JP7114031B2 - Patrol route search device, patrol route generation method, and program - Google Patents

Description

The present invention relates to a tour route search device, a tour route generation method, and a program.

Patent Document 1 discloses a vending machine replenishment system that is designed to minimize the number of missing items, optimize the loading amount of carts at replenishment locations, and prevent unnecessary transportation and work costs. A work support system is described. The vending machine replenishment work support system receives the product inventory status of the vending machine through the network, and when the replenishment worker reaches one of the replenishment target areas in the patrol route composed of the replenishment target areas Based on the product inventory in the product delivery truck, the products to be distributed to the vending machines and their quantities are calculated and distributed based on the product inventory status of the vending machines on the patrol route and the replenishment criteria set in advance for each vending machine. The product and its quantity are output to the information terminal.

Patent Document 2 discloses a tour route search configured for the purpose of searching for a tour route that satisfies the restrictions when there are order and/or time restrictions on a plurality of points to be toured. A method is described. In the above method, all the shortest routes between two points to be toured are searched for, the optimum route and route cost are stored, and when the optimum tour route is obtained using a genetic algorithm, the route cost corresponding to the tour order is calculated. An evaluation value is calculated by adding a constraint cost according to the constraint conditions of the site to be visited to the sum, and if the evaluation value is better than the gene in the existing group, it is added to the gene group.

JP 2008-293262 A JP 2007-187584 A

The route search when traveling around a plurality of locations while replenishing supplies with a mobile body is a so-called traveling salesman problem, and causes an information processing device to execute a route search algorithm such as a hill climbing method or a simulated annealing method. It can be done by

Here, searching for a patrol route of vending machines by vehicles such as trucks for replenishing products to multiple vending machines installed in various places is, for example, possible inventory (accommodable) in each vending machine The difference between the maximum amount of products and the remaining amount of products in each vending machine is defined as the replenishment amount of each product. It can be done by running a search algorithm.

However, since the replenishment amount of products to each vending machine is set to a fixed value (the above difference), for example, when the replenishment amount to the vending machine is suppressed, the patrol route cannot be a search candidate. There is a problem that it is not possible to flexibly search for a patrol route in accordance with the actual operational status.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and provides a patrol route search apparatus, a patrol route generation method, and a patrol route search apparatus capable of flexibly and appropriately searching for a patrol route in accordance with actual operational conditions. The purpose is to provide a program.

One aspect of the present invention for achieving the above object is a patrol route searching apparatus for searching for a patrol route of a mobile body that patrols while replenishing supplies to facilities provided at a plurality of locations, the apparatus comprising: For each of them, the maximum replenishable amount that is the maximum amount of materials that can be replenished, the minimum replenishment amount that is the minimum amount of materials that must be replenished, and the materials currently loaded on the moving body , the maximum loading capacity of the moving object, and the remaining amount of the goods in each of the facilities; A second method related to the route length of the candidate route is generated, and the replenishment amount of the goods loaded on the moving body to the facility can be adjusted within a range determined by the maximum possible replenishment amount and the minimum replenishment amount. 1 index value is obtained, the patrol route is searched based on the first index value, and the replenishment amount of supplies at each facility on the patrol route is calculated by proportionally dividing the maximum loading capacity of the mobile object. and a search processing unit.

In addition, the problems disclosed by the present application and their solutions will be clarified by the descriptions in the description of the mode for carrying out the invention, the descriptions in the drawings, and the like.

According to the present invention, it is possible to search for a patrol route flexibly and appropriately in accordance with the actual operational status.

1 is a diagram showing a schematic configuration of a patrol route search system; FIG. FIG. 2 is a diagram for explaining a method of searching for a patrol route by the patrol route search device; 1 is a block diagram showing the main configuration of a vending machine; FIG. It is a figure which shows the main functions with which a vending machine is provided. 1 is a block diagram showing the main configuration of a patrol route search device; FIG. 1 is a diagram showing main functions of a patrol route search device; FIG. It is an example of base information. It is an example of vending machine information. It is an example of vehicle information. It is an example of current route information. It is an example of next route information. 10 is a flowchart for explaining route search processing by the hill-climbing method; 4 is a flowchart for explaining route search processing by the simulated annealing method; It is a figure which shows an example of a present course. It is a figure which shows an example of a next path|route. It is a figure which shows the mode of simulation. It is a figure which shows an example of a present course. It is a figure which shows an example of a next path|route. It is a figure which shows the mode of simulation. It is a figure which shows the execution example of a simulation. It is a figure which shows the execution example of a simulation.

