Operation planning device, operation planning method, and operation planning program

Abstract

The purpose of the present disclosure is to make it possible to make an appropriate operation plan that corresponds to the latest form of a mobile body. A satellite operation planning device (10) comprises an objective function generation unit (17) that, on the basis of information that includes the amount of data stored by an artificial satellite (1), generates an objective function that includes as a variable at least one of a transfer direction and a transfer amount for when data is transferred to / from another artificial satellite (1), a satellite operation plan generation unit (20) that generates an operation plan related to at least one of the transfer direction and the transfer amount on the basis of the objective function, and a satellite operation plan outputting unit (23) that transmits the operation plan to a mobile body.

Description

Operation plan creation device, operation plan creation method, and operation plan creation program

[0001] The present disclosure relates to an operation plan creation device, an operation plan creation method, and an operation plan creation program.

[0002] An artificial satellite equipped with a sensor for observing the earth's surface, such as a synthetic aperture radar, is operated by planning imaging by the satellite, the amount of data in the satellite by imaging, data transmission by inter-satellite communication, and downloading of data by satellite-to-ground communication. An artificial satellite is an example of a moving body.

[0003] In recent years, due to the improvement of satellite performance and the spread of constellation operation using multiple satellites, the load of satellite operators in creating satellite operation plans has increased.

[0004] Patent Document 1 discloses a satellite observation plan creation system that can optimize the creation of a satellite observation plan as an optimization problem, determine an optimal observation schedule, and reduce operation costs.

[0005] Japanese Unexamined Patent Application Publication No. 2022-172503

[0006] The satellite observation plan creation system of Patent Document 1 learns the creation of an operation plan for ground observation of an artificial satellite using an observation plan created in the past and creates an optimal observation plan. However, since constellation satellites can always change their form due to the addition or reduction of satellites, the past operation plan is not always useful. Therefore, the satellite observation plan creation system of Patent Document 1 cannot create an appropriate operation plan based on the latest form of constellation satellites. Note that constellation satellites are an example of a moving body.

[0007] The present disclosure has been made to solve the above problems, and an object thereof is to create an appropriate operation plan according to the latest form of a moving body.

[0008] The operational planning device of this disclosure is an operational planning device for planning the operation of a mobile body that sends tangible or intangible objects to a target facility via a relay facility, and is characterized by comprising: an objective function generation unit that generates an objective function with at least one of the transfer direction and transfer amount as variables when tangible or intangible objects are transferred between the mobile body and the relay facility, based on information including the amount of tangible or intangible objects held by the mobile body; an operational plan generation unit that generates an operational plan relating to at least one of the transfer direction and transfer amount based on the objective function; and an operational plan output unit that transmits the operational plan to the mobile body.

[0009] The operational planning device described herein can formulate an appropriate operational plan for a mobile vehicle in accordance with its latest configuration, without requiring manual intervention or learning from past performance data.

[0010] Figure 1 is a diagram showing the configuration of the satellite operation system and the constellation of satellites. Figure 2 is a diagram showing the configuration of the satellite operation planning device. Figure 3 is a flowchart showing the operation of the satellite operation planning device. Figure 4 is a diagram showing the variables of the objective function. Figure 5 is a diagram showing the variables of the objective function. Figure 6 is a diagram showing the variables of the objective function. Figure 7 is a diagram showing the concept of the product delivery plan formulated by the product delivery planning device. Figure 8 is a diagram showing the configuration of the product delivery planning device. Figure 9 is a diagram showing the hardware configuration of the satellite operation planning device or the product delivery planning device. Figure 10 is a diagram showing the hardware configuration of the satellite operation planning device or the product delivery planning device.

[0011] <A. Embodiment 1> Figure 1 is a diagram showing the configuration of the satellite operation system 3 and the constellation satellite group 2 which is the target of the satellite operation system 3.

[0012] Constellation 2 consists of multiple artificial satellites 1. Each artificial satellite 1 is an Earth-orbiting satellite orbiting at an altitude of 100 km or more. The orbits of each artificial satellite 1 may or may not lie on the same orbital plane. An artificial satellite is an example of a moving object.

[0013] When the orbital positions of each artificial satellite 1 meet the communication conditions, the artificial satellites 1 communicate with each other (hereinafter referred to as inter-satellite communication) and exchange data. Inter-satellite communication is carried out using radio waves or optical communication. When the artificial satellites 1 are in a state where they can communicate with each other, data transfer becomes possible in both directions.

