Information processing device, information processing method, and program

Abstract

To support the generation of work schedules for multiple mobile entities at an airport. The information processing device comprises an acquisition unit that acquires work information for each of the tasks performed by multiple mobile entities that perform different tasks at the airport; a setting unit that sets the priority of each task based on the work information of the multiple mobile entities; a generation unit that generates work schedules for the multiple mobile entities based on the priority; and an output unit that outputs the generated work schedules.

Description

Technical Field

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

[0002] Conventionally, devices for monitoring an operation area of an airfield are known. For example, Patent Document 1 discloses an airport runway monitoring device comprising: a plurality of imaging devices installed along the longitudinal direction of an airport runway; a control means for controlling the imaging devices to scan and capture an image of the runway surface in synchronization with the timing of takeoff and landing of an aircraft; a comparison means for comparing image data from the imaging devices with reference data to derive a difference signal therebetween; a synthesizing means for synthesizing the difference signals; and a display means for displaying the synthesized difference signal. Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2002-277544 Summary of the Invention

[0004] At an airfield, a wide variety of tasks are routinely performed using moving bodies, and in some cases schedules are managed for each individual task, which requires time and effort to adjust the schedule for each task.

[0005] Accordingly, an object of the present disclosure is to support generation of work schedules for a plurality of moving bodies at an airfield.

[0006] An information processing apparatus according to one aspect of the present disclosure includes: an acquisition unit that acquires task information regarding each task of a plurality of moving bodies that perform different tasks at an airfield; a setting unit that sets a priority for each task based on the task information of the plurality of moving bodies; a generation unit that generates work schedules for the plurality of moving bodies based on the priorities; and an output unit that outputs the generated work schedules. Effects of the Invention

[0007] According to this disclosure, it is possible to support the generation of operational schedules for multiple mobile entities at an airport. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing an example of the configuration of an information processing system. [Figure 2] This figure shows an example of the hardware configuration of an information processing device. [Figure 3] This figure shows an example of the functional block configuration of an information processing device. [Figure 4] This figure shows an example of a business information database. [Figure 5] This figure shows an example of the functional block configuration of a terminal device. [Figure 6] This figure shows an example of the functional block configuration of a mobile unit. [Figure 7] A flowchart illustrating an example of the processing procedure for an information processing device. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described with reference to the attached drawings. In each drawing, components denoted by the same reference numerals have the same or similar configurations.

[0010] In this embodiment, the airfield is a facility where aircraft can take off and land, and includes airport facilities. The airfield may also include areas within the airfield that are inaccessible to the general public, including the area around the runway, perimeter roads, security roads, fence areas, taxiway areas, and work yards.

[0011] Mobile entities 30 is a general term referring to mobile entities operated on the ground at an airfield, and includes not only autonomous vehicles but also manually operated vehicles, workers, and aircraft moving on the ground.

[0012] Aircraft include equipment that flies through the atmosphere. Specifically, this includes airplanes, rotary-wing aircraft, gliders, airships, and other equipment that can be used for aviation purposes as specified by government ordinance, which can carry people. Aircraft may also include unmanned equipment that can be used for aviation purposes, such as drones.

[0013] Autonomous vehicles include vehicles that operate autonomously using sensors, maps, and control mechanisms, and may include runway inspection vehicles, lawn mowing vehicles, green space management vehicles, security vehicles, bird control vehicles, and towing tractors. Manually driven vehicles include vehicles driven by humans, and may include patrol cars, work vehicles, and emergency vehicles. Manually driven vehicles may not support communication protocols.

[0014] Workers include those who work within the airfield, such as lawn mowers, inspectors, and ground crew. Disconnected entities include those that do not have a communication protocol installed, and may include manually operated vehicles and workers. The presence of disconnected entities is notified to the system by sensor detection or manual input.

[0015] <Information Processing System 1> The following describes the information processing system 1 in the disclosed technology. Figure 1 is a diagram showing an example of the configuration of the information processing system. The information processing system 1 shown in Figure 1 includes an information processing device 10, one or more terminal devices 20, and one or more mobile devices 30. As an example, the information processing device 10, the terminal devices 20, and the mobile devices 30 are connected to each other so as to be able to communicate with each other via a network N. Furthermore, the number of information processing devices 10, terminal devices 20, and mobile devices 30 is not particularly limited.

[0016] Network N is a network for mutual communication among the information processing apparatus 10, the terminal apparatus 20, and the mobile object 30. For example, network N may be configured by a wireless network or a wired network. Examples of networks include a mobile phone network, wireless LAN (including Local Area Network, communication conforming to IEEE 802.11 (so-called Wi-Fi (registered trademark))), 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), WiMax (registered trademark), infrared communication, visible light communication, Bluetooth (registered trademark), wired LAN, telephone lines, power line communication networks, and networks conforming to standards such as IEEE 1394. Further, network N may be a network using satellite communication services such as Starlink (registered trademark).

[0017] Furthermore, at least any one of the information processing apparatus 10, the terminal apparatus 20, and the mobile object 30 may perform communication using a plurality of networks. Specifically, a local network installed in an airfield, a general mobile carrier network, and a Starlink network may be used simultaneously, and data may be transmitted in duplicate. Accordingly, even when a failure occurs in any network, stable communication can be realized by complementing the failure with another network.

[0018] <Information processing apparatus 10> The information processing apparatus 10 is configured by a server, a personal computer, or the like. The information processing apparatus 10 may be configured using a virtual server, a cloud server, or the like. The information processing apparatus 10 may also be referred to as a computer. For example, the information processing apparatus 10 may be an apparatus that manages work schedules of a plurality of mobile objects 30 that perform different tasks such as inspection, green space management, security, bird damage countermeasures, and towing at an airfield.

[0019] Further, the information processing apparatus 10 may communicate with a plurality of mobile objects 30 using a common protocol. The common protocol includes a communication procedure that can be understood and responded to by multi-vendor vehicles according to the same procedure. Note that there are no particular limitations on the communication method used in the common protocol.

[0020] <Terminal Device 20> The terminal device 20 is a device used by an administrator of the information processing apparatus 10 or an administrator of the mobile object 30, and includes a mobile phone terminal, a tablet, or a personal computer. Hereinafter, these administrators are also referred to as users. By operating the terminal device 20, a user can perform various settings for the mobile object 30, check work schedules, remotely operate the mobile object 30, and monitor the status of the mobile object 30.

[0021] Further, an application program (application) for using various functions provided by the information processing system 1 may be installed in the terminal device 20. The application may cause the terminal device 20 to execute at least a part of the processing disclosed in the embodiments described below among the various functions provided by the information processing system 1. By executing the application, the terminal device 20 may transmit and receive information used for executing the application to and from the mobile object 30.

