JP3048891B2 - Transport vehicle operation planning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation planning device for a transportation vehicle, and more particularly to an operation for loading or towing a plurality of transportation objects by a plurality of transportation vehicles and transporting the transportation between predetermined departure and arrival points. On the other hand, the present invention relates to an apparatus for allocating each transport vehicle and a transported article to formulate an operation plan.

[0002]

2. Description of the Related Art FIG. 10 is a block diagram showing a schematic configuration of an example of a conventional operation planning device A 'for a transport vehicle. Here, the bogie / mobile vehicle specification information storage unit 56,
.., Trolleys 51,..., Motor vehicles 52, 52,. From the operation rule information storage unit 53 that stores the operation rule information related to the operation priority information and the operation targets of the bogie and the mobile vehicle, and to the bogie / mobile vehicle operation plan determination unit 58,
The bogie / mobility specification information, scheduled use information, transport work information, loading / unloading land information, and operation rule information are provided. Based on the information, the bogie / mobile vehicle operation plan deciding section 58 assigns a bogie and a mobile vehicle to be used to each of the transport work by using a multiple tree search method, and executes the operation plan of the bogie and the mobile vehicle. Create Specifically, FIG.
As shown in (1), first, the available time zone of the bogie / mobile car is calculated (S51), and the transport work is divided into a plurality of groups according to the time zone (S52). For the group with the earlier time, the work in the group is rearranged according to the priority order to create the data of the transport work sequence (S53, S54), and the bogie sequence to be planned in step S51 is created (S55).
Then, based on the transport work information, the loading / unloading place information, the bogie / mobile vehicle specification information, and the operation rule information, the transport work-carriage is performed using the multiple tree search method for the data of the transport work row and the data of the bogie row. Is assigned (S56). Thereafter, the same assignment is performed for the mobile vehicle (S57 to S57).
S61), end the operation. Here, the multiple tree search method is an application of a branch-and-bound method for performing a tree search. The search tree is decomposed into subproblems, the trees are multiplexed, and a solution is obtained for each tree. The search is performed.

[0003]

In the conventional operation planning apparatus A 'for a transport vehicle as described above, since the multiple tree search method is used for the planning, the optimal solution in each decomposed tree is determined. Although it can be obtained, the optimal solution in the whole tree cannot always be obtained. For this reason, it is not always possible to obtain an optimal assignment of all transport operations to all transport vehicles. In order to solve such problems in the prior art, the present invention is an improvement of an operation planning device for a transport vehicle, and an operation plan of the transport vehicle capable of obtaining an optimal assignment of all transport operations to all transport vehicles. It is an object to provide a planning device.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention is directed to an operation for loading or towing a plurality of articles by a plurality of transport vehicles and transporting them between predetermined landing points. A device for allocating transport vehicles and transported goods and drafting respective operation plans, wherein plan information storage means for storing at least information on transported vehicles, transported goods, transport work, and departure / arrival points which are the targets of the operation plan; Plan condition storage means for storing the conditions of the operation plan, assignment evaluation means for evaluating whether or not the assignment of the transport vehicles and the goods to the transport operation is good based on the above information, conditions for the operation plan, Based on the results of the evaluation of the allocation of the transport vehicles and the goods, the allocation of the transport vehicles and the goods to the transport work is determined by the branch and bound method. ; And a hit determination means, above split
The guessing means is the transport vehicle and the transported goods for the transport operation
In deciding the assignment of branches by the branch and bound method
Of transport operations that cannot be carried out
It is important to note that allocation candidates are removed using linear programming.
It is configured as an operation planning device for hauling vehicles
I have.

[0005] Alternatively, the allocation determining means, hit the allocation decisions transport vehicle and the transported articles against carrying works by branch and bound method, the allocation candidate consisting of the allocation impossible carrying works and transportation vehicles and transported article You may comprise so that it may remove using goal programming . Alternatively, the allocation determining means, per the assignment of transport vehicle and the transported articles against transport work is determined by branch and bound method, consisting of the allocation impossible carrying works and transportation vehicles and transported article allocation candidate fuzzy linear programming Removal using the method
It may be configured as follows. Further, the allocation evaluation means calculates an evaluation value that monotonically increases or monotonically decreases as the number of allocations of the transport vehicles and the goods to the transport work increases, and calculates the above-mentioned evaluation value by the allocation to the unallocated works of the transport vehicles and the goods. The minimum of the increase or decrease of the evaluation value is determined, and the assignment determining means determines the minimum of the increase or decrease of the evaluation value and the minimum of the increase or decrease of the evaluation value. It is an operation plan planning device for a transport vehicle that determines an assignment. Further, the present invention is an operation planning device for a transporting vehicle, wherein the allocation evaluation means uses a solution to an optimum allocation problem when obtaining a minimum increase or decrease in the evaluation value.