[0014] The satellite operation system 3 is installed on land or at sea and comprises a satellite operation planning device 10 and a control system 4. The satellite operation planning device 10 is an operation planning device according to Embodiment 1.

[0015] Control system 4 communicates with the constellation of satellites 2 in orbit. The communication method can be any wireless method, such as radio waves, optical communication, or infrared communication. Control system 4 transmits commands (hereinafter referred to as "operation instruction commands") to the constellation of satellites 2 via wireless communication, instructing them on operations related to inter-satellite communication.

[0016] When the control system 4 becomes able to communicate with each satellite 1, it receives satellite status information from each satellite 1 that represents the status of each satellite 1. The satellite status information received by the control system 4 is stored in the satellite status storage unit 11 (see Figure 2) within the satellite operation planning device 10. The satellite status information includes the current position, direction of travel, attitude information, and data storage capacity of each satellite 1. Each satellite 1 has data sensed by each satellite 1, as well as satellite-borne equipment information.

[0017] The satellite operation planning device 10 determines the data transfer direction between satellites 1 based on the satellite status and generates operation instruction commands, which are commands related to the data transfer direction or other equipment operations necessary for inter-satellite communication. In this way, the satellite operation planning device 10 creates an operation plan for the constellation satellite group 2. That is, the operation plan for the constellation satellite group 2 includes operation instruction commands. The satellite operation planning device 10 plans an operation plan for satellite 1 to send intangible data to another satellite 1 or control system 4, which is the target facility. When data is transmitted from one satellite 1 to control system 4 via another satellite 1, the target facility is control system 4, and the relay facility is another satellite 1.

[0018] The control system 4 transmits operation instruction commands generated by the satellite operation planning device 10 to each satellite 1. Although Figure 1 shows one control system 4, the satellite operation system 3 may comprise multiple control systems 4 located at different geographical locations. In that case, each control system 4 may transmit operation instruction commands to different satellites 1. Furthermore, the control system 4 may be portable and capable of moving over sea or land.

[0019] Some of the satellites 1 in the constellation 2 may not be orbiting the Earth, but may be in geostationary orbit, on the lunar surface, or in space beyond geostationary orbit. In that case, these satellites 1 are configured to communicate with satellites 1 that are orbiting the Earth, as well as with a ground-based control system 4.

[0020] When control system 4 establishes communication with satellite 1, it sends a command to satellite 1 instructing it to transmit the data it holds to control system 4. This command includes an execution time, and satellite 1 executes the received command according to the specified execution time.

[0021] Figure 2 shows the configuration of the satellite operation planning device 10. The satellite operation planning device 10 includes a satellite status holding unit 11, an imaging planning unit 12, a satellite data holding amount calculation unit 13, an orbit prediction calculation unit 14, an inter-satellite communication calculation unit 15, a ground station communication calculation unit 16, an objective function generation unit 17, an optimization solver unit 18, an optimization variable holding unit 19, a satellite operation plan generation unit 20, an operation simulator unit 21, a satellite operation plan modification unit 22, and a satellite operation plan output unit 23.

[0022] Figure 3 is a flowchart illustrating the operation of the satellite operation planning device 10. The operation of the satellite operation planning device 10 will be explained below in accordance with the flow shown in Figure 3. As a prerequisite, the imaging planning unit 12 performs imaging planning for each artificial satellite 1. In addition, the satellite status holding unit 11 holds the satellite status of each artificial satellite 1 received from the control system 4.

[0023] In step S101 of Figure 3, the satellite data amount calculation unit 13 calculates the amount of data held by each satellite 1 at the start time of the satellite operation plan, based on the satellite status and imaging plan of each satellite 1.

[0024] Next, in step S102, the orbit prediction calculation unit 14 uses known Earth gravity models or atmospheric drag models based on the position, direction of travel, and attitude information of each satellite 1, and performs orbital dynamics calculations using algorithms such as extended Kalman filters to predict the future orbit of each satellite 1.

[0025] Subsequently, in step S103, the inter-satellite communication calculation unit 15 calculates the time when communication between the satellites 1 is possible (hereinafter referred to as the "inter-satellite communication time") based on the predicted orbit of the satellites 1. The inter-satellite communication time is determined as the time period during which another satellite 1 is approaching within the communication range of the inter-satellite communication equipment mounted on a given satellite 1. The inter-satellite communication calculation unit 15 may also calculate the inter-satellite communication time by subtracting in advance the time required to control the inter-satellite communication equipment and establish the inter-satellite communication link from the time period determined as described above.

