mobile body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile body work plan creation system, a mobile body work plan creation method, and a mobile body work plan creation program that create an on-site work plan for work on a mobile body. [Background technology]

[0002] 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. Conventionally, yard work plans have been created mainly manually by the person in charge of creating the plans.

[0003] 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 templates according to the content of the desired yard work plan to resolve constraint violations. Patent Document 1 also discloses a yard plan creation device that creates a yard plan network that specifies the order in which each event, such as track presence, shunting, or work, occurs and the temporal relationships between the events by applying PERT (Program Evaluation and Review Technique), and searches for a solution using metaheuristics to reduce constraint violations. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-51444 Summary of the Invention [Problem to be solved by the invention]

[0005] When applying a template to resolve constraint violations, a template based on the target premises structure is used. Using a template registered based on a specific premises structure may result in failure to create a premises work plan for a premises structure different from the specific premises. Therefore, when applying a template, it is difficult to realize a general method for creating premises work plans that is independent of the premises structure. When searching for a solution using metaheuristics, the created premises work plan depends on the search method, making it difficult to guarantee that a solution can be obtained under any conditions. Depending on the premises work plan conditions or the premises structure, it may be impossible 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.

[0006] The present disclosure has been made in consideration of the above, and aims to provide a mobile work plan creation system that can create an on-site work plan regardless of the conditions of the on-site work plan or the structure of the premises, and that enables the creation of a more efficient on-site work plan. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, the mobile object work planning system according to the present disclosure is a mobile object work planning system that creates an on-site work plan that 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 the mobile objects are stored and a work area where work is performed on the mobile objects. The mobile object work planning system according to the present disclosure includes: an acquisition unit that acquires arrival and departure time information that indicates the arrival time when each mobile object enters the premises and the departure time when each mobile object leaves the premises, and work schedule information that indicates the work schedule for each mobile object; a graph generation unit that generates, for each moving object, a graph having nodes arranged for each time interval for each area and links connecting the nodes, based on information indicating the configuration of the facility, assuming a plane including a first axis representing each area and a second axis representing time; A constraint expression expressing a constraint condition on the movement of each moving object between the areas included in the plurality of areas or the placement of each moving object in the plurality of areas is , the generated graph andThe system includes a constraint equation generation unit that generates a constraint equation based on arrival and departure time information and work schedule information, and an on-site work plan calculation unit that calculates an on-site work plan by finding a solution that satisfies the constraint equation and is based on a preset evaluation function for the movement of each moving body. The graph generation unit generates, for each moving object, a graph having a plurality of links, including links connecting nodes between which the moving object can move and links indicating that the moving object will stay in an area. 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. [Effects of the Invention]

[0008] The mobile body work plan creation system according to the present disclosure has the advantage of being able to create an in-yard work plan regardless of the conditions of the in-yard work plan or the structure of the yard, and being able to obtain a more efficient in-yard work plan. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a mobile object work plan creation system according to a first embodiment. [Figure 2] 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. [Figure 3] 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. [Figure 4] 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. [Figure 5] FIG. 1 is a diagram for explaining constraint equations generated by a start location constraint generation unit in the constraint equation generation unit of the mobile object operation planning system according to the first embodiment. [Figure 6] FIG. 1 is a diagram for explaining constraint equations generated by a movement constraint generation unit in the constraint equation generation unit of the moving object work planning system according to the first embodiment; [Figure 7] 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; [Figure 8] 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; [Figure 9] 1 is a flowchart showing a procedure of processing by a mobile object work plan creation system according to a first embodiment; [Figure 10] FIG. 1 is a diagram for explaining a first function for reducing a calculation load in the mobile object work plan creation system according to the first embodiment; [Figure 11] 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. [Figure 12] 10 is a flowchart for explaining a third function for reducing a calculation load in the mobile object work plan creation system according to the first embodiment. [Figure 13] FIG. 10 is a diagram illustrating an example of setting a boundary time of a target period in the mobile object work plan creation system according to the first embodiment. [Figure 14] 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. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A mobile object work planning system, a mobile object work planning method, and a mobile object work planning program according to embodiments will be described below in detail with reference to the accompanying drawings.