Further, there is provided an operation plan planning device for a transport vehicle in which the transported object is a mixed iron car and the transported vehicle is a locomotive. Further, the present invention is an operation plan planning device for a transport vehicle in which the transported object is a trolley and the transported vehicle is a locomotive. Here, since the branch and bound method is a method for examining all possible assignments, according to the present invention, unlike the conventional example using the multiple tree search method for decomposing a problem, the optimal A solution can be obtained. In the branch-and-bound method, a high-speed search can be performed by efficiently terminating the search. However, according to the present invention, a linear programming, a target programming, or a fuzzy linear programming is used. By means of easy means, it is possible to find and remove combinations of assignable transport operations and transport vehicles and goods. Furthermore, the evaluation value is determined so as to be monotonically increasing or decreasing, and the minimum increase or decrease in the evaluation value when all vehicles are allocated to the unallocated work is reduced to the actual combination of all allocations. The search can be performed without checking, so the search can be easily terminated if it is found that the evaluation value deteriorates as the allocation proceeds in the future, compared to the currently known best allocation evaluation value. Becomes possible.

[0007]

DETAILED DESCRIPTION OF THE INVENTION AND

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments and examples of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention.
The following embodiments and examples are mere examples embodying the present invention, and do not limit the technical scope of the present invention. FIG. 1 is a block diagram showing a schematic configuration of an operation planning device A for a transport vehicle according to an embodiment and an example of the present invention, and FIG. 2 is a table showing an example of storage contents of a transport vehicle information storage unit. , FIG. 3 is a table showing an example of the storage contents of the transport work / transportation information storage section, FIG. 4 is a table showing an example of the storage contents of the landing point information storage section, and FIG. FIG. 6 is a diagram illustrating an example of a fuzzy membership function, FIG. 7 is a diagram illustrating an example of an assignment tree, FIG. 8 is a flowchart illustrating an operation procedure of the device A, and FIG. It is a figure showing an example of an output.

As shown in FIG. 1, an operation planning apparatus A for a transport vehicle according to an embodiment and an embodiment of the present invention loads or pulls a plurality of loads by a plurality of transport vehicles, and sets a predetermined arrival and departure time. This is the same as the conventional example in that each transport vehicle and the transported goods are assigned to the operation of transporting between points and each operation plan is made. However, in the present embodiment and examples, the transport vehicle information storage unit 1, which stores at least information on the transport vehicle, the transported object, the transporting operation, and the departure / arrival point, which is the target of the operation plan, the transporting operation / transported object information storage Unit 2, departure / arrival point information storage unit 3, operation rule storage unit 4 (1
4 to 4 correspond to plan information storage means), a plan condition storage unit 5 for storing the conditions of the operation plan (corresponding to plan condition storage means), Evaluation value calculation unit 6 for evaluating the quality of the allocation, evaluation value increase prediction unit 7 (6 and 7 correspond to evaluation means), and evaluation of the conditions of the operation plan and the allocation of transport vehicles and goods to the transport operation Based on the results
Unassignable allocation candidate removing unit 8 for deciding the allocation of transport vehicles and goods to the transport work by the branch and bound method, transport work / transport vehicle / goods allocation unit 9, provisional solution storage unit 10, optimal solution output unit 11 (8 to 11 correspond to allocation determining means).