[0026] Furthermore, the inter-satellite communication calculation unit 15 calculates the amount of data that can be transmitted to the other satellite 1 via inter-satellite communication, based on the inter-satellite communication time and the communication performance of the satellite 1.

[0027] Next, in step S104, the ground station communication calculation unit 16 calculates the time when the artificial satellite 1 can communicate with the ground station (hereinafter referred to as the "ground station communication time") based on the predicted orbit of the artificial satellite 1. Here, the ground station refers to the control system 4. The ground station communication calculation unit 16 also calculates the amount of data that the artificial satellite 1 can transmit to the control system 4 based on the ground station communication time and the performance of the communication equipment of the artificial satellite 1.

[0028] Subsequently, in step S105, the objective function generation unit 17 generates an objective function based on the amount of data held by each artificial satellite 1 at the start time of the operation plan, the amount of data to be transmitted at the time when it can be transmitted via inter-satellite communication, and the amount of data to be transmitted at the time when it can be transmitted to the control system 4.

[0029] The objective function is a function that takes the communication direction between two satellites 1 in inter-satellite communication as a variable and outputs a value that has a positive or negative correlation with the length of time from the start time of the operation plan until the time when the amount of data held by the satellites 1 that constitute the constellation 2 falls below a certain value. For example, the objective function S is constructed by summing up the squares of the amount of data held by each satellite 1 at each time up to a specific time T. Here, the specific time T is the time when all satellites 1 complete the data download, assuming the variable is determined by a random number. In this case, the objective function S does not represent the download completion time itself, but it has a positive correlation with the download completion time. The download completion time for a given variable can then be determined by actually performing a simulation.

[0030] Figure 4 shows an example of the communication direction variable X. In Figures 4 through 6, subscripts are added to the reference designations, such as satellite 1-1 or satellite 1-2, to distinguish each satellite 1.

[0031] When X = 1, data is transmitted from satellite 1-1 to satellite 1-2. When X = -1, data is transmitted from satellite 1-2 to satellite 1-1.

[0032] The objective function S may include k binary variables, where k is the number of bits for the maximum quantized data transfer. This makes it possible to optimize not only the communication direction but also the data transfer amount. Figure 6 shows an example of three variables X0, X1, and X2 related to the communication direction and data transfer amount. The variables X0, X1, and X2 are expressed in terms of variable A by the relationship "A = 2^1 * X1 + 2^0 * X0, where X2 is the sign". In this way, a variable A with higher expressive power can be used through the three binary variables X0, X1, and X2.

[0033] Alternatively, the situation where data communication is not performed may be assigned to cases where the k variables of the objective function S take on binary values ​​with the same absolute value but different signs. For example, when k=2, considering variables that take on +1 and -1, the option of not performing data communication may be set so that the combination of variables is (+1, -1) or (-1, +1). Figure 5 shows an example of such variables X0 and X1. This makes it possible to generate the objective function while considering the case where data communication is not performed.

[0034] The objective function only needs to have at least one of the following variables: communication direction and communication volume.

[0035] Next, in step S106, the optimization solver unit 18 obtains the objective function generated by the objective function generation unit 17 and searches for combinations of variables to decrease or increase the objective function. The optimization solver unit 18 decreases the objective function if it has a positive correlation with the download completion time, and increases the objective function if it has a negative correlation with the download completion time. In other words, the optimization solver unit 18 solves a combinatorial optimization problem to find the maximum or minimum value of the objective function.

[0036] Unrealistic situations, such as the amount of data held by satellite 1 becoming negative, can be incorporated into the objective function as a constraint in the form of an inequality, as follows. For example, the optimization solver unit 18 can solve the problem in a way that satisfies the constraint by adding a penalty term to the objective function when the inequality is not satisfied, thereby increasing the objective function.

[0037] Alternatively, the optimization solver unit 18 may allow solutions where the amount of data held by the satellite 1 is negative. In this case, no data is transmitted from the satellite 1 during actual satellite operation. In other words, the satellite operation planning device 10 creates an operation plan by selecting not to execute the parts of the solution obtained by the optimization solver unit 18 that represent situations that are unlikely to occur in reality.

[0038] The optimization solver unit 18 can use the Fold-Fulkerson method or the Dinic method, or a dynamic programming method or simulated annealing method, to solve the combinatorial optimization problem. The optimization solver unit 18 may monitor the output value of the objective function while randomly changing the variables and select the variables. Alternatively, the optimization solver unit 18 may solve the optimization problem using a quantum computer or a computation method that simulates quantum physical phenomena. The optimization solver unit 18 may solve the combinatorial optimization problem using a program on a computer system that includes other GPU or FPGA devices connected to the network. Alternatively, the optimization solver unit 18 may be a quantum computer or reservoir computer connected to the network that uses physical phenomena such as quantum physics to find the optimal solution.