[0011] 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 vehicle 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 in which the mobile object is a train set of railroad cars will be described, 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."

[0012] Here, we will explain the configuration of a vehicle depot for which an in-vehicle work plan is created, before explaining the configuration of the mobile object work plan creation system 10. Figure 2 is a diagram schematically showing an example of the configuration of a vehicle depot for which an in-vehicle work plan is created in the first embodiment.

[0013] Within a rolling stock depot, there are multiple areas into which 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 stops on the track, thereby storing the train. 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 track. Work determined for each work line is carried out on each work line. In the following explanation, the work line will be considered a work area. Note that 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.

[0014] 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 through the entrance track. The departure track is the track that trains use to leave the depot from inside. Trains that are inside the depot return to the main line through 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.

[0015] In the example shown in Figure 2, the yard has an approach track, an outgoing track, I siding tracks, and two service tracks. I is any integer greater than or equal to 2. The I siding tracks are referred to as the 1st siding track, the 2nd siding track, the 3rd siding track, ..., and the Ith siding track. The two service tracks are referred to as the 1st service track and the 2nd service track. The approach track and the outgoing track are connected in parallel. The I siding tracks are connected in parallel. The two service tracks are connected in parallel. The bundle of approach tracks and outgoing tracks and the bundle of I siding tracks are connected by a single connecting line. The bundle of I siding tracks and the bundle of two service tracks are connected by a single connecting line.

[0016] The in-vehicle work plan for the vehicle depot shown in Fig. 2 is a schedule of the movement of each train set between the incoming track, outgoing track, one storage track, and two work tracks, and the work to be performed on each train set. Fig. 3 is a diagram for explaining an outline of the in-vehicle work plan created by the mobile body work plan creation system 10 according to the first embodiment.

[0017] FIG. 3 shows an example of the movement and work schedule for three train sets in the first siding, the second siding, the third siding, the first siding, and the second siding. In FIG. 3, "A," "B," and "C" each represent a train set. In FIG. 3, the period during which a train set is present on each line is represented by a bar graph. Also, in FIG. 3, the movement of train sets between lines is represented by lines connecting the bar graphs. In the example shown in FIG. 3, for example, train set "A" is parked in the second siding, then moves from the second siding to the second siding, where work is carried out. Then, train set "A" moves from the second siding to the third siding, where it is parked. In this way, within the yard, train sets travel back and forth between the sidings and the sidings to carry out work.

[0018] 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 be provided with sidings, which are tracks for retracting trains as needed when moving between storage tracks and work tracks. In this case, the area where the sidings are provided is also included in the multiple areas where trains can enter. In the example shown in Figure 2, the entrance track and the exit track are separate tracks, but a common track may also be used as the entrance track and the exit track.

[0019] Next, we will explain the configuration of the mobile object work plan creation system 10. 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.

[0020] Information on the train schedule for each train set on the main line, work schedule information indicating the schedule of work to be performed on each train set, and information indicating the configuration of the depot are input to the input unit 11. The train schedule information includes information on the arrival time, which is the time when each train set enters the yard, and information on the departure time, which is the time when each train set leaves the yard.

[0021] The graph generation unit 12 assumes a plane including a first axis representing each zone and a second axis representing time, and generates a graph for each train set, having 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 rolling stock 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.

[0022] 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 set enters the vehicle depot, and the departure time, which is the time when each train set leaves the vehicle 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.

[0023] The constraint equation generation unit 14 generates constraint equations that represent constraint conditions on the movement of each train set between the multiple zones or the placement of each train set in the multiple zones. 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.

[0024] 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 yard work plan calculation unit 15.

[0025] The yard work plan calculation unit 15 calculates a 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 set. 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 an external device outside the mobile object work plan creation system 10.