Hereinafter, embodiments will be described in detail with reference to the drawings.

FIG. 1 shows a schematic configuration of a patrol route search system 1 shown as an embodiment. As shown in the figure, the patrol route search system 1 is capable of communicating with a plurality of vending machines 2 (equipment) installed in various locations via a communication network 5 with each of these vending machines 2. and a patrol route search device 10, which is an information processing device to be connected.

At a site 3 shown in the figure, a vehicle 4 (moving body) for transporting commodities (materials) to be replenished to the vending machine 2 is replenished (loaded) with commodities. Although only one base 3 is shown in the figure, a plurality of bases 3 may exist. The vehicle 4 replenishes the loaded commodities to the vending machine 2 by going around various places. The patrol route search device 10 searches for an appropriate patrol route for each vending machine 2 by executing a route search algorithm, and outputs the result.

As shown in FIG. 2, the patrol route search device 10 determines the maximum possible replenishment amount (hereinafter also referred to as "MAX replenishment amount"), which is the amount of products that can be replenished in the vending machine 2, For each vending machine 2, within the range between the minimum replenishment amount (hereinafter also referred to as "MIN replenishment amount"), which is the minimum amount of products that must be replenished for each vending machine 2. A patrol route is searched by executing a route search algorithm with an adjustable replenishment amount of products. Incidentally, the method for setting the MIN replenishment amount is not necessarily limited. As a method for setting the MIN replenishment amount, for example, the following can be considered.

(1) A value corresponding to the characteristics of the products handled by the vending machine 2 and the consumption tendency of the user is set as the MIN replenishment amount.
(2) It is set as a percentage of the maximum stockable amount of the vending machine 2 . For example, 50% of the maximum possible stock amount is set as the MIN replenishment amount (however, if the current inventory amount is 50% or more, the MIN (set as replenishment amount).
(3) Set as a ratio to the MAX replenishment amount of vending machine 2 . For example, 50% of the MAX replenishment amount is set as the MIN replenishment amount.

For example, information for determining at least one of the MAX replenishment amount and the MIN replenishment amount is received in the patrol route search device 10, and at least one of the MAX replenishment amount and the MIN replenishment amount is determined based on the received information. A user interface may be provided that asks for and stores the . Further, for example, in the case of the above setting method (1), the user interface may receive and store a value corresponding to the characteristics of the material and the consumption tendency of the material as the MIN replenishment amount. Further, for example, in the case of the above setting method (2), the user interface receives the ratio of the maximum possible stock amount of the vending machine 2, and multiplies the maximum possible stock amount by the ratio to set the MIN of the vending machine 2. You may make it memorize|store as a replenishment amount. Further, for example, in the case of setting method (3) above, the user interface receives the ratio to the MAX replenishment amount of the vending machine 2, and multiplies the MAX replenishment amount by the above ratio to obtain the MIN replenishment of the vending machine 2. It may be stored as a quantity.

FIG. 3 is a block diagram showing the main configuration of the vending machine 2. As shown in FIG. As shown in the figure, the vending machine 2 includes a processor 21 , a storage device 22 , a communication device 23 , a sales control mechanism 24 , a money acceptance mechanism 25 , and a product residual quantity detection mechanism 26 .

The processor 21 is configured using, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The storage device 22 is a device that stores programs and data, and is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile semiconductor memory (NVRAM (Non Volatile RAM)), or the like. The processor 21 and the storage device 22 constitute a main control section that performs overall control of the vending machine 2 . The processor 21 and the storage device 22 are realized using, for example, a virtual information processing resource provided via the communication device 23 (for example, a cloud server provided by a cloud system, etc.). It may be

The communication device 23 is configured using, for example, a wireless communication module, a NIC (Network Interface Card), or the like. The communication device 23 realizes communication with other devices such as the patrol route search device 10 via the communication network 5 . The communication device 23 can also function as an input device that receives information from other devices.

The vending control mechanism 24 is configured using a mechanical mechanism, an electronic circuit, or the like, and includes a mechanism that is controlled when products are provided to users of the vending machine 2 . The sales control mechanism 24 includes, for example, a product shelf and a product ejection mechanism inside the vending machine 2, product selection buttons outside the vending machine 2, an IC card reader/writer for payment, various display lamps, a display, and the like. .

The money acceptance mechanism 25 includes a mechanism as a hardening sorter (coin mech) and a banknote sorter (bill validator). It controls the number of coins and banknotes held for use.