[0022] For example, by operating the terminal device 20, a user can perform settings for the network N for communicating with the information processing apparatus 10 or the mobile object 30, settings for the name of the mobile object 30, and the like.

[0023] Further, for example, by operating the terminal device 20, a user can set the operating time of the mobile object 30 and remotely control the mobile object 30 (e.g., stop the mobile object 30). In addition, the user can grasp position information of the mobile object 30, battery information, and the like. Furthermore, when the mobile object 30 is equipped with a camera, imaging information captured by the mobile object 30 can be checked via the terminal device 20.

[0024] <Mobile Object 30> The mobile unit 30 is positioned within the restricted area of ​​the airport and performs its assigned duties. If the mobile unit 30 is an autonomous vehicle, it uses sensors to detect obstacles and people in its surroundings and outputs the detection results to the information processing device 10.

[0025] <Hardware configuration of the information processing device 10> Figure 2 shows an example of the hardware configuration of the information processing device 10 according to this embodiment. The information processing device 10 has a processor 11 such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The information processing device 10 also has a storage device 12 such as memory (e.g., RAM (Random Access Memory) or ROM (Read Only Memory)), an HDD (Hard Disk Drive) and / or an SSD (Solid State Drive), a communication IF 13 (Interface) for wired or wireless communication, an input device 14 for receiving input operations, and an output device 15 for outputting information.

[0026] The input device 14 is, for example, a keyboard, touch panel, mouse, camera, and / or microphone. The output device 15 is, for example, a display, touch panel, and / or speaker. The input device 14 receives various types of information from the user. The output device 15 may also include a display unit that displays various types of information to the user.

[0027] The hardware configuration described above is merely an example. The information processing device 10 within the information processing system 1 may omit some of the hardware shown in Figure 2, or it may include hardware not shown in Figure 2. Furthermore, the hardware shown in Figure 2 may be composed of one or more devices. In addition, if the information processing device 10 is composed of multiple devices, each device may include at least some of this hardware. The terminal device 20 and the mobile device 30 may also have the same hardware configuration as described above.

[0028] <Functional Block Configuration> (Information processing device 10) Figure 3 shows an example of the functional block configuration of the information processing device 10. The information processing device 10 includes a storage unit 100 and a control unit 110. The control unit 110 includes an acquisition unit 111, a setting unit 112, a generation unit 113, and an output unit 114. The control unit 110 may further include a mobile unit control unit 115, a determination unit 116, a notification unit 117, a calculation unit 118, a constraint application unit 119, and a specification unit 120.

[0029] The memory unit 100 can be implemented using the memory device 12 provided by the information processing device 10. The control unit 110 can also be implemented by the processor 11 of the information processing device 10 executing a program stored in the memory device 12.

[0030] Furthermore, the program may be stored in a storage medium. The storage medium on which the program is stored may be a non-transitory computer-readable medium. The non-transitory storage medium is not particularly limited, but may be, for example, a USB (Universal Serial Bus) memory or a CD-ROM (Compact Disc-Read Only Memory).

[0031] The storage unit 100 stores data necessary for the information processing device 10 to perform information processing. The storage unit 100 includes, for example, a business information database 100a.

[0032] Figure 4 shows an example of the business information DB 100a. The business information DB 100a manages various types of business information. For example, the business information DB 100a may store information such as airport ID, business ID, dependency information, status, type, work location, time window, deadline, urgency, required capabilities, and risk type in association with each other.

[0033] The airport ID is information that identifies an airport. The task ID is information that identifies an individual task. Dependency information includes information about the sequence dependency or whether simultaneous execution is possible between the task in question and other tasks. Dependency information may be stored as an estimation result by the generation unit 113, or it may be set in advance by the user. Status is information that indicates the progress of a task, and includes not started, in progress, completed, and interrupted.

[0034] The "Type" field indicates the type of work performed, including inspection, lawn mowing, security, bird control, and towing. The "Work Location" field indicates the area where the work is performed, represented by an area identifier or coordinates. The "Time Window" field indicates the range of possible start and end times for the work. The "Deadline" field indicates the deadline by which the work must be completed.

[0035] The urgency level is a value indicating the degree of urgency of the task. Required capabilities are information indicating the capabilities of the mobile unit 30 necessary for performing the task, and include towing capacity, mounting of specified sensors, and specified load capacity. Risk type is information indicating the type of risk related to the task, and includes towing proximity risk, human proximity risk, and runway-related risk.

[0036] Furthermore, the memory unit 100 may store map information of at least a portion of the airfield. Also, the memory unit 100 may store information relating to the work area worked on by the mobile unit 30, information relating to the work results, and date and time information. Returning to Figure 3, the explanation continues.

[0037] Furthermore, the memory unit 100 may also store causal logs. The causal logs include logs in which event, decision, command, and ACK information are linked by ID and stored in chronological order. Events include anomaly detection, human detection, and the occurrence of sudden events.

[0038] The determination includes the content of the processing performed by the setting unit 112, the calculation unit 118, or the identification unit 120 based on the event. The command includes the constraint or change in the work schedule output to the mobile unit 30 based on the determination. The ACK includes information indicating whether the mobile unit 30 received the command.

[0039] The causal log allows the information processing device 10 to track the causal relationships from a specific event to the final operation of the mobile object 30, which can then be used for post-event verification and improvement.

[0040] The acquisition unit 111 acquires business information relating to each of the operations performed by multiple mobile units 30 that carry out different operations at the airfield. The business information may include, for example, information stored in the business information DB 100a.

[0041] The setting unit 112 sets the priority of each task based on the task information of the multiple mobile units 30. The priority includes an indicator set for each task to determine the execution order of each task, and may be calculated based on at least one of the urgency of the task and the deadline.

[0042] Furthermore, the setting unit 112 may assign higher priorities to tasks with higher urgency, and may also assign higher priorities to tasks with approaching deadlines. The setting unit 112 may calculate priorities based on urgency and deadlines using any method, such as a combination of weights.

[0043] The generation unit 113 generates work schedules for multiple mobile units 30 based on the priorities set by the setting unit 112. The generation unit 113 may, for example, input the priorities set by the setting unit 112 and instruction information including instructions for generating work schedules for multiple mobile units 30 based on those priorities into an AI model, and then obtain the work schedules generated by the AI ​​model. The AI ​​model may include large-scale language models or generative AIs.