[0026] 4 is a diagram for explaining an overview of the process of creating an in-yard work plan by the mobile body work plan creation system 10 according to the first embodiment. In the first embodiment, the mobile body work plan creation system 10 formulates an in-yard work planning problem as an integer programming problem, and calculates an in-yard work plan by finding an optimal solution based on an evaluation index.

[0027] FIG. 4 shows an example of a graph generated by the graph generation unit 12. In FIG. 4, the vertical axis represents the lines of 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 as shown in FIG. 4. The graph conceptually represents the content of the information generated by the graph generation unit 12.

[0028] The graph has multiple nodes and multiple links. For each line, a node is placed at each time interval. In FIG. 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." In the example shown in FIG. 4, no nodes are placed for the first work line. Because the yard work plan created in accordance with the first embodiment 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.

[0029] 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 a train set between the first line and the second line. The movement of a train set between lines within a yard is called shunting.

[0030] In the graph, links are established between nodes to which train sets can move. For each line shown on the vertical axis, links between nodes on the same line indicate that the train set does not move 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 set will remain on the second work line for work on that line. Links indicating that the train set 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 such as that shown in Figure 4 for each of the multiple train sets. Note that in Figure 4, nodes and links are omitted from the illustration for some of the storage tracks installed within the premises.

[0031] 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 the link is used and "0" when the link is not used. When a link between a node on a first line and a node on a second line is set to "1," this indicates that the movement indicated by the link is included in the yard work plan. When a link between nodes on the same line is set to "1," this indicates that the stay of the train on that line during the link period is included in the yard work plan. In the first embodiment, the evaluation formula, which is the evaluation function, represents the number of movements of each train between sections. 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.

[0032] In FIG. 4, thick arrows represent links with a value of "1." Also in FIG. 4, nodes from which links with a value of "1" exit and nodes into which links with a value of "1" enter are represented by open circles. Other nodes are represented by solid black 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 for the yard work plan. The time t when the train set leaves the outbound track is outis the departure time of the train leaving the yard. The time when the train enters the entrance track is t in is the arrival time of the train at the premises. out From time t in The trains will be operated on the main line from t out and time t of each train in This is determined based on the arrival and departure time information for each train.

[0033] Next, we will explain each constraint equation generated by each unit 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 that is determined by the area in which the train is located at the start point of the target period of the yard work plan.

[0034] At time t0, which is the start of the target period, the train set v is on line r v , the initial location constraint is expressed by the constraint equation (1) below.

[0035]

number

[0036] 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 train set v. In formula (1), e represents the set of links that leave the node at time t on the line r v represents the links included in the set of links leaving the node at time t0 in e represents the decision variable of link e. V represents the set of configurations. Equation (1) shows that for configuration v, line r v This indicates that the sum of the decision variables for all links included in the set of links leaving the node at time t0 is "1".

[0037] In FIG. 5, the links enclosed by ellipse 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 enclosed by ellipse 30 is used. In this case, one of the links enclosed by ellipse 30 has a decision variable of "1," and all other links enclosed by ellipse 30 have decision variables of "0." Therefore, the sum of the decision variables for all links enclosed by ellipse 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 equations 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 line within the yard.

[0038] 6 is a diagram for explaining constraint equations generated by the movement constraint generation unit 24 of the constraint equation generation unit 14 of the mobile object work schedule 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.

[0039] The movement constraint condition is expressed by the constraint equation, which is the following equation (2).

[0040]

number

[0041] E I v,t,r N represents the set of links that enter a node at time t on a resource line r in a graph of organization v. IO vrepresents the set of nodes with at least one link entering or leaving in the graph of formation v. Equation (2) indicates that for formation v, the sum of the decision variables of all links entering a node at time t and line r is equal to the sum of the decision variables of all links leaving a node at time t and line r.

[0042] In Figure 6, the links surrounded by a solid ellipse 31 are links entering the node at a certain time on the second storage track. In Figure 6, the links surrounded by a 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 in 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 the 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 the 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.