[0039] The optimization variable storage unit 19 stores the solutions of the variables that the optimization solver unit 18 has solved.

[0040] The satellite operation plan generation unit 20 converts the solution of the variables solved by the optimization solver unit 18 into operation instruction commands for controlling the artificial satellites 1 necessary for inter-satellite communication or communication to the control system 4, and generates an operation plan. In other words, the satellite operation plan generation unit 20 generates an operation plan for at least one of the communication direction and communication volume of each artificial satellite 1 based on the objective function.

[0041] Subsequently, in step S107, the operation simulator unit 21 simulates the operation plan generated by the satellite operation plan generation unit 20. Specifically, the operation simulator unit 21 simulates on a computer the actions of each satellite 1 receiving operation instruction commands, performing inter-satellite communication, or transmitting data to the ground. The simulation method involves first calculating the predicted orbit of each satellite 1 and then calculating the attitude and direction of each satellite 1 at the actual time. Next, a communication bandwidth is allocated based on the antenna directions between the satellites 1.

[0042] Subsequently, in step S108, the operation simulator unit 21 determines the feasibility of the operation plan. That is, the operation simulator unit 21 determines whether or not there are inconsistencies in the operation plan. If each artificial satellite 1 is unable to perform inter-satellite communication and transmit data to ground stations in accordance with the operation plan, it is determined that there are inconsistencies in the operation plan. This determination is made, for example, based on the antenna direction of each artificial satellite 1. The operation simulator unit 21 can also determine whether data communication is possible by simulating power generation by solar cells, power storage by batteries, and power consumption by satellite operation.

[0043] For example, if the operational plan stipulates that satellite 1, which has zero data storage capacity, will perform inter-satellite communication or communication with the control system 4, then there is a contradiction in this operational plan. In such a case, the satellite operational plan modification unit 22 modifies the operational plan in step S109 so that satellite 1, which has zero data storage capacity, will not perform inter-satellite communication or communication with the control system 4.

[0044] When there is no contradiction in the revised operation plan (No in step S108), the operation simulator unit 21 determines, in step S110, that the time when the amount of held data of each artificial satellite 1 becomes below a certain value is the end time of the operation plan.

[0045] Based on the revised operation plan, the operation simulator unit 21 simulates the actual operation on a computer and tracks the amount of held data of the artificial satellite 1 at each time. Also, the operation simulator unit 21 simulates data acquisition operations such as imaging by the artificial satellite 1, thereby considering not only the decrease but also the increase in the amount of held data.

[0046] The operation plan (operation instruction command) revised by the satellite operation plan modification unit 22 is distributed from the satellite operation plan output unit 23 to each artificial satellite 1 via the control system 4 and is used for actual satellite operation.

[0047] The satellite operation plan establishment device 10 may distribute operation instruction commands to a plurality of control systems 4, and the plurality of control systems 4 may distribute the operation instruction commands to each artificial satellite 1. Also, an operation instruction command may be distributed from the control system 4 to one artificial satellite 1 constituting the constellation satellite group 2, and that artificial satellite 1 may distribute the operation instruction command to a plurality of other artificial satellites 1. Also, an operation instruction command may be distributed to a certain artificial satellite 1 by relaying a plurality of artificial satellites 1.

[0048] When transmitting operation instruction commands from the satellite operation system 3 to a plurality of artificial satellites 1, a deviation may occur in the time when the operation instruction commands arrive at each artificial satellite 1. Therefore, considering this time deviation, the objective function generation unit 17 may individually set the operation plan start time of each artificial satellite 1.

[0049] Each artificial satellite 1 that has received the operation instruction command executes data communication between the artificial satellites 1 and data transmission to the control system 4 in accordance with the operation instruction command. Therefore, the satellite operation plan establishment device 10 can track the amount of held data of each artificial satellite 1.

[0050] Furthermore, during this time, each artificial satellite 1 performs operations such as imaging the ground in accordance with the ground imaging operations planned by the imaging planning unit 12 of the satellite operation planning device 10. Therefore, the satellite operation planning device 10 can also track the increase in the amount of data held by each artificial satellite 1. In other words, if the amount of data held by each artificial satellite 1 increases during the execution of the operation plan, the objective function generation unit 17 can generate an objective function using information including the amount of increase and the time of increase as input.