[0044] The generation unit 113 may input the generated instruction information, which is created by incorporating the priority set by the setting unit 112 into the instruction information prepared in advance by the operator of the information processing device 10, into an AI processing device having an AI model, which is an external device. The AI ​​processing device may have the AI ​​model generate a work schedule based on the instruction information input by the generation unit 113.

[0045] The AI ​​processing unit may then output the work schedule generated by the AI ​​model to the information processing unit 10, thereby allowing the generation unit 113 to acquire the work schedule. The generation unit 113 may also modify or update the work schedule based on user feedback or instructions.

[0046] The generation unit 113 may generate the work schedule using an algorithm that optimizes the work schedule. The generation unit 113 may generate the work schedule using at least one of the following: a rule-based method, mathematical optimization using mixed-integer linear programming, and a machine learning-based method.

[0047] The output unit 114 outputs the work schedule generated by the generation unit 113. The output destinations include at least one of the following: the display unit of the terminal device 20, transmission of commands to the mobile device 30, and recording to the storage unit 100.

[0048] With the above configuration, the information processing device 10 can support the generation of work schedules for multiple mobile units 30 at an airport.

[0049] The operational information may include at least one of the following: the urgency of the operation, time constraints, location of work, and conditions necessary for the operation to be performed. The urgency of the operation includes a value indicating the degree of urgency of the operation. For example, the urgency of an emergency inspection in the case of foreign matter detected on a runway may be set to the maximum value.

[0050] Time constraints include at least one of a deadline and a time window. The deadline includes the deadline by which the work must be completed. The time window includes the range of start and end times when the work can be performed.

[0051] The work location includes information indicating the area where the work will be performed and may be expressed by an area identifier or coordinates. The conditions necessary for the execution of the work include at least one of the risk type and the required capabilities. The risk type includes information indicating the type of risk associated with the work and includes towing proximity risk, person proximity risk, and runway-related risk. The required capabilities include information indicating the capabilities of the mobile body 30 necessary for the performance of the work and include towing capacity, mounting of specified sensors, and specified load capacity.

[0052] The generation unit 113 may estimate the dependencies between the operations of multiple mobile units 30 based on the business information. The generation unit 113 may, for example, input business information and instruction information, which includes instructions for estimating the dependencies between the operations of multiple mobile units 30 based on the business information, into an AI model and obtain the dependencies estimated by the AI ​​model.

[0053] The dependencies include sequential dependencies and the possibility of concurrent execution between tasks of multiple mobile units 30. Sequential dependencies include relationships indicating that one task can only be performed after the completion of other tasks. For example, nearby lawn mowing may not begin until runway inspections are complete.

[0054] The feasibility of simultaneous execution includes the relationship indicating whether two tasks can be executed in parallel within the same time period and area. For example, towing operations and security patrols in the same area may not be able to be executed simultaneously. The generation unit 113 may generate the task schedule taking these dependencies into consideration. Alternatively, the determination unit 116, described later, may determine the order constraints between tasks and the feasibility of simultaneous execution, and the generation unit 113 may generate the task schedule based on the results of that determination.

[0055] The generation unit 113 may generate work schedules for multiple mobile units 30 based on priority and dependency relationships. The generation unit 113 may input, for example, priority, dependency relationships, and instruction information including instructions for generating work schedules for multiple mobile units 30 based on the priority and dependency relationships to the AI ​​model, and obtain the work schedules generated by the AI ​​model.

[0056] With the above configuration, the information processing device 10 estimates dependencies based on business information and generates a business schedule considering priority and dependencies, thereby enabling appropriate allocation while preventing interference between business processes.

[0057] The setting unit 112 may, in response to the detection of an anomaly at the airport, set a priority higher than a predetermined priority for the task corresponding to that anomaly. Anomalies include the detection of foreign objects on the runway, vehicle malfunctions, intrusion by suspicious persons, and the arrival of birds.

[0058] Furthermore, if an anomaly is detected, the acquisition unit 111 may acquire business information for the business corresponding to the anomaly. The setting unit 112 may set the urgency of the business to the maximum value or a similar value based on the acquired business information. The generation unit 113 may regenerate the business schedule based on the increased priority and assign the nearest mobile unit 30 with the capability to respond to the business.

[0059] With the above configuration, the information processing device 10 can dynamically increase the priority of the corresponding task in response to the detection of an anomaly, thereby enabling the reallocation of tasks in immediate response to sudden events.

[0060] The mobile unit control unit 115 controls the mobile units 30 based on the generated work schedule. The mobile unit control unit 115 may also control the operation of multiple mobile units 30 based on priority.

[0061] For example, the mobile unit control unit 115 may prioritize the operation of mobile units 30 that are responsible for tasks with relatively high priority, and may instruct other mobile units 30 to wait or change their route. Waiting includes temporarily stopping at the current location or a safe waiting location. Changing the route includes taking an alternative route to avoid interference with high-priority mobile units 30.

[0062] With the above configuration, the information processing device 10 can control the operation of multiple mobile units 30 based on priority, thereby avoiding interference between the mobile units 30 without hindering the performance of high-priority tasks.

[0063] The determination unit 116 determines, based on dependencies, whether or not the sequential execution of tasks of the multiple mobile units 30 is possible, or at least one of the following: sequential execution. Determining sequential execution includes determining whether or not a task is performed on the premise that another task will be completed. Determining whether or not simultaneous execution is possible includes determining whether or not the tasks can be processed in parallel, based on the task characteristics, work locations, and required time of the multiple mobile units 30.

[0064] In determining sequence constraints, the determination unit 116 may determine, based on the risk type and work location included in the work information, whether or not one task cannot be started until the other task is completed. For example, if nearby lawn mowing work cannot be started until runway inspection work is completed, the determination unit 116 may determine that there is a sequence constraint between these tasks. In determining whether simultaneous execution is possible, the determination unit 116 may determine that two tasks can be processed in parallel or do not conflict in time if the work locations of the two tasks are separated by a predetermined distance or more, the risk types do not interfere with each other, or the required time or scheduled time slots do not overlap.

[0065] The generation unit 113 may generate a work schedule based on the result of the determination. For example, the generation unit 113 may generate a work schedule that allows for the simultaneous execution of tasks that have been determined to be executable concurrently.

[0066] With the above configuration, the determination unit 116 determines the order dependency and inability to execute simultaneously between tasks, and the generation unit 113 generates a task schedule based on the result of the determination, thereby adjusting the execution timing between tasks. As a result, the information processing device 10 can prevent interference between tasks by starting subsequent tasks after the completion of preceding tasks for tasks with order dependency, and by separating the execution time periods for tasks that cannot be executed simultaneously. In addition, by executing tasks that have been determined to be able to be executed simultaneously in parallel, the overall work efficiency can be improved.