[0043] Furthermore, for a node where no train set 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 set 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 sets included in V, which is a set of train sets.

[0044] The area conflict constraint generation unit 25 generates a constraint formula that represents the area conflict constraint condition. The area conflict constraint condition is a constraint condition regarding area conflict where two or more formations exist in the same area during the same period. In the first embodiment, a maximum of one formation can exist on one line at the same time. The area conflict constraint condition can be said to be a constraint condition that excludes area conflict where two or more formations exist on one line at the same time.

[0045] The area conflict constraint is expressed by the following constraint equation (3).

[0046]

number

[0047] E R v,t,r In the graph of trainset v, T represents the set of links that enter the node at time t on the resource line r, and the set of links where the trainset exists on line r from before time t across time t. T represents the set of times. R represents the set of resource lines.

[0048] The sum of e, which is one of the double sums in equation (3), is the sum of E in the graph of the composition v. R v,t,r The other of the double sums in equation (3) represents the sum of the decision variables for all the configurations v included in V. Equation (3) expresses the sum of the decision variables for all the configurations v included in E R v,t,r This indicates that the sum of the decision variables of all links included in V for all train sets v is less than or equal to 1. In other words, equation (3) indicates that the total number of train sets v that use line r at time t is less than or equal to 1. The zone conflict constraint generation unit 25 generates constraint equations that represent zone conflict constraint conditions for all train sets v included in V.

[0049] 7 is a diagram for explaining constraint equations generated by the work execution constraint generation unit 26 of the constraint equation generation unit 14 of the mobile object work schedule 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.

[0050] The work execution constraint condition is expressed by the constraint equation, which is the following equation (4).

[0051]

number

[0052] E W v,d,w represents the set of links for task w scheduled to be performed on day d in the graph of organization v. A link for task w is a link between nodes on the task line where task w is performed. D represents a set of days. W represents a set of tasks. Equation (4) indicates that for organization v, the sum of the decision variables for all links included in the set of links for task w is "1".

[0053] 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.

[0054] 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, that is, 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 of the two or more task lines is "1."

[0055] 8 is a diagram for explaining constraint equations generated by the route conflict constraint generation unit 27 of the constraint equation generation unit 14 of the mobile object operation schedule creation system 10 according to the first embodiment. The route conflict constraint generation unit 27 generates constraint equations that represent route conflict constraint conditions. The route conflict constraint conditions are constraint conditions regarding route conflict in which two or more formations enter the same route in the same period.

[0056] In the configuration shown in Figure 2, for example, the shunting of train set "A" from the second working line to the second storage line and the shunting of train set "B" from the first storage line to the first working line cannot be performed simultaneously because a route conflict occurs on the connecting lines between each storage line and each working line.

[0057] The route conflict constraint is expressed by the following constraint equation (5).

[0058]

number

[0059] E C v,t,r1,r2 represents the set of links that represent interchanges that cause a route conflict with the interchange from the first line r1 to the second line r2. The sum over e, which is one of the double sums in equation (5), is the sum of E in the graph of the formation v. C v,t,r1,r2 The other of the double sums in equation (5) represents the sum of the decision variables for all the configurations v included in V. Equation (5) expresses the sum of the decision variables for all the configurations v included in E C v,t,r1,r2 This indicates that the sum of the decision variables of all links included in for all formations v is less than or equal to 1.

[0060] 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 calculated for all vehicle units v, and the result is 1 or less, route conflicts at that time can be eliminated. The route conflict constraint generation unit 27 generates constraint equations that represent route conflict constraint conditions for all vehicle units v included in V.

[0061] The on-site work plan calculation unit 15 finds a solution that satisfies each of the constraints shown in equations (1) to (5). This enables the mobile object work plan creation system 10 to create an on-site work plan that satisfies all of the start location constraints, movement constraints, area conflict constraints, work execution constraints, and route conflict constraints.