[0051] The operation simulator unit 21 may determine the end time of the current operation plan when the amount of data held by each satellite 1 falls below a certain value (step S110). Then, based on the end time of the current operation plan, the operation simulator unit 21 may determine the start time of the next operation plan and formulate a new operation plan using the amount of data held by each satellite 1 at the start time of the next operation plan as input (step S111). By doing so, it is possible to prevent time loss between the currently executing operation plan and the next operation plan, compared to formulating an operation plan after the current operation plan has ended.

[0052] The operation simulator unit 21 may, if the amount of data held by each satellite 1 increases during the execution of the operation plan, consider information including the amount and time of the increase in the data held, and determine the end time of the current operation plan when the amount of data held by each satellite 1 falls below a certain value, and then determine the start time of the next operation plan based on the end time of the current operation plan.

[0053] As described above, the satellite operation planning device 10, which is an operation planning device according to Embodiment 1, is an operation planning device that plans the operation of a constellation of satellites 2 for sending intangible data to a target facility. The satellite operation planning device 10 comprises an objective function generation unit 17, a satellite operation plan generation unit 20, and a satellite operation plan output unit 23. The objective function generation unit 17 generates an objective function based on information including the data storage amount of each satellite 1, with at least one of the communication direction and communication amount as variables when communicating data between each satellite 1. The satellite operation plan generation unit 20 generates an operation plan relating to at least one of the communication direction and communication amount based on the objective function. The satellite operation plan output unit 23 transmits the operation plan to each satellite 1 via the control system 4.

[0054] As a result, the satellite operation planning device 10 can create an optimal operation plan for each satellite 1 in the constellation 2 to transmit data to other satellites or the control system 4, without the need for manual optimization or learning based on past performance.

[0055] <B. Embodiment 2> Figure 7 is a diagram showing the concept of a product delivery plan formulated by a product delivery plan formulation device 40, which is an operation plan formulation device according to Embodiment 2. The product delivery plan formulation device 40 formulates a product delivery plan using a group of trucks 34 consisting of multiple trucks 33. This product delivery plan is a plan in which the group of trucks 34 delivers tangible goods from multiple factories 32 located in different geographical locations, via multiple relay warehouses 35, to multiple stores 36.

[0056] Here, truck 33 is an example of a mobile device. The mobile device only needs to be able to carry goods, and could be, for example, an aircraft, drone, or robot.

[0057] One truck 33 unloads any number of goods at a relay warehouse 35 for storage. Another truck 33 loads any number of goods from the relay warehouse 35 and delivers them to a store 36. Here, the relay warehouse is an example of a relay point where goods are transferred from one truck 33 to another. The store 36 is an example of a target facility to which tangible goods are delivered.

[0058] Figure 8 shows the configuration of the product delivery planning device 40. The product delivery planning device 40 includes a delivery destination information holding unit 41, a route prediction calculation unit 42, a store product quantity calculation unit 43, a truck load product quantity calculation unit 44, a relay warehouse calculation unit 45, an objective function generation unit 47, an optimization solver unit 48, an optimization variable holding unit 49, a product delivery operation plan generation unit 50, a delivery operation simulator unit 51, a product delivery operation plan modification unit 52, and a delivery operation plan output unit 53.

[0059] The delivery destination information storage unit 41 stores location information for the stores 36 and the relay warehouse 35, as well as information on the quantity of goods required by each store 36.

[0060] The route prediction calculation unit 42 determines the delivery route for each truck 33 from each factory 32 through the relay warehouse 35 to each store 36, and calculates the arrival times at the relay warehouse 35 and the stores 36 along the delivery route. As for the method of calculating the route, an algorithm such as Dijkstra's algorithm that finds the shortest route may be used, or an algorithm designed so that each truck 33 visits as many relay warehouses 35 and stores 36 as possible may be used.

[0061] The calculation of arrival time may take into account the time required for unloading and loading, as needed. Furthermore, traffic congestion forecasts or delay forecasts due to road construction may be incorporated into the calculation of the route and arrival time. This allows the product delivery planning device 40 to formulate a more realistic and efficient delivery plan.

[0062] The store inventory calculation unit 43 calculates the required quantity of goods for each store 36 based on information regarding sales status or inventory levels of each store 36. This calculation result is used to formulate an optimal delivery plan.

[0063] The relay warehouse calculation unit 45 calculates the amount of goods stored in each relay warehouse 35. This calculation result is used to determine the delivery route and optimize the schedule, taking into account the amount of goods stored in each relay warehouse 35.