[0067] The acquisition unit 111 may acquire information regarding an anomaly detected by any of the multiple moving bodies 30. The acquisition unit 111 may also acquire information regarding a person or obstacle detected by a sensor provided on each of the multiple moving bodies 30.

[0068] The notification unit 117 may notify the relevant mobile bodies 30 among the multiple mobile bodies 30 of the information it has acquired regarding the anomaly. The information regarding the anomaly includes the type of anomaly, the location where it occurred, and the time it occurred. The notification unit 117 may also prioritize notifying mobile bodies 30 that are within the range of the anomaly's influence or mobile bodies 30 that are on a path to the location where the anomaly occurred.

[0069] The notification unit 117 may aggregate information about people or obstacles detected by sensors on each of the multiple mobile bodies 30. The aggregated information may be simultaneously notified to all of the multiple mobile bodies 30.

[0070] The notification unit 117 may integrate sensor information from multiple mobile bodies 30 to enable detection of people or obstacles that are difficult to detect with a single mobile body 30. A mobile body 30 heading towards an area where a person or obstacle has been detected may be instructed to slow down or stop before entering the area.

[0071] With the above configuration, the information processing device 10 can share situational awareness within the airport by notifying the relevant mobile device 30 of information regarding an anomaly detected by any of the mobile devices 30.

[0072] Furthermore, by integrating sensor information from multiple mobile bodies 30, the notification unit 117 can improve detection reliability even in environments where detection is unstable with a single sensor (such as areas with obstacles or during bad weather). This suppresses the application of unnecessary constraints and replanning based on false detections, and prevents an increase in the processing load and communication volume of the information processing device 10.

[0073] The calculation unit 118 calculates a margin based on the interference risk between the operations of the multiple mobile units 30. Interference risk represents the safety hazards that may arise due to the spatial or temporal proximity of the operations of the multiple mobile units 30, and includes towing proximity risk, person proximity risk, and runway-related risk. The margin also includes at least one of the spatial margin and the temporal margin.

[0074] Spatial margins include values ​​indicating the spatial distance that should be maintained to avoid interference risks. Temporal margins include values ​​indicating the temporal interval that should be maintained to avoid interference risks.

[0075] The constraint application unit 119 applies constraints to the operation of multiple moving bodies 30 based on margins. The constraints include at least one of setting no-entry zones, setting conditions for permitted passage, and indicating speed limits.

[0076] Setting no-entry zones includes setting spatial access restrictions equivalent to dynamic geofencing. Setting passage permission conditions includes setting conditions for passage through specific points or areas, for example, including not granting passage permission during a predetermined time window. Speed ​​limit instructions include instructions specifying an upper limit on the speed of the mobile body 30 within a predetermined area. The constraint application unit 119 may output these constraints to the mobile body 30 using a common protocol.

[0077] Furthermore, setting the conditions for passage may include issuing and managing passage permit tickets at critical locations. Critical locations include intersections, narrow roads, merging points, and areas in front of gates, as well as locations where collisions or congestion are likely to occur and require mediation of passage. The passage permit ticket may include a time window for which passage is permitted, the occupied shape of the moving object 30 while it is passing, speed conditions, and cancellation conditions. The occupied shape may be expanded when the moving object 30 is being towed. The constraint application unit 119 may prevent interference between moving objects 30 at critical locations by not issuing passage permit tickets during time windows in which interference risk exists.

[0078] With the above configuration, the information processing device 10 can quantify the risk of interference between operations as a margin and apply it as a constraint on the operation of the mobile device 30, thereby enabling the application of consistent safety constraints. Furthermore, by outputting the setting of no-entry zones, the setting of passage permit conditions, and the instruction of speed limits to the mobile device 30 using a common protocol, the conversion process to different communication formats for each vendor of the mobile device 30 is eliminated. This reduces the communication processing load on the information processing device 10 and shortens the communication delay required for the application of constraints.

[0079] Alternatively, the calculation unit 118 may convert interference risk into spatial distance parameters and time interval parameters, and the constraint application unit 119 may apply the converted parameters to multiple constraint output destinations, such as setting no-entry zones, setting traffic permission conditions, and instructing speed limits. This conversion structure allows constraints to be generated through the same parameter format even when the types of interference risks are different, eliminating the need to provide separate constraint generation logic for each type of interference risk. Furthermore, even if a new type of interference risk is added, the existing constraint application process can be used as is by adding a process to convert the interference risk into spatial distance parameters and time interval parameters.

[0080] The calculation unit 118 may dynamically change the margin according to the state of one of the multiple moving bodies 30. The state of one moving body 30 includes at least one of the speed, towing length, and type of work.

[0081] For example, the calculation unit 118 may calculate a predetermined range around a moving body 30 as a spatial margin while the moving body 30 is performing a predetermined task. The calculation unit 118 may dynamically change the predetermined range according to the speed or towing length of the moving body 30. The higher the speed, the longer the distance required for braking, so the predetermined range may be set to be wider.

[0082] Furthermore, the longer the towing length, the larger the space occupied by the moving body 30, so the predetermined range may be set to be wider. For example, the predetermined range when a towing tractor is towing a large aircraft may be wider than the predetermined range when it is towing a small aircraft.

[0083] With the above configuration, the information processing device 10 can dynamically change the margin according to the state of the moving object 30, thereby ensuring an appropriate safety distance according to the state of the moving object 30 while avoiding excessive restrictions.

[0084] Furthermore, by parameterizing interference risk as spatial and temporal margins, the calculation unit 118 can represent diverse interference conditions between different types of tasks in a unified data structure. As a result, the constraint application unit 119 no longer needs to maintain separate constraint determination logic for each type of task, reducing the processing load and program memory capacity required for constraint determination.

[0085] The constraint application unit 119 may dynamically change the scope of the constraint in accordance with the movement of one moving body 30. For example, the constraint application unit 119 may set a predetermined range as a no-entry zone for other moving bodies 30 and dynamically move the no-entry zone along the movement path of one moving body 30.

[0086] Furthermore, the airfield may include a high-priority area where aircraft have the highest priority. The high-priority area includes runways, taxiways, landing strips, and protected areas. The constraint application unit 119 may set a hold point before the high-priority area and apply a constraint so that the mobile object 30 cannot enter beyond the hold point unless a passage permit ticket is issued. The determination of passage permit at the hold point may be made based on a margin calculated by the calculation unit 118.