[0062] Here, the constraints are the start location constraint, the movement constraint, the area conflict constraint, the task execution constraint, and the route conflict constraint. However, constraints other than these constraints may be added. For example, if there is a line that imposes a limit on the usage time, a usage time constraint may be added. Constraints on the working hours of the workers involved in the task, the number of workers involved in the task, or the number of workers performing the shunting may also be added.

[0063] Next, the evaluation function will be explained. The evaluation function represents the number of movements of each train set between sections, that is, the number of shuntings of each train set. The evaluation function is expressed by the following equation (6).

[0064]

number

[0065] E M vrepresents 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 unit 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 unit work planning system 10 can create a more efficient yard work plan that satisfies all constraints.

[0066] 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 a basic plan that 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 constraint conditions in creating the yard work plan, the degree of relaxation of the constraint conditions may be used as the evaluation criterion. The degree of relaxation of the constraint conditions can be reduced.

[0067] Next, a description will be given of a procedure of processing by the mobile body work plan creation system 10. Fig. 9 is a flowchart showing a procedure of processing by the mobile body work plan creation system 10 according to the first embodiment.

[0068] In step S1, the mobile body work planning system 10 acquires departure and arrival time information and work schedule information using the acquisition unit 13. The acquisition unit 13 acquires the departure and arrival time information from the bus schedule information input to the input unit 11. The acquisition unit 13 acquires the work schedule information input to the input unit 11. Note that the acquisition unit 13 may acquire the departure and arrival time information from information other than the bus schedule information. The departure and arrival time information may be input to the input unit 11 by an input operation by an operator operating the mobile body 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.

[0069] In step S2, the mobile object work planning system 10 generates a graph for each train formation 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 formation 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 in the mobile object work planning system 10.

[0070] 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 the 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.

[0071] In step S4, the mobile object work plan creation system 10 calculates an in-plant work plan based on the constraint equations and the evaluation function using the in-plant work plan calculation unit 15. The in-plant work plan calculation unit 15 calculates the in-plant work plan by finding a solution that satisfies the constraint equations generated in step S3 and minimizes a preset evaluation function.

[0072] In step S5, the mobile object work plan creation system 10 outputs the yard work plan via the output unit 16. The output unit 16 outputs, for example, a file including data on the yard work plan to a terminal device or the like. With this, the mobile object work plan creation system 10 ends the processing according to the procedure shown in FIG.

[0073] The mobile object work plan creation system 10 may be provided with a function for reducing the calculation load when calculating an in-yard work plan. Three functions for reducing the calculation load in the mobile object work plan creation system 10 will be described below.

[0074] 10 is a diagram for explaining a first function for reducing the calculation load in the mobile object work schedule creation system 10 according to the first embodiment. With the first function, the constraint equation generation unit 14 generates a constraint equation for each formation by omitting nodes and links in the period from the departure time to the next arrival time.

[0075] At the top of Figure 10, the departure time t out The next arrival time is t in The graph before omitting nodes and links in the period up to time t is shown at the bottom of Fig. 10. out From time t in The constraint equation generation unit 14 performs processing to omit nodes and links in the graph for each train based on the arrival and departure time information of each train. The mobile object operation planning system 10 uses the first function to calculate the time period from the time t out From time t in By omitting the nodes and links in the period up to and the constraint equations related to the nodes and links, the calculation load can be reduced compared to before the nodes and links were omitted.

[0076] For each train, time t out From time t in Since no work or shunting is carried out within the yard during the period up to t out From time t in Even if nodes and links in the period up to are omitted, the optimality of the solution obtained by the yard work plan calculation unit 15 is not compromised. 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.

[0077] 11 is a diagram illustrating a second function for reducing the calculation load in the mobile object work schedule creation system 10 according to the first embodiment. With the second function, the constraint equation generation unit 14 generates a constraint equation for each train formation by omitting nodes and links in a period excluding 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.