[0064] The objective function generation unit 47 sets binary variables that represent the loading and unloading of each truck 33 at the relay warehouse 35. These binary variables are -1 when each truck 33 arrives at the relay warehouse 35 and unloads a unit of goods to be stored in the relay warehouse 35, and +1 when a unit of goods is loaded from the relay warehouse 35 onto the truck 33. If the amount of goods loaded and unloaded is expressed by weight rather than number of units, the objective function generation unit 47 may quantize the weight in an appropriate unit and set a binary variable for each quantum. In this specification, the term "loading and unloading" is used to include both unloading and loading of goods.

[0065] The objective function generation unit 47 generates an objective function using the following values ​​at each time point as input: the amount of goods stored in the relay warehouse 35 at the start of the plan, the amount of goods loaded onto each truck 33 when it departs the factory 32, the amount of goods unloaded by each truck 33 at the relay warehouse 35, the amount of goods loaded by each truck 33 from the relay warehouse 35, and the amount of goods unloaded by each truck 33 at the store 36.

[0066] Here, the "amount of goods loaded on each truck 33 when it departs from the factory 32" in Embodiment 2 corresponds to the "amount of data held by each artificial satellite 1 at the start time of the satellite operation plan" in Embodiment 1. Also, the "amount of goods unloaded by each truck 33 at the relay warehouse 35" and the "amount of goods loaded by each truck 33 from the relay warehouse 35" in Embodiment 2 correspond to the "amount of data to be transmitted at the time when it can be transmitted via inter-satellite communication" in Embodiment 1. The "amount of goods unloaded by each truck 33 at the store 36" in Embodiment 2 corresponds to the "amount of data to be transmitted at the time when it can be transmitted to the control system 4" in Embodiment 1.

[0067] The objective function is a function that outputs a value that has a positive or negative correlation with the length of time from the start of the delivery plan until the time when the amount of goods held by truck 33 and the relay warehouse 35 becomes zero, with the amount of goods unloaded by truck 33 at the relay warehouse 35 and the amount of goods loaded by truck 33 from the relay warehouse 35 as variables. Alternatively, the objective function may output a value that has a correlation with the length of time from the start of the delivery plan until the required number of goods arrive at each store 36. Alternatively, the objective function may output a value that has a positive correlation with the length of time from the start of the delivery plan until goods remain in the relay warehouse 35 and there are no goods left in truck 33, or vice versa.

[0068] The objective function generation unit 47 may quantize the load capacity of the truck 33 to k bits and include k binary variables in the objective function. This makes it possible to optimize the load capacity of the truck 33. The objective function generation unit 47 may also assign the situation of not loading or unloading cargo to the case where the k variables of the objective function have the same absolute value but different signs. For example, if k=4, considering variables that can take +1 and -1, the combination of variables (+1, +1, -1, -1) may be selected as the option of not loading or unloading cargo.

[0069] The optimization solver unit 48 solves the objective function in the same way as the optimization solver unit 18 in Embodiment 1. The solutions of the variables obtained by solving the objective function are stored in the optimization variable storage unit 49.

[0070] The product delivery operation plan generation unit 50 generates a product delivery operation plan based on the variables held in the optimization variable holding unit 49. The product delivery operation plan includes instructions for the amount of goods to be unloaded or loaded at the relay warehouse 35 for each truck 33, and the amount of goods to be unloaded upon arrival at the store 36.

[0071] The delivery operation simulator unit 51 simulates on a computer the actions of each truck 33 traveling along a planned delivery route, loading and unloading goods at each intermediate warehouse 35, and unloading goods at each store 36, based on the product delivery operation plan generated by the product delivery operation plan generation unit 50.

[0072] The delivery operation simulator unit 51 then determines whether there is a contradiction in the product delivery operation plan. For example, the delivery operation simulator unit 51 determines that there is a contradiction in the product delivery operation plan if a situation occurs in the product delivery operation plan where goods are unloaded from a truck 33 with a load of 0 goods to a transit warehouse 35, or where goods are loaded from a transit warehouse 35 with a load of 0 goods to a truck 33. The above is an example of loading and unloading at a transit warehouse 35, but the delivery operation simulator unit 51 similarly determines that there is a contradiction in the plan when goods are unloaded at a store 36.

[0073] The product delivery operation plan modification unit 52 modifies the product delivery operation plan if it determines that there is a contradiction in the plan. For example, the product delivery operation plan modification unit 52 prevents unloading from truck 33 with zero product load to transit warehouse 35, and prevents loading from transit warehouse 35 with zero stored product onto truck 33.