[0087] The no-entry zone may be lifted from the area that the mobile body 30 has already passed through, and set at the current location of the mobile body 30 and the area that the mobile body 30 will pass through. This allows the area after the mobile body 30 has passed through to be quickly released, making it possible for other mobile bodies 30 to pass through.

[0088] Furthermore, the constraint application unit 119 may set a no-entry zone around the last confirmed position of the mobile body 30 if communication between the mobile body 30 and the information processing device 10 is interrupted. Since the position and behavior of the mobile body 30 cannot be confirmed while communication is interrupted, a no-entry zone is set to ensure the safety of other mobile bodies 30. The no-entry zone may be lifted when communication is restored.

[0089] By setting a no-entry zone only around the mobile object 30 that has lost communication, the constraint application unit 119 can maintain the number of mobile objects 30 that can continue operations, compared to uniformly stopping all mobile objects 30 throughout the entire airfield. This makes it possible to minimize the decrease in overall operational throughput while ensuring safety, even in the event of an abnormal situation such as a communication outage.

[0090] With the above configuration, the information processing device 10 can dynamically change the scope of application of the constraints in accordance with the movement of the mobile body 30, thereby enabling efficient safety assurance according to the current position of the mobile body 30. Furthermore, by dynamically setting and releasing the no-entry zone in accordance with the movement of the mobile body 30, the number of mobile bodies 30 to which the constraints apply is limited compared to maintaining a statically wide no-entry zone. This reduces the number of commands transmitted and the amount of communication data related to the constraints, thereby suppressing the consumption of network bandwidth.

[0091] The margin may include spatial margins and temporal margins, and the constraint application unit 119 may apply constraints based on spatial margins and constraints based on temporal margins to the same operation. For example, during towing operations by a towing tractor, a no-entry zone may be set around the towing tractor, and even after the completion of the towing operation, the commencement of other operations in the nearby area may be restricted until a predetermined time has elapsed.

[0092] The calculation unit 118 may calculate a predetermined time as a time margin after the completion of the work of one of the multiple mobile bodies 30. The constraint application unit 119 may restrict the start of work of other mobile bodies 30 in the vicinity of the work area of ​​one mobile body 30 until a predetermined time has elapsed.

[0093] For example, after a runway inspection is completed, the commencement of grass mowing work near the runway may be restricted until a predetermined time has elapsed. This is because the effects of turbulence and other factors associated with aircraft takeoffs and landings may remain immediately after the inspection is completed. The predetermined time may be set according to the type of work and the characteristics of the work location, and may be managed as a parameter.

[0094] The constraint application unit 119 may apply a speed limit to the area where a person is detected and may also restrict the commencement of operations by other mobile units 30 in the vicinity of that area for a predetermined period of time. In the area where a person is detected, the mobile units 30 may pass through at a reduced speed, and the commencement of new operations in the vicinity of that area may be restricted for a certain period of time. After confirmation that the person has left the area, the speed limit and the restriction on commencement of operations may be lifted. Confirmation of the person's departure may be performed by detection by a sensor or by manual input by the user.

[0095] With the above configuration, the information processing device 10 can prevent both spatial interference during business execution and temporal interference resulting from residual risks after business completion by applying constraints based on both spatial and temporal margins.

[0096] The multiple mobile entities 30 may include unconnected entities that do not have a communication protocol installed. The acquisition unit 111 may acquire the presence and location of unconnected entities based on sensor detection or manual input. Sensor detection includes the detection of unconnected entities by an autonomous vehicle or a fixed sensor installed in a restricted area of ​​an airport. Manual input includes the user inputting the presence and location of unconnected entities to the information processing device 10.

[0097] The setting unit 112 may set priorities for tasks related to unconnected entities based on the acquired presence and location of the unconnected entities. For example, if it is detected that a worker is in a specific area, the priority of tasks passing through that area may be adjusted, and safety constraints may be applied to that area.

[0098] Furthermore, warnings to unconnected entities may be provided to the driver or operator of a manual vehicle via notification means. Notification means include at least one of an electronic display board, a rotating light, a siren, and wireless communication.

[0099] With the above configuration, the information processing device 10 can manage schedules comprehensively even in a mixed environment that includes disconnected entities.

[0100] The identification unit 120 identifies the scope of operations among the work schedules of multiple mobile units 30 that will be affected by the sudden event, in response to the occurrence of the sudden event. The generation unit 113 reassigns only the operations within the scope identified by the identification unit 120. The generation unit 113 does not change the plans for operations that were not identified as being affected.

[0101] The sudden events covered by the specific unit 120 include at least one of the following: the occurrence of new operations, flight delays, malfunction of the mobile unit 30, area closures, and communication disruptions. The occurrence of new operations includes the occurrence of emergency inspection operations due to foreign object detection. Flight delays include delays in the arrival or departure of aircraft, which affect towing schedules, etc.

[0102] A malfunction of the mobile unit 30 includes situations in which the mobile unit 30 is unable to continue operations. Furthermore, a closure of an area includes situations in which a specific area becomes temporarily unavailable due to runway construction or other reasons. Furthermore, a communication interruption includes situations in which communication between the mobile unit 30 and the information processing device 10 is cut off.

[0103] With the above configuration, the information processing device 10 can respond to sudden events while maintaining the plans for unaffected tasks by identifying and reallocating only the scope of tasks affected by the sudden event, thereby minimizing the impact on the field.

[0104] Furthermore, by limiting the scope of influence of the specific unit 120, the number of tasks that the generation unit 113 targets for replanning is reduced. As a result, the information processing device 10 can reduce the amount of computation and processing time required for replanning compared to when the entire task schedule is regenerated. In particular, even when the number of mobile units 30 and the number of tasks increase, the scope of replanning is limited to the scope of influence, so the increase in computation can be suppressed and the response time to unexpected events can be shortened.

[0105] The identification unit 120 may specify the range based on at least one of the spatial and temporal relationships between the sudden event and the operations of the multiple mobile bodies 30.

[0106] The spatial relevance includes at least one of the following: the geographical proximity between the location of the sudden event and the work location of each task, and the fact that the travel route of each mobile unit 30 passes through the location of the sudden event or the surrounding area.

[0107] The temporal relevance includes at least one of the following: the scheduled time for each task overlaps with the time period affected by the sudden event, and there are tasks that have a sequential dependency or a relationship of concurrent execution feasibility with the tasks directly affected by the sudden event.

[0108] With the above configuration, the information processing device 10 can determine the appropriate scope of replanning by identifying the scope of influence based on spatial and temporal relationships. Furthermore, by identifying the scope of influence based on spatial and temporal relationships, the search space in replanning is limited. As a result, the memory usage and computational load required for optimization processing are reduced, and replanning can be completed within a practical time even with limited computing resources.