Hereinafter, the present apparatus A will be further embodied.
Next, the operating principle will be described in detail. The transportation here
Using mixed iron cars as goods and locomotives as transport vehicles
However, even if a trolley is used as the cargo,
No problem. The following symbols are used here.
And . When the number of locomotives is I,
J) is the number of (work). . P is the starting point of the jth transport operation_s(J), the landing point is p
_f(J). . The request time of the jth transportation work is t_s(J), arrival request time
To t_f(J). . The departure time of the j-th transportation work is x (j) and the arrival time is y (j)
(These are variables, not constants). . Point p₁, P_TwoSingle running time between
The time required to travel by a locomotive alone) is T₀(P₁,
p_Two), Transportation time
The time it takes to₁(P₁, P_Two). . Initial position p of locomotive i_i ⁰, The operation start time is t_i ⁰,
Set the operation end time to t_i ¹And . J is the final transport operation number that has been assigned₀Toss
You. . The number of transport operations currently assigned to locomotive i is K
(I). . The transport work number currently assigned to the locomotive i is j
_i ¹, J_i ^Two, ..., j _i ^{k (i)}And

As shown in FIG. 2, the vehicle information storage unit 1 stores the vehicle numbers of the locomotives, their respective initial positions, and the operable time zones. As shown in FIG. 3, the transport work / transported goods information storage unit 2 stores the work number, departure point name, destination point name, departure request time, departure request time, and the number of the pig iron truck to be transported. In addition, transport work / transported goods information composed of transport contents by the pig iron truck is stored. The tasks are arranged in order of earliest request time. The departure / arrival point information storage unit 3 stores a standard travel time between departure and arrival points, as shown in FIG. In the standard travel time, both the transport time and the single run time are stored. The operation rule storage unit 4 stores a goal of minimizing the total running time of the locomotive as a target of allocation.

The evaluation value calculator 6 calculates the total single running time of the locomotive and uses it as an evaluation value. In the evaluation value increase prediction unit 7,
The minimum value (minimum value) of the increase in the evaluation value that increases due to future allocation is determined as follows. That is, as shown in FIG. 5, two sets of nodes, a landing point and a departure point, are created, and a bipartite graph connected one-to-one is created. The single running time between points is given as the weight of the branch. However, the weight of the branch connected to the end point is set to 0. Then, the operation route of the I locomotives can always be represented as a one-to-one correspondence (allocation) of these two sets of nodes. The sum of the branch weights in that assignment is the sum of the single running times. Since the set of service routes is a subset of the set of assignments, the minimum value of the assignment is always equal to or smaller than the minimum of that subset. Therefore, if the assignment that minimizes the total weight of the branches (minimum assignment) is found, it will always be smaller than the sum of the single trip times of the running routes with the shortest running time, and no matter what allocation is made in the future, It can be seen that it takes at least a single run time. The fact that such a minimum assignment is required in a short time is known, for example, from Katsuhito Hitomi, "Production Management Optics", Corona Publishing, 1978, PP94-96.
Therefore, by finding the minimum allocation as described above,
The minimum value of the evaluation value increase can be predicted.

The unassignable assignment candidate removing unit 8
The assignment candidate that cannot be assigned is removed as described above.
Conditions for this are stored in the plan condition storage unit 5.
The contents are as follows. 1. Point p_fThe arrival time y (j) at (j) is the point p
_sPoint p at departure time x (j) at (j)_s(J), p
_fThe time must be the sum of the transportation time between (j)
No. y (j) = x (j) + T₁(P_s(J), p_f(J)) (j = 1, 2,..., J) (1) Jth_i ^KTime x (j) to depart from the departure point of transportation work
_i ^K) Is the previous transportation work j of the same locomotive._i ^K-1Landing point
p_f(J_i ^K-1) And the last transportation work j_i
^K-1Landing point p_f(J_i ^K-1) From this time transport work_i ^K
Departure point p_s(J _i ^KSingle running time T)₀(P_f(J
_i ^K-1), P_s(J_i ^K)) Must be later than the sum
No. x (j_i ^K) ≧ y (j_i ^K-1) + T₀(P_f(J_i ^K-1), P_s(J_i ^K)) (I = 1, 2,..., I, K = 2, 3,..., K (i)) (2)