[0074] Alternatively, if it is determined that there is a contradiction in the product delivery operation plan, instead of modifying the product delivery operation plan, the optimization solver unit 48 may find a different combination of variables as a solution, and the product delivery operation plan generation unit 50 may generate a new product delivery operation plan using the new combination of variables.

[0075] The delivery operation plan output unit 53 issues instructions to each truck 33 and each relay warehouse 35 for the product delivery operation plan that has been determined to be consistent.

[0076] As described above, the product delivery planning device 40, which is an operation planning device according to Embodiment 2, plans an operation plan for a group of trucks 34 that delivers tangible goods, which are products, to a target facility, a store 36, via a relay warehouse 35, which is a relay facility. The product delivery planning device 40 comprises an objective function generation unit 47, a product delivery operation plan generation unit 50, and a delivery operation plan output unit 53. The objective function generation unit 47 generates an objective function based on information including the amount of goods loaded by the group of trucks 34, with at least one of the delivery direction and delivery amount as variables when goods are delivered between the group of trucks 34 and the relay warehouse 35. The product delivery operation plan generation unit 50 generates an operation plan based on the objective function, with at least one of the delivery direction and delivery amount as variables. The delivery operation plan output unit 53 transmits the operation plan to the group of trucks 34.

[0077] As a result, the product delivery planning device 40 can create an optimal operational plan for the truck group 34 to deliver goods to the stores 36 via the relay warehouse 35 without optimization by human intervention or learning from past performance. In this embodiment, another mobile entity other than the truck group 34 may serve as the relay facility instead of the relay warehouse 35.

[0078] <C. Hardware Configuration> In the satellite operation planning device 10 of Embodiment 1, the satellite status holding unit 11, imaging planning unit 12, satellite data holding amount calculation unit 13, orbit prediction calculation unit 14, inter-satellite communication calculation unit 15, ground station communication calculation unit 16, objective function generation unit 17, optimization solver unit 18, optimization variable holding unit 19, satellite operation plan generation unit 20, operation simulator unit 21, satellite operation plan modification unit 22, and satellite operation plan output unit 23 (hereinafter referred to as "satellite status holding unit 11, etc.") are realized by the processing circuit 81 in Figure 9.

[0079] The same applies to the delivery destination information holding unit 41, route prediction calculation unit 42, store product quantity calculation unit 43, truck-loaded product quantity calculation unit 44, relay warehouse calculation unit 45, objective function generation unit 47, optimization solver unit 48, optimization variable holding unit 49, product delivery operation plan generation unit 50, delivery operation simulator unit 51, product delivery operation plan modification unit 52, and delivery operation plan output unit 53 (hereinafter referred to as "delivery destination information holding unit 41, etc.") in the product delivery planning device 40 of Embodiment 2.

[0080] In other words, the processing circuit 81 includes a satellite status holding unit 11, etc. Alternatively, the processing circuit 81 includes a delivery destination information holding unit 41, etc. Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in memory may be applied. The processor may be, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), etc.

[0081] If the processing circuit 81 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. Each function of the satellite status holding unit 11 or the delivery destination information holding unit 41 may be implemented by multiple processing circuits 81, or the functions of each unit may be implemented together by a single processing circuit.

[0082] When the processing circuit 81 is a processor, the functions of the satellite status holding unit 11, etc., or the delivery destination information holding unit 41, etc., are realized by a combination of software, etc. (software, firmware, or software and firmware). The software, etc., is written as a program and stored in memory. As shown in Figure 10, the processor 82 applied to the processing circuit 81 realizes the functions of each part by reading and executing the program stored in memory 83.

[0083] In other words, the satellite operation planning device 10 includes a memory 83 for storing a program that, when executed by the processing circuit 81, will result in the execution of functions such as the satellite status holding unit 11. Similarly, the product delivery planning device 40 includes a memory 83 for storing a program that, when executed by the processing circuit 81, will result in the execution of functions such as the delivery destination information holding unit 41. In other words, this program can be said to cause a computer to execute the procedures or methods of the satellite status holding unit 11 or the delivery destination information holding unit 41. Here, the memory 83 may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, minidisc, DVD (Digital Versatile Disk) and its drive device, or any storage medium that may be used in the future.

[0084] The above describes a configuration in which each function of the satellite status holding unit 11 or the delivery destination information holding unit 41 is realized by either hardware or software. However, this is not the only configuration, and a configuration in which a part of the satellite status holding unit 11 or the delivery destination information holding unit 41 is realized by dedicated hardware and another part is realized by software is also possible.