[0109] The generation unit 113 may regenerate the work schedule only for the tasks affected by the removal of operational constraints that were imposed due to an unexpected event.

[0110] Once the response to the unexpected event is complete, the constraints set as a result of that event may be removed. In this case, the generation unit 113 may regenerate the schedule only for the tasks that were affected by the constraints, and generate the schedule so as not to change the plans for tasks that were not affected by the constraints.

[0111] With the above configuration, the information processing device 10 can efficiently return to normal operation by regenerating only the affected business processes when the constraints are lifted.

[0112] The generation unit 113 may, in the event that one of the multiple mobile bodies 30 fails, reassign the tasks assigned to that mobile body 30 to another mobile body 30 that meets the conditions necessary for performing those tasks. The conditions necessary for performing the tasks include the required capabilities of those tasks.

[0113] The duties of the malfunctioning mobile unit 30 may be reallocated to another mobile unit 30 that has the necessary capacity for the duties and has available capacity in its current allocation. When reallocating, consideration may be given to consistency with the existing work schedule of the other mobile unit 30.

[0114] With the above configuration, the information processing device 10 can ensure business continuity even in the event of a vehicle failure by reassigning the tasks of the malfunctioning mobile unit 30 to another mobile unit 30 that meets the necessary conditions.

[0115] The following describes a specific scenario. Note that the following scenario is just an example and not limited to it. First, as a process for handling emergency inspection tasks, we will describe an example of the processing of the information processing device 10 when an emergency inspection task is required due to foreign object detection.

[0116] First, when a foreign object is detected on the runway, a foreign object detection event is generated in the information processing device 10. The setting unit 112 generates an emergency inspection task in response to the foreign object detection event and sets its urgency level to the maximum value.

[0117] Next, the generation unit 113 extracts the nearest mobile body 30 with the capability to handle the situation as a candidate. The identification unit 120 extracts only existing tasks that overlap with the planned route and time window of the candidate mobile body 30. The generation unit 113 considers the sequential dependencies among the extracted existing task groups.

[0118] The calculation unit 118 calculates the interference risk during emergency inspection as spatial margins and temporal margins. Based on the calculated spatial margins and temporal margins, the constraint application unit 119 applies the setting of no-entry zones, speed limit instructions, and standby commands.

[0119] The generation unit 113 reassigns only the task groups extracted as affected, and does not change the plans for other tasks. Once the emergency inspection task is completed, a release event occurs, and the restricted area and standby constraints are lifted. The generation unit 113 readjusts only the tasks affected by the lifting and returns to normal operation.

[0120] Next, as an example of the processing performed when towing operations are executed, we will explain an example of the processing of the information processing device 10 when towing operations are performed using a towing tractor.

[0121] When the towing operation of the towing tractor begins, the calculation unit 118 calculates a spatial margin according to the towing conditions. The size of the spatial margin is dynamically determined based on the towing length and the speed of the towing tractor. The constraint application unit 119 sets a no-entry zone around the towing path. The no-entry zone moves along the path as the towing tractor moves.

[0122] The identification unit 120 extracts groups of tasks that overlap with the no-entry zone. The extracted groups of tasks may include lawn mowing and security patrols. The generation unit 113 generates alternative routes, such as detours or waiting, for the extracted groups of tasks. If towing is occurring at an intersection, the constraint application unit 119 applies a condition as a pass permit requirement that permits will not be granted while the towing tractor is passing.

[0123] The mobile unit control unit 115 outputs a command to the target mobile unit 30 to either detour or wait. When the towing operation is completed, the no-entry zone is released by a release event. The generation unit 113 readjusts as needed and adjusts the return of each operation to minimize delays.

[0124] Next, an example of the processing performed by the information processing device 10 when a worker is detected will be described as a process for when a person detection event occurs. A person detection event occurs when a worker enters a specific area. The person detection event occurs due to detection by a sensor on the mobile body 30 or manual input by the user. The calculation unit 118 calculates a spatial margin corresponding to the speed limit and a temporal margin for the area.

[0125] The identification unit 120 extracts tasks that pass through the area. The constraint application unit 119 outputs a speed limit instruction to the moving object 30 heading towards the area. For tasks with a high risk of close proximity to people, the constraint application unit 119 outputs a standby command based on a time margin. If necessary, the generation unit 113 generates an alternative route.

[0126] The identification unit 120 extracts only the affected tasks, and the generation unit 113 reallocates only these tasks. The notification unit 117 also alerts the drivers and workers of manual vehicles through notification means. When the workers leave the area and the release event occurs, the speed limit and waiting restrictions are lifted. The generation unit 113 returns to normal operation through readjustment.

[0127] (Terminal device 20) Figure 5 shows an example of the functional block configuration of the terminal device 20. The terminal device 20 includes a storage unit 200 and a control unit 210. The control unit 210 includes a communication unit 211 and a UI unit 212.

[0128] The memory unit 200 can be implemented using the memory device 12 provided in the terminal device 20. The control unit 210 can be implemented by the processor 11 of the terminal device 20 executing a program stored in the memory device 12.

[0129] The storage unit 200 stores data necessary for the control unit 210 to perform information processing. The storage unit 200 may also store information regarding the work schedule and information regarding the status of the mobile unit 30 received from the information processing device 10.

[0130] The communication unit 211, in cooperation with the information processing device 10, provides functions for displaying the work schedule, monitoring the status of the mobile unit 30, and transmitting various instructions to the mobile unit 30. The communication unit 211 may also transmit instructions to the information processing device 10 regarding the remote stopping of the mobile unit 30 or the manual assignment of tasks based on user operations.

[0131] The UI unit 212 has the function of receiving various inputs from the user and displaying various screens on the display unit. The UI unit 212 may display the work schedule, location information of the mobile body 30, and the application status of constraints output from the information processing device 10 on the display unit. The UI unit 212 may also accept manual input from the user regarding the presence and location of an unconnected entity. Furthermore, the UI unit 212 may display information regarding anomalies transmitted from the information processing device 10 on the display unit.

[0132] (Mobile unit 30) Figure 6 shows an example of the functional block configuration of the mobile unit 30. The mobile unit 30 includes a sensor unit 301, a drive unit 302, a communication device 303, a storage unit 300, and a control unit 310. The control unit 310 includes a communication unit 311.

[0133] The sensor unit 301, the drive unit 302, and the communication device 303 are implemented by the hardware of the mobile unit 30. The storage unit 300 and the control unit 310 are implemented by the processor of the mobile unit 30 executing a program stored in the storage device.