[0078] Figure 11 shows the departure time t out An example is shown in which nodes and links in the period prior to period P up to the time point up to the time point are omitted. The upper part of FIG. 11 shows a graph before the nodes and links are omitted. The lower part of FIG. 11 shows a graph with the nodes and links omitted. Period P is a fixed period equivalent to twice the unit time. In the example shown in FIG. 11, the train is moved to the outbound track after being stored in the second storage line. The length of period P may be set arbitrarily.

[0079] In Fig. 11, time t out For the period prior to time t out In the example shown in Figure 11, only the nodes and links representing the train set entering the outbound track during period P up to and including the node and link representing the train set being parked in storage track No. 2 are left, and the other nodes and links are omitted. Also, in the example shown in Figure 11, the nodes for storage track No. 1 and storage track No. 1 and the links connecting to those nodes are omitted.

[0080] 11 shows an example in which nodes and links in a period excluding a certain period up to the departure time are omitted. The constraint equation generation unit 14 generates a constraint equation by omitting nodes and links in 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 in 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 in 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.

[0081] The second function of the mobile object work planning system 10 allows it to omit nodes and links in a period excluding a certain period, thereby also omitting constraint equations related to the nodes and links. By omitting nodes and links in a period excluding a certain period and constraint equations related to the nodes and links, the mobile object work planning system 10 can reduce the calculation load compared to before the nodes and links were omitted.

[0082] The second function restricts the period during which shunting is possible. Restricting the period during which shunting is possible may impair the optimality of the solution obtained by the yard work plan calculation unit 15. The mobile body work plan creation system 10 can reduce the impact of reduced optimality by appropriately setting the length of the fixed period P. This allows the mobile body work plan creation system 10 to prevent a decrease in the accuracy of the calculated yard work plan and reduce the calculation load.

[0083] 12 is a flowchart for explaining a third function for reducing the calculation load in the mobile object work plan creation system 10 according to the first embodiment. By the third function, the path conflict constraint generation unit 27 of the constraint equation generation unit 14 generates a constraint equation representing a path conflict constraint condition when the solution obtained by the yard work plan calculation unit 15 includes a path conflict.

[0084] The flowchart in Figure 12 shows the processing steps when the mobile body work planning system 10 generates constraint equations using the third function. In step S11, the mobile body 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.

[0085] In step S12, the mobile body work plan creation system 10 causes the yard work plan calculation unit 15 to find a solution that satisfies each of the constraint equations generated in step S11 and minimizes the evaluation function.

[0086] In step S13, the mobile object work planning system 10 determines whether or not there is a path conflict in the solution obtained in step S12 using the yard work plan calculation unit 15. If there is a path conflict (step S13, Yes), the mobile object work planning system 10 proceeds to step S14.

[0087] 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 instruction. 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 the constraint equations generated in step S11, and returns the procedure to step S12.

[0088] On the other hand, if there is no path 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 FIG.

[0089] The mobile body work planning system 10, by using the third function, generates constraint equations for the path conflict constraint conditions for locations where path conflict exists only if the obtained solution contains path conflict. By omitting the constraint equations for the 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 the constraint equations are not omitted. By generating constraint equations for the path conflict constraint conditions for locations where path conflict exists, the mobile body work planning system 10 can create an in-plant work plan that does not include path conflict. In this way, the mobile body work planning system 10 can create an in-plant work plan that does not include path conflict while reducing the computational load.

[0090] When creating a daily yard work plan, the mobile object work plan creation system 10 may be able to arbitrarily set a time as a boundary of the target period of the yard work plan. Fig. 13 is a diagram showing an example of setting a boundary time of the target period in the mobile object work plan creation system 10 according to the first embodiment.

[0091] The yard work plan calculation unit 15 calculates a daily yard work plan using arbitrarily set times as dividing times for a target period. The dividing times for a target period are the times that mark the start and end of the target period. The dividing times for a target period are set, for example, by an input operation by an operator operating the mobile work plan creation system 10.