[0085] As described above, the processing circuit can realize each of the above-mentioned functions through hardware, software, or a combination thereof.

[0086] Although preferred embodiments have been described in detail above, the invention is not limited to the above embodiments, and various modifications and substitutions can be made to the above embodiments without departing from the scope of the claims.

[0087] 1. Artificial satellite, 2. Constellation satellite group, 3. Satellite operation system, 4. Control system, 10. Satellite operation planning device, 11. Satellite status retention unit, 12. Imaging planning unit, 13. Satellite data volume calculation unit, 14. Orbit prediction calculation unit, 15. Inter-satellite communication calculation unit, 16. Ground station communication calculation unit, 17. Objective function generation unit, 18. Optimization solver unit, 19. Optimization variable retention unit, 20. Satellite operation plan generation unit, 21. Operation simulator unit, 22. Satellite operation plan modification unit, 23. Satellite operation plan output unit, 32. Factory, 33. Truck, 34. Truck group, 35. Relay warehouse, 36. Store, 40. Product delivery planning device, 41. Delivery destination information retention unit, 42. Route prediction calculation unit, 43. Store product volume calculation unit, 44. Truck-loaded product volume calculation unit, 45. Relay warehouse calculation unit, 47. Objective function generation unit, 48. Optimization solver unit, 49. Optimization variable holding unit, 50 Product delivery operation plan generation unit, 51 Delivery operation simulator unit, 52 Product delivery operation plan modification unit, 53 Delivery operation plan output unit, 81 Processing circuit, 82 Processor, 83 Memory.

Claims

1. An operation planning device for formulating an operation plan for a mobile body that sends tangible or intangible objects to a target facility via a relay facility, comprising: an objective function generation unit that generates an objective function based on information including the amount of the tangible or intangible objects held by the mobile body, with at least one of the transfer direction and transfer amount as variables when the tangible or intangible objects are transferred between the mobile body and the relay facility; an operation plan generation unit that generates the operation plan relating to at least one of the transfer direction and transfer amount based on the objective function; and an operation plan output unit that transmits the operation plan to the mobile body.

2. An operational planning device according to claim 1, characterized in that the relay facility is a mobile body different from the mobile body.

3. An operation planning device according to claim 1 or claim 2, wherein the objective function generation unit generates the objective function based on information including the amount of tangible or intangible objects held by the mobile body and the relay facility.

4. An operation planning device according to any one of claims 1 to 3, wherein the objective function generation unit generates the objective function with the amount of transfer as a variable, taking into consideration the case in which the tangible or intangible object is not transferred between the mobile body and the relay facility.

5. An operation planning device according to any one of claims 1 to 4, comprising: a simulation unit that simulates the operation plan generated by the operation plan generation unit and determines the feasibility of the operation plan; and an operation plan modification unit that modifies the operation plan determined by the simulation unit to be unfeasible.

6. An operation planning device according to any one of claims 1 to 4, comprising a simulation unit that simulates the operation plan generated by the operation plan generation unit, calculates the end time of the operation plan, and determines the start time of the next operation plan based on the end time.

7. An operation planning device according to any one of claims 1 to 6, wherein the objective function generation unit generates the objective function by taking information including the amount of increase and the time of increase as input when the amount of tangible or intangible objects held by the moving body increases during the execution of the operation plan.

8. An operation planning device according to claim 6, wherein the simulation unit determines the start time of the next operation plan by taking into consideration information including the amount and time of increase of the amount held when the amount of tangible or intangible objects held by the moving body increases during the execution of the operation plan.

9. A method for formulating an operational plan for a mobile body that delivers tangible or intangible objects to a target facility, characterized in that an objective function generation unit takes information including the amount of the tangible or intangible objects held by the mobile body as input, generates an objective function with at least one of the delivery direction and delivery amount when the tangible or intangible objects are delivered between the mobile body and a relay facility as variables, and an operational plan generation unit generates the operational plan relating to at least one of the delivery direction and delivery amount based on the objective function.

10. An operational planning program for formulating an operational plan for a mobile body that sends tangible or intangible objects to a target facility via a relay facility, wherein the program causes a computer to perform the following processes: inputting information including the amount of the tangible or intangible objects held by the mobile body, and generating an objective function with at least one of the transfer direction and transfer amount when the tangible or intangible objects are transferred between the mobile body and the relay facility as variables; and generating the operational plan relating to at least one of the transfer direction and transfer amount based on the objective function.

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