[0134] The memory unit 300 can be implemented using a memory device provided by the mobile unit 30. The memory unit 300 may store information regarding the work schedule, constraints, and map information necessary for the movement of the mobile unit 30, which have been received from the information processing device 10.

[0135] The sensor unit 301 includes hardware for detecting the environment surrounding the moving body 30. The sensor unit 301 includes at least one of a camera, LiDAR, radar, and ultrasonic sensor. The sensor unit 301 detects surrounding obstacles, people, and other moving objects and outputs the detection results to the control unit 310.

[0136] The drive unit 302 includes hardware that controls the movement and stopping of the mobile body 30. Based on instructions from the control unit 310, the drive unit 302 controls the speed, direction of travel, and stopping of the mobile body 30.

[0137] The communication device 303 includes hardware that communicates with the information processing device 10 and other mobile devices 30 using a common protocol. The communication device 303 receives instructions regarding work schedules, constraints, and abnormality notifications from the information processing device 10, and transmits the status of the mobile device 30 and the detection results of the sensor unit 301 to the information processing device 10.

[0138] The communication unit 311 uses the communication device 303 to send and receive various types of information with the information processing unit 10. The communication unit 311 receives commands from the information processing unit 10 regarding the work schedule and constraints applied by the constraint application unit 119, and transmits the status of the mobile body 30, the execution status of the work, and the detection results of the sensor unit 301 to the information processing unit 10.

[0139] The control unit 310 executes tasks based on the received task schedule. The control unit 310 may also instruct the drive unit 302 to avoid restricted areas, comply with speed limits, and respond to standby commands based on the received commands regarding constraints.

[0140] The control unit 310 may select a stopping method based on the current position of the mobile body 30 if communication with the information processing device 10 is interrupted. If the current position of the mobile body 30 is a place where stopping in place is dangerous, the control unit 310 may perform an evasive stop, which involves moving to a safe location at a low speed before stopping.

[0141] Locations where stopping in place would be dangerous include intersections, runways, and narrow roads. Safe locations include road shoulders, waiting areas, and the area before hold points. If the current position of the mobile body 30 is a location where it can be safely stopped, the control unit 310 may stop in place.

[0142] With the above configuration, secondary dangers caused by the stopping position of the mobile body 30 can be avoided even in the event of a communication interruption. Alternatively, the control unit 310 may determine whether to stop for safety by comparing the current position of the mobile body 30 with the location information of a safe point included in the map information stored in the memory unit 300. Since this determination is completed solely by the processor of the mobile body 30, the control unit 310 can perform this operation without requiring communication with the information processing device 10, even when communication is interrupted.

[0143] Furthermore, the various processes described above may be executed by the processor of the information processing device 10, by the processor of the terminal device 20, or by the processors of the information processing device 10 and the terminal device 20 working together. Alternatively, they may be executed by the processor of the mobile device 30, or by the processor of the information processing device 10 and the processor of the mobile device 30 working together.

[0144] <Processing Procedure> Next, the operation of the information processing device 10 according to the embodiment will be described. Figure 7 is a flowchart showing an example of the processing procedure of the information processing device 10.

[0145] In step S101, the acquisition unit 111 acquires business information relating to each of the operations of multiple mobile units 30 performing different operations at the airport.

[0146] In step S102, the setting unit 112 sets the priority of each task based on the business information of the multiple mobile units 30.

[0147] In step S103, the generation unit 113 generates work schedules for multiple mobile units 30 based on priority.

[0148] In step S104, the output unit 114 outputs the generated work schedule.

[0149] Through the above processing, the information processing device 10 can support the generation of work schedules for multiple mobile units 30 at the airport.

[0150] The embodiments described above are provided to facilitate understanding of this disclosure and are not intended to limit it. The flowcharts, sequences, elements, and their arrangement, materials, conditions, shapes, and sizes described in the embodiments are not limited to those exemplified and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined.

[0151] <Variation> The information processing device 10 may be implemented centrally as a central server, or it may be implemented through the cooperation of edge devices distributed in each area. Furthermore, a TTL (Time To Live) may be set for each message in the common protocol, and commands that arrive late may be invalidated. Additionally, for important messages, an acknowledgment (ACK) may be requested, and if an ACK is not received, the message may be retransmitted or held.

[0152] By promptly discarding messages that have exceeded the TTL (Time To Live), the mobile unit 30 prevents the accumulation of unnecessary commands in its memory unit 300, thereby suppressing the consumption of memory capacity. Furthermore, since the constraint determination process for invalid commands is omitted, the mobile unit 30 can reduce the processing load on the control unit 310.

[0153] The control unit 110 may also include an execution module that generates candidate commands and a monitoring module that independently verifies whether the candidate commands are safe. The execution module generates candidate commands related to routes, speeds, and allocations. The monitoring module verifies whether the candidate commands satisfy margin-based constraints and, if the constraints are met, assigns a safety stamp to the candidate command indicating permission to execute.

[0154] The mobile unit control unit 115 may output only commands that have been stamped with a safety stamp to the mobile unit 30. If the monitoring module determines that a candidate command is unsafe, the monitoring module may block or modify the candidate command. With the above configuration, by separating command generation and safety verification, deviations from safety constraints caused by errors in a single processing unit can be prevented. Note that some or all of the above embodiments may also be described as follows, but are not limited to these.