The product remaining amount detection mechanism 26 detects the product remaining amount of the vending machine 2 . The product remaining amount detection mechanism 26 is configured using, for example, a mechanical or electronic remaining amount counting mechanism, an optical sensor, a pressure sensor, or the like. The product remaining amount detection mechanism 26 can have various configurations according to the properties of the products sold by the vending machine 2 .

FIG. 4 shows main functions of the vending machine 2. As shown in FIG. As shown in the figure, the vending machine 2 includes a storage unit 210, a sales control processing unit 211, a money reception processing unit 212, a product remaining amount acquisition unit 213, a MAX replenishment amount calculation unit 214, a MIN replenishment amount calculation unit 215, and each function of the communication processing unit 216 .

The functions of the vending machine 2 are realized by, for example, mechanisms provided in the vending machine 2 . Also, the functions of the vending machine 2 are implemented by, for example, the processor 21 reading and executing a program stored in the storage device 22 . The above program is loaded from a portable recording medium (CD (Compact Disc), DVD (Digital Versatile Disc), flash memory, etc.) to the storage device 22 via a portable recording medium reader (not shown). Further, the above program is downloaded to the vending machine 2 via communication equipment from a distribution device (not shown) that stores and manages the above program, for example.

Among the above functions, the storage unit 210 stores the remaining product amount 251 that is the current remaining product amount of the vending machine 2, the maximum possible inventory amount 252 that is the above-described maximum possible inventory amount of the vending machine 2, the automatic MAX replenishment amount 253, which is the aforementioned MAX replenishment amount of the vending machine 2; MIN replenishment amount 254, which is the aforementioned MIN replenishment amount of the vending machine 2; Each information (data) of the degree of urgency 255 is stored. In this embodiment, the urgency level 255 takes a value in the range of 0-9. The value of the degree of urgency 255 increases as the urgency increases.

The information stored in the storage unit 210 is shared with the patrol route search device 10 via the communication network 5 in real time or at any time (periodically, etc.). These pieces of information stored in the storage unit 210 may be managed by the patrol route search device 10, but for example, these pieces of information may be individually managed by individual vending machines 2, and the patrol route search device 10 may manage these pieces of information as needed. Acquiring the information from the vending machine 2 facilitates management when adding or removing the vending machine 2.例文帳に追加

The sales control processing unit 211 controls the sales control mechanism 24 and performs processing related to providing products to users of the vending machine 2 . The money reception processing unit 212 performs control such as determining the authenticity of coins and banknotes inserted into the money receiving mechanism 25, sorting coins and banknotes by type, and detecting the number of banknotes and coins.

The product remaining amount acquisition unit 213 acquires the product remaining amount via the product remaining amount detection mechanism 26 . The storage unit 210 stores the product remaining amount acquired by the product remaining amount acquiring unit 213 as the product remaining amount 251 . Further, the product remaining amount acquisition unit 213 sets the value of the urgency level 255 according to the acquired product remaining amount. For example, the product remaining amount acquisition unit 213 sets the value of the urgency level 255 higher as the product remaining amount decreases. Further, for example, the product remaining amount acquisition unit 213 sets the value of the urgency level 255 to be larger as the decreasing speed of the product remaining amount is faster.

The MAX replenishment amount calculation unit 214 obtains the MAX replenishment amount based on the maximum possible stock amount 252 and the product remaining amount 251 stored in the storage unit 210 . In this embodiment, the MAX replenishment amount calculation unit 214 obtains the difference between the maximum possible inventory amount 252 and the product remaining amount 251 as the MAX replenishment amount. The maximum possible inventory amount 252 is set by the administrator of the vending machine 2 via the communication device 23, for example. The maximum possible inventory amount 252 may be set from the patrol route search device 10 via the communication network 5 . The storage unit 210 stores the MAX replenishment amount calculated by the MAX replenishment amount calculation unit 214 as the MAX replenishment amount 253 . The function of the MAX replenishment amount calculator 214 may be implemented on the patrol route search device 10 side.

The MIN replenishment amount calculator 215 receives the above-described setting of the MIN replenishment amount via the communication device 23 . The MIN replenishment amount received by the MIN replenishment amount calculation unit 215 is stored in the storage unit 210 as the MIN replenishment amount 254 . The MIN replenishment amount is set by, for example, the administrator of the vending machine 2 or the route man. Further, the setting of the MIN replenishment amount 254 may be performed from the patrol route search device 10 via the communication network 5, for example.

The communication processing unit 216 communicates with the patrol route search device 10 via the communication network 5 and transmits or receives various information such as information stored in the storage unit 210 to or from the patrol route search device 10 .