3. Time x at which the train departs from the departure point of the j _i ¹ transport work, which is the first transport work performed by locomotive i
(J _i ¹⁾ is, in the operational start time t _i ^0, the initial position p _i ⁰
From the first j _i ¹ single run time of up to departure point of the transport work T ₀ (p
_i ⁰ , p _s (j _i ¹ )). ^{_{x (j i 1) ≧ t}} i 0 + T 0 (p i 0, p s (j i 1)) (i = 1,2, ..., I) ... (3) 4. Is the last of the transport work performed by the locomotive i first j ^{_i K _(i)} time to arrive at the landing point of the transport work ^{_{y (j i K (i)}} ) must be before the operation the last time t _i ¹ . y (j _i ^{K (i)} ) ≦ t _i ¹ (i = 1, 2,..., I) (4) The above conditions (1) to (4) are general constraints in the branch and bound method. However, in the present invention, the following conditions are further added to remove the allocation candidates. 5. When using linear programming: In this case, the following conditions are added. (A) The departure time must match the departure request time. _{x (j) = t s (} j) (j = 1,2, ..., J) ... (5) (b) arrival time must match the wearing request time. y (j) = t _f (j) (j = 1, 2,..., J) (6) Under the above conditions (1) to (6), the objective function is defined as follows. Is minimized.

[0014]

(Equation 1) Here, when the above-mentioned linear programming problem is solved using the well-known simplex method, if there is no solution satisfying the conditions (5) and (6), this assignment is made within the range of the conditions (5) and (6). Is impossible, and the allocation candidate can be removed.

6. When using goal programming: Add the following conditions. The excess from the calling request time of (a) onset time d _j ^+, the shortage d _j ^- and the following equation is established when. ^{_{x (j) -d j + +}} d j - = t s (j) (j = 1,2, ..., J) ... (8) (b) the excess from the destination request time of arrival time d _{J + j} ^+, the shortage d _{J + j} ^- following equation is established when the. y (j) −d _{J + j} ⁺ + d _{J + j} ⁻ = t _f (j) (j = 1, 2,..., J) (9)

The above conditions (1) to (4), (8), (9)
, The following objective function is minimized.

(Equation 2) The minimum value of the objective function indicates a limit that no matter how close the departure time and the arrival time are to the target, they cannot be further approached. Therefore, a threshold value is set in advance, and if the value is larger than the threshold value, it can be determined that the assignment is impossible, and the assignment candidate can be removed.

[7] When fuzzy programming is used: For the departure request time t _s (j) and the departure request time t _f (j) for the departure time x (j) and arrival time y (j) of the j-th transportation work, it is preferable. The membership function expressing the value is defined as shown in FIG. (A) The preference λ of the deviation of the departure time from the departure request time
_s (j) is expressed by the following equation.

(Equation 3)

(B) The preference λ _f (j) of the deviation of the arrival time from the arrival request time is expressed by the following equation.

(Equation 4)

The above conditions (1) to (4), (11), (1)
Under 2), the following objective function is minimized.

(Equation 5) When the above fuzzy linear programming problem is solved using the simplex method, it can be understood that this assignment is impossible if no solution exists within the range of the membership functions (11) and (12). Can be removed.

The transport work / transportation vehicle / transportation allocating unit 9 creates an allocation tree as shown in FIG. 7 and performs a vertical search in order from the upper left of the tree. The search is specifically performed using a branch and bound method according to a procedure as shown in FIG. Step S1: The provisional solution storage unit 10 is initialized, and a very large numerical value is stored as a provisional value. Step S2: One unsearched node is selected from the one closer to the upper left of the tree. Step S3: The assignment possibility is checked by the unassignable assignment candidate removing unit 8 based on the assignment up to the currently selected node. If the assignment is possible, the process proceeds to the next step. If the assignment is not possible, the process proceeds to step S9 described later. Step S4: The evaluation value calculation unit 6 calculates an evaluation value by assignment to the currently selected node.

Step S5: The evaluation value increase predicting section 7 obtains the minimum increase in the evaluation value due to the assignment below the currently selected node. Step S6: The value obtained by summing the evaluation value obtained in step S4 and the minimum increase in the evaluation value obtained in step S5 is compared with the provisional value stored in the provisional solution storage unit 10. If the former is smaller, the process proceeds to the next step. If the former is larger, the process proceeds to step S9 described later. Step S7: If the currently selected node is not the lower end of the tree, the process returns to step S2. Step S8: The assignment and the evaluation value at the currently selected node are replaced with those stored in the provisional solution storage unit 10, and the process proceeds to the next step S9.