[0092] The upper part of Fig. 13 shows an example in which midnight is used as the dividing time. The lower part of Fig. 13 shows an example in which a certain time between midnight and 12 noon is used as the dividing time. In Fig. 13, the arrival time of a train set at a yard, the period during which the train set is parked at the yard, and the departure time of the train set departing from the yard are conceptually represented by solid arrows or dash-dot arrows. Also in Fig. 13, the dividing times of the target period are represented by dashed lines.

[0093] Most trains typically begin commercial operation during the morning rush hour. After that, commercial operation ends at a time determined for each train, and late at night, many of the trains are parked in the depot. Given this situation, if the cutoff time for the target period is uniformly set to midnight, the cutoff time will be the time when most of the trains are in the depot. In this case, for many of the trains, yard work plans will be created without taking into account the circumstances when the trains depart in the next target period.

[0094] In the example shown in the lower part of Figure 13, the demarcation time is set to a time after the morning rush hour. This demarcation time is after many of the train sets have departed from the depot and before many of the train sets have arrived at the depot. By setting demarcation times in this way, the mobile object work schedule creation system 10 can create yard work plans for many of the train sets that take into account the circumstances at the time of departure of the train sets.

[0095] Next, a description will be given of a hardware configuration for realizing the mobile object work plan creation system 10 according to the first embodiment. Fig. 14 is a diagram illustrating an example of a hardware configuration for realizing the mobile object work plan creation system 10 according to the first embodiment.

[0096] The mobile object operation plan creation system 10 is realized by a computer system including a processing circuit 40. The processing circuit 40 includes a processor 42 and a memory 43. The processing circuit 40 is a circuit on which the processor 42 executes software.

[0097] 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 the 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 a 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 includes a 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.

[0098] The processor 42 is a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor). The memory 43 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (registered trademark) (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).

[0099] The mobile object operation plan creation program stored in memory 43 may be provided in a form written on 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.

[0100] The mobile object work planning system 10 can be configured with one device. The mobile object work planning system 10 may also be configured with two or more devices located at 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 with two or more server devices. For example, the mobile object work planning system 10 may be configured with a processing server and a data server.

[0101] According to the first embodiment, the mobile object work planning system 10 includes an acquisition unit 13 that acquires departure and arrival 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 location of each mobile object in multiple areas based on the departure and arrival 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. The mobile object work planning system 10 can create a more efficient on-site work plan by finding a solution based on the evaluation function. As described above, the mobile object work planning system 10 has 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 of creating a more efficient on-site work plan.

[0102] The facility for which the yard work plan is created may be a facility other than a railroad depot, such as a station, etc. The mobile object work plan creation system 10 may create a yard work plan for a mobile object other than a railway vehicle formation.

[0103] The configurations described in the above embodiments are examples of the contents of the present disclosure. The configurations of the embodiments can be combined with other known technologies. Part of the configurations of the embodiments can be omitted or modified without departing from the gist of the present disclosure.

[0104] Various aspects of the present disclosure are summarized below as appendices.

[0105] (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, 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 where 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 as 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 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; The mobile object work plan creation system according to 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, wherein 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 a route where route conflict occurs when a solution obtained by the on-site work plan calculation unit includes route conflicts where two or more of the moving bodies enter the same route in the same period, The 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 as 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 a dividing point for 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. [Explanation of symbols]

[0106] 10 Mobile 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 and 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

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 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.

2. The mobile body work plan creation system described in claim 1, 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.

3. 2. The mobile body work plan creation system according to claim 1, wherein 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.

4. The mobile body work plan creation system according to 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 bodies are present in the same area during the same period.

5. The mobile body work planning system according to claim 1, 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.

6. 2. The mobile object work plan creation system according to claim 1, 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.

7. 2. The mobile body work 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.

8. 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.

9. 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.

10. 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. 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.

11. A mobile 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 by using an arbitrarily set time as a dividing point for the target period of the on-site work plan.

12. 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 ...

13. 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 step of calculating the on-site work plan, the step of calculating the on-site work plan using the links included in the graph as decision variables, and determining, as a solution, the decision variables that satisfy the constraint equations and minimize the evaluation function.

Images