FIG. 5 is a block diagram showing the main configuration of the patrol route search device 10. As shown in FIG. As shown in the figure, the patrol route search device 10 includes a processor 11 , a main storage device 12 , an auxiliary storage device 13 , an input device 14 , an output device 15 and a communication device 16 . These are communicably connected to each other via communication means such as a bus (not shown).

The patrol route search device 10 may be implemented using virtual resources such as a virtual server or a cloud server in a cloud system, for example. Also, the patrol route search device 10 may be implemented by, for example, a plurality of information processing devices and processors that are communicably connected.

The processor 11 is configured using, for example, a CPU, an MPU, a GPU (Graphics Processing Unit), and the like. Various functions of the patrol route search device 10 are realized by the processor 11 reading and executing the programs stored in the main storage device 12 . The main memory device 12 is a device that stores programs and data, and is, for example, a ROM, a RAM, a nonvolatile semiconductor memory, or the like.

The auxiliary storage device 13 is, for example, a hard disk drive, a semiconductor memory (SSD, SD memory card, USB memory, etc.), an optical storage device (CD, DVD, etc.) read/write device, etc.), a storage area of a cloud server, etc. is. Programs and data stored in the auxiliary storage device 13 are loaded into the main storage device 12 at any time. The auxiliary storage device 13 may be communicably connected to the processor 11 via communication means such as NAS (Network Attached Storage).

The input device 14 is a user interface that receives input from the outside, and includes, for example, a keyboard, a mouse, a touch panel, and a reading device for portable recording media. The output device 15 is a user interface that provides various types of information such as processing progress and processing results to the outside. loading device, etc.

The communication device 16 is a wired or wireless communication interface that realizes communication with another device via the communication network 5, and is, for example, a wireless communication module or NIC. For example, a configuration in which information is input and output to and from another device via the communication device 16, that is, a configuration in which the communication device 16 functions as the input device 14 and the output device 15 may be employed.

FIG. 6 shows main functions of the patrol route search device 10 . As shown in the figure, the patrol route search device 10 has functions of a storage unit 110 , a communication processing unit 111 , and a route search processing unit 112 .

The functions of the patrol route search device 10 are implemented by hardware included in the patrol route search device 10, for example. The functions of the patrol route search device 10 are realized, for example, by the processor 11 reading and executing a program stored in the main storage device 12 . The above program is loaded from, for example, a portable recording medium into the main storage device 12 via the input device 14 . Further, the above program is downloaded to the patrol route search device 10 via communication equipment from a distribution device (not shown) that stores and manages the above program, for example.

Among the above functions, the storage unit 110 stores location information 151 that is information about the location 3, vending machine information 152 that is information about the vending machine 2, vehicle information 153 that is information about the vehicle 4, and information about the current route described later. current route information 154, which is information; next route information 155, which is information about the next route to be described later; cost function information 156, which is information about the cost calculation formula used when searching for a patrol route; and information about the search result of the patrol route. Each information (data) of the route search result 157 is stored.

The communication processing unit 111 communicates with each of the plurality of vending machines 2 located in various locations via the communication network 5 and transmits or receives information to or from each of the plurality of vending machines 2 .

The route search processing unit 112 receives information stored in the storage unit 110 and executes a predetermined route search algorithm to search for a patrol route. The above-mentioned route search algorithms are, for example, hill-climbing method, simulated annealing method, genetic algorithm, tabu search, and the like. In this embodiment, the route search algorithm is assumed to be a hill-climbing method or a simulated annealing method. The route search processing unit 112 simulates the state of load consumption on the route when evaluating a route that is a candidate for a search solution (hereinafter also referred to as a “candidate route”).

As shown in the figure, the route search processing unit 112 includes a candidate route generation unit 1121, a simulation processing unit 1122, a cost generation evaluation unit 1123, and a search result output unit 1124.

The candidate route generator 1121 sequentially generates candidate routes based on the base information 151 and the vending machine information 152 in the simulation. The candidate route generation unit 1121 stores information about one of the currently focused candidate routes (hereinafter referred to as "current route") as the current route information 154, and generates the next candidate generated based on the current route. Information about the route (hereinafter referred to as “next route”) is stored as next route information 155 .

When generating the next route, the candidate route generator 1121, for example, randomly selects two positions of the vending machines 2 included in the current route, and generates a route in which the order of the selected positions is changed as the next route. For example, when the current route is "base 3→vending machine 2A→vending machine 2B→vending machine 2C→vending machine 2D→vending machine 2E→base 3", the candidate route generating unit 1121 generates the next route is generated as "site 3→vending machine 2A→vending machine 2B→vending machine 2E→vending machine 2D→vending machine 2C→site 3".