[0155] <Note 1> An acquisition unit that acquires operational information related to each operation of multiple mobile vehicles performing different tasks at an airfield, A setting unit that sets the priority of each of the aforementioned tasks based on the business information of the aforementioned multiple mobile entities, A generation unit that generates the work schedules of the multiple mobile bodies based on the aforementioned priority, An output unit that outputs the generated work schedule, An information processing device equipped with the following features. <Note 2> The aforementioned business information includes at least one of the following: the urgency of the task, time constraints, work location, and conditions necessary for the execution of the task. The generation unit estimates the dependencies between the operations of the multiple mobile entities based on the business information, and generates the operation schedules of the multiple mobile entities based on the priority and the dependencies. The information processing device described in Appendix 1. <Note 3> The setting unit, in response to the detection of an anomaly at the airport, sets a priority higher than a predetermined priority for the task corresponding to the anomaly. The information processing device described in Appendix 1 or 2. <Note 4> The system further includes a mobile unit control unit that controls the mobile unit based on the generated work schedule, The mobile body control unit controls the operation of the plurality of mobile bodies based on the priority. An information processing device as described in any one of the items 1 to 3 of the appendix. <Note 5> The generation unit further comprises a determination unit that determines whether at least one of the sequence constraints and simultaneous execution of the operations of the plurality of mobile entities is possible, based on the dependency relationships estimated by the generation unit. The generation unit generates the business schedule based on the result of the determination by the determination unit. An information processing device as described in any one of the items 2 to 4 of the appendix. <Note 6> The acquisition unit further acquires information regarding the anomaly detected by any of the plurality of moving bodies, The system further includes a notification unit that notifies the relevant mobile body among the plurality of mobile bodies of the information obtained regarding the abnormality. An information processing device as described in any one of the items 1 to 5 of the appendix. <Note 7> A calculation unit that calculates a margin based on the interference risk between the operations of the multiple mobile units, The system further includes a constraint application unit that applies constraints to the movement of the plurality of moving bodies based on the margin, An information processing device as described in any one of the items 1 to 6 of the appendix. <Note 8> The calculation unit dynamically changes the margin according to the state of one of the multiple moving bodies, The constraint application unit dynamically changes the scope of application of the constraint in accordance with the movement of the one moving body. The information processing device described in Appendix 7. <Note 9> The margin includes spatial margins and temporal margins. The constraint application unit applies the constraints based on the spatial margin and the constraints based on the temporal margin to the same task. The information processing device described in Appendix 7 or 8. <Note 10> The aforementioned multiple mobile entities include unconnected entities that do not have a communication protocol installed. The acquisition unit acquires the presence and location of the disconnected entity based on detection by a sensor or manual input. The setting unit sets the priority of tasks related to the non-connected entity. An information processing device as described in any one of the items 1 to 9 of the appendix. <Note 11> The system further includes a special unit that identifies the scope of operations among the operations schedules of the multiple mobile entities that are affected by the sudden event, in response to the occurrence of the sudden event. The generation unit reallocates only the tasks within the scope specified by the identification unit. An information processing device as described in any one of the appendices 1 to 10. <Note 12> The specified unit identifies the range based on at least one of the spatial and temporal relationships between the sudden event and the operations of the multiple mobile bodies. The information processing device described in Appendix 11. <Note 13> The generation unit, when the operational constraints imposed due to the sudden event are released, regenerates the work schedule, targeting only the work affected by the release. The information processing device described in Appendix 11. <Note 14> The generation unit, in the event that one of the multiple mobile bodies malfunctions, reassigns the tasks assigned to that mobile body to another mobile body that meets the conditions necessary for performing those tasks. The information processing device described in Appendix 11 or 12.

Claims

1. An acquisition unit that acquires operational information related to each operation of multiple mobile vehicles performing different tasks at an airfield, A setting unit that sets the priority of each of the aforementioned tasks based on the business information of the aforementioned multiple mobile entities, A generation unit that generates the work schedules of the multiple mobile bodies based on the aforementioned priority, An output unit that outputs the generated work schedule, An information processing device equipped with the following features.

2. The aforementioned business information includes at least one of the following: the urgency of the task, time constraints, work location, and conditions necessary for the execution of the task. The generation unit estimates the dependencies between the operations of the multiple mobile entities based on the business information, and generates the operation schedules of the multiple mobile entities based on the priority and the dependencies. The information processing apparatus according to claim 1.

3. The setting unit, in response to the detection of an anomaly at the airport, sets a priority higher than a predetermined priority for the task corresponding to the anomaly. The information processing apparatus according to claim 1.

4. The system further includes a mobile unit control unit that controls the mobile unit based on the generated work schedule, The mobile body control unit controls the operation of the plurality of mobile bodies based on the priority. The information processing apparatus according to claim 1.

5. The generation unit further comprises a determination unit that determines whether at least one of the sequence constraints and simultaneous execution of the operations of the plurality of mobile entities is possible, based on the dependency relationships estimated by the generation unit. The generation unit generates the business schedule based on the result of the determination by the determination unit. The information processing apparatus according to claim 2.

6. The acquisition unit further acquires information regarding the anomaly detected by any of the plurality of moving bodies, The system further includes a notification unit that notifies the relevant mobile body among the plurality of mobile bodies of the information obtained regarding the abnormality. The information processing apparatus according to claim 1.

7. A calculation unit that calculates a margin based on the interference risk between the operations of the multiple mobile units, The system further includes a constraint application unit that applies constraints to the movement of the plurality of moving bodies based on the margin, The information processing apparatus according to claim 1.

8. The calculation unit dynamically changes the margin according to the state of one of the multiple moving bodies, The constraint application unit dynamically changes the scope of application of the constraint in accordance with the movement of the one moving body. The information processing apparatus according to claim 7.

9. The margin includes spatial margins and temporal margins. The constraint application unit applies the constraints based on the spatial margin and the constraints based on the temporal margin to the same task. The information processing apparatus according to claim 7.

10. The aforementioned multiple mobile entities include unconnected entities that do not have a communication protocol installed. The acquisition unit acquires the presence and location of the disconnected entity based on detection by a sensor or manual input. The setting unit sets the priority of tasks related to the non-connected entity. The information processing apparatus according to claim 1.

11. The system further includes a special unit that identifies the scope of operations among the operations schedules of the multiple mobile entities that are affected by the sudden event, in response to the occurrence of the sudden event. The generation unit reallocates only the tasks within the scope specified by the identification unit. The information processing apparatus according to claim 1.

12. The specified unit identifies the range based on at least one of the spatial and temporal relationships between the sudden event and the operations of the multiple mobile bodies. The information processing apparatus according to claim 11.

13. The generation unit, when the operational constraints imposed due to the sudden event are lifted, regenerates the work schedule, targeting only the work affected by the lifting of the constraints. The information processing apparatus according to claim 11.

14. The generation unit, in the event that one of the multiple mobile bodies malfunctions, reassigns the tasks assigned to that mobile body to another mobile body that meets the conditions necessary for performing those tasks. The information processing apparatus according to claim 11.

15. Computers Steps include obtaining operational information for each of the operations performed by multiple mobile entities carrying out different tasks at an airfield, The steps include setting the priority of each of the aforementioned tasks based on the business information of the aforementioned multiple mobile entities, The steps include generating the work schedules of the multiple mobile entities based on the aforementioned priority, The steps include outputting the generated work schedule, Information processing methods including

16. On the computer, Steps include obtaining operational information for each of the operations performed by multiple mobile entities carrying out different tasks at an airfield, The steps include setting the priority of each of the aforementioned tasks based on the business information of the aforementioned multiple mobile entities, The steps include generating the work schedules of the multiple mobile entities based on the aforementioned priority, The steps include outputting the generated work schedule, A program that executes the command.

Images