Step S9: The node is set to the end (all nodes of the subtree below this node have been searched), and an unsearched node is selected by a backtracking operation. If there is an unsearched node, the process returns to step S3. Step S10: If there is a provisional solution stored in the provisional solution storage unit 10, the solution is output as the optimal solution by the optimal solution output unit 11. If there is no stored provisional solution, it can be concluded that allocation with this number of locomotives is impossible, and the optimal solution output unit 11 outputs a conclusion that there is no solution. This device A
FIG. 9 shows an example of an operation plan of a locomotive obtained by using the method shown in FIG. At this time, the calculation time required for obtaining the operation plan of about one hour was 35 seconds. Therefore, it has been found that the optimal solution can be obtained practically and in a sufficiently short time here without dividing the tree.

In the above-described embodiments and examples, the most suitable combination of the conveyed object and the conveyed vehicle is considered after preliminarily associating the conveyed material with the conveyed work. It is also possible to consider the optimal combination of a transported object and a transport operation in the same procedure, and then consider the optimal combination of these and a transport vehicle. Also in this case, since the branch and bound method is used, unlike the conventional example using the multiple tree search method, an optimal solution can be obtained throughout.

[0024]

As described above, the operation planning system for a transport vehicle according to the present invention is configured as described above, so that an optimal assignment of all transport operations to all transport vehicles can be obtained. That is, since the branch and bound method is a method for examining all possible assignments, according to the present invention, unlike the conventional example using a multiple tree search method for decomposing a problem, an optimal solution is obtained throughout. be able to. In the branch and bound method, high-speed search can be performed by efficiently terminating the search. However, according to the present invention, it is easy to use a linear programming method, a target programming method, or a fuzzy linear programming method. As a result, it is possible to find and remove the unassignable combination of the transport operation and the transport vehicle and the transported object. Furthermore, the evaluation value is determined to be monotonically increasing or decreasing, and the minimum increase or decrease in the evaluation value when all vehicles are allocated to the unallocated vehicle work is checked for all combinations of actual allocations. The search can be easily terminated if it is found that the evaluation value will worsen as the allocation proceeds in the future, compared to the currently known best allocation evaluation value. Becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a schematic configuration of an operation planning device A for a transport vehicle according to an embodiment and an embodiment of the present invention.

FIG. 2 is a table showing an example of contents stored in a transport vehicle information storage unit.

FIG. 3 is a table showing an example of contents stored in a transport work / transported goods information storage unit.

FIG. 4 is a table showing an example of contents stored in a departure / arrival point information storage unit.

FIG. 5 is a diagram showing an example of a bipartite graph connecting a landing point and a departure point.

FIG. 6 is a diagram illustrating an example of a fuzzy membership function.

FIG. 7 is a diagram showing an example of an assignment tree.

FIG. 8 is a flowchart showing an operation procedure of the device A;

FIG. 9 is a diagram showing an output example of the device A.

FIG. 10 is a block diagram showing a schematic configuration of an example of a conventional transportation vehicle operation planning device A ′.

FIG. 11 is a flowchart showing an operation procedure of the conventional device A ′.

[Explanation of symbols]

A: Transport vehicle operation plan planning device 1 ... Transport vehicle information storage unit (corresponding to plan information storage unit) 2 ... Transport work / transported goods information storage unit (corresponding to plan information storage unit) 3 ... Departure / arrival point information storage unit ( 4 ... Operation rule storage unit (corresponding to plan information storage unit) 5 ... Plan condition storage unit (corresponding to plan condition storage unit) 6 ... Evaluation value calculation unit (corresponding to evaluation unit) 7 ... Evaluation Value increase predicting unit (corresponding to evaluation means) 8: Unassignable allocation candidate removing unit (corresponding to allocation determining means) 9 ... Transportation work / transportation vehicle / transported goods allocating unit (corresponding to allocation determining means) 10: Provisional solution Storage unit (corresponding to allocation determining means) 11 ... Optimal solution output unit (corresponding to allocation determining means)

────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Yuji Fujiyama 1 Kanazawacho, Kakogawa City, Hyogo Prefecture Kobe Steel, Ltd. Kakogawa Works (56) References JP-A-7-175504 (JP, A) JP-A-1 -23120 (JP, A) JP-A-2-112100 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G08G 1/123 G05B 13/02 G06F 17/60

Claims (7)

(57) [Claims] 1. For a task of loading or towing a plurality of cargoes by a plurality of transport vehicles and transporting the cargo between predetermined departure and arrival points, each transport vehicle and the cargo are assigned and an operation plan is prepared. In the apparatus, plan information storage means for storing at least information on a transport vehicle, a transported object, a transport operation, and a departure / arrival point which are the targets of the operation plan; plan condition storage means for storing the conditions of the operation plan; Based on the information, the assignment evaluation means for evaluating the quality of the assignment of the transport vehicles and the goods to the transport work, the conditions of the operation plan, and the evaluation results of the assignment of the transport vehicles and the goods to the transport work. the assignment of the transport vehicle and the transported articles against the carrying works, comprising a assignment determining means for determining the branch and bound method, the allocation determining means , Transport vehicle及for transportation work
And the assignment of goods by the branch and bound method.
Transport work that cannot be assigned
By using the linear programming method.
Travel planning apparatus of the transport vehicle, characterized in that that. 2. A method for loading a plurality of articles by a plurality of transport vehicles.
Work to transport between preset departure and arrival points by loading or towing
Allotment of each transport vehicle and goods to the industry
Equipment for planning an operation plan of a vehicle, at least
A total that stores information on items, transport operations, and departure and arrival points.
Image information storage means, plan condition storage means for storing the conditions of the operation plan, and a transportation vehicle and an operation for transportation operation based on each of the information.
Allocation evaluation means for evaluating the quality of the allocation of the conveyed goods, conditions of the operation plan, and a transport vehicle for the transport operation
And the results of the assessment of the
Assignment of transport vehicles and goods to work shall be
; And a assignment determining means for determining according to a conventional method, the allocation determining means, transport vehicle及for carrying works
And the assignment of goods by the branch and bound method.
Ri, and assignment non-transportation work and the transportation vehicle and luck 搬物
Of candidate assignments consisting of
An operation planning device for a transport vehicle, comprising: 3. A method for loading a plurality of articles by a plurality of transport vehicles.
Work to transport between preset departure and arrival points by loading or towing
Allotment of each transport vehicle and goods to the industry
Equipment for planning an operation plan of a vehicle, at least
A total that stores information on items, transport operations, and departure and arrival points.
Image information storage means, plan condition storage means for storing the conditions of the operation plan, and a transportation vehicle and an operation for transportation operation based on each of the information.
Allocation evaluation means for evaluating the quality of the allocation of the conveyed goods, conditions of the operation plan, and a transport vehicle for the transport operation
And the results of the assessment of the
Assignment of transport vehicles and goods to work shall be
; And a assignment determining means for determining according to a conventional method, the allocation determining means, transport vehicle及for carrying works
And the assignment of goods by the branch and bound method.
Transport work that cannot be assigned
By using fuzzy linear programming
An operation planning device for a transport vehicle, wherein the operation plan is prepared. 4. The method according to claim 1, wherein said assignment evaluating means is adapted for carrying work.
As the number of transport vehicles and goods to be allocated increases,
Calculate the monotonically increasing or monotonically decreasing evaluation value.
By assignment for both unassigned operations of both vehicles and goods
Find the minimum increase or decrease in the above evaluation value and
The assignment determining means may include the evaluation value and an increase or an increase in the evaluation value.
Is based on the minimum amount of reduction.
4. The method according to claim 1, wherein the assignment of the transported vehicle and the load is determined.
An operation planning device for a transport vehicle according to any one of the above . 5. The method according to claim 1, wherein said assigning and evaluating means comprises :
Optimal allocation for finding the minimum increase or decrease
5. The operation planning device for a transport vehicle according to claim 4, wherein a solution to the problem is used . 6. The conveyed article is a mixed iron wheel, and
The transport vehicle is a locomotive, and the vehicle according to any one of claims 1 to 5.
Operation planning equipment for transport vehicles. 7. The vehicle according to claim 7, wherein the conveyed object is a trolley,
The operation planning device for a transport vehicle according to any one of claims 1 to 5, wherein the transport vehicle is a locomotive .