The simulation processing unit 1122 simulates the state of load consumption when the vehicle 4 makes a round of a plurality of vending machines 2 along the candidate route. The simulation processing unit 1122 calculates the loading status of the vehicle 4 when it stops at each of the plurality of vending machines 2 as the remaining load at the time of maximum consumption (when the MAX replenishment amount is consumed) (hereinafter referred to as "load remaining at MAX time"). ) and the remaining load at the time of minimum consumption (when the MIN replenishment amount is consumed) (hereinafter also referred to as the "remaining load at MIN time"). It should be noted that a plurality of types of products (loads) can be loaded on the vehicle 4, but in this embodiment, for the sake of simplicity of explanation, only one type of load is assumed.

The simulation processing unit 1122 sets the initial values of the remaining load capacity at MAX and the remaining load capacity at MIN at the time of departure from the site 3 to the maximum load capacity of the vehicle 4 . The simulation processing unit 1122 updates the remaining load capacity at MAX and the remaining load capacity at MIN as follows each time the vehicle 4 approaches each of the plurality of vending machines 2 .
Remaining load at MAX (new) = Remaining load at MAX (old) - MAX replenishment amount ・・・Formula 2
Remaining load at MIN (new) = Remaining load at MIN (old) - MIN replenishment amount ・・・Formula 3
In the equations 2 and 3, the value of the left side is set to 0 when the left side has a negative value.

Here, if the MIN load remaining amount is 0 (zero) at a certain point, the simulation processing unit 1122 inserts a route returning from the previous point to the base 3 into the candidate route, and inserts this route as the next route under evaluation. Let it be the route. If there are a plurality of points 3, the simulation processing unit 1122 selects the point 3 closest to the previous point, for example.

When the vehicle 4 returns to the site 3 (including the case where the route returning to the site 3 is inserted as described above), the simulation processing unit 1122 calculates the remaining load capacity at MAX and the remaining load capacity at MIN. Reset to maximum loading capacity. Also, at the above time point, the simulation processing unit 1122 integrates the value obtained from the following equation as a bonus portion of the cost function.
Bonus = maximum load capacity - remaining load capacity at MAX ・・・Formula 4
When there are multiple types of loads, the simulation processing unit 1122 obtains, as a bonus, the sum of the values obtained from the above equation for each load, for example.

The cost generation evaluation unit 1123 obtains the cost of the candidate route based on the simulation result and the cost function expressed by the following equation.
Cost function = 1st index value - c x 2nd index value + 3rd index value Equation 5
In the above formula, the third index value is the cost adjustment amount according to the degree of urgency 1527 described later (the degree of urgency 255 described above). The third index value is obtained, for example, as follows.

Third index value = -α x Σf (vending machine urgency, order) Equation 6
where α is a positive coefficient. Also, the function f is expressed by the following equation.
f (vending machine urgency, order) = max (0, (total number of vending machines/2-order) x urgency) ・・・Formula 7

The “order” in the above formula is a value indicating what order the vehicle 4 approaches the vending machine 2 . In this embodiment, the vending machine 2 that the vehicle 4 first visits is the 0th. For example, if there are a total of 100 vending machines 2 to be patrolled, and the route man visits the vending machine 2 with urgency=9 first (0th), then f(9,0)=max (0, (100/2−0)×9)=450. Also, if this vending machine 2 is visited 51st, then f(9,51)=max(0, (100/2-51)×9)=0.

The first index value in Equation 5 is the sum of distances on the route, and is obtained from the following equation.
First index value=distance between two vending machines adjacent on the Σ route Equation 8

The second index value in Equation 5 is the integrated bonus value described above. Here, the sign of the second index value is negative because it can be said that a route with a large replenishment amount (more products can be replenished to the vending machine 2) is a more preferable route (lower cost route). The coefficient c is a value (weight value) that adjusts the replenishment amount and the unit of distance, and represents the value of the load per unit distance. When the coefficient c is large (the value of consumption (replenishment) is large), a route that allows the vending machine 2 to be replenished with the load as much as possible is likely to be selected even if it takes time to move to the base 3 . Conversely, when the coefficient c is small (the value of consumption (replenishment) is small), the vending machine 2 is replenished with the minimum amount that should be replenished without going to the base 3 as much as possible, and the number of times of returning to the base 3 is increased. Less routes (routes with shorter travel times) are more likely to be chosen. The patrol route search device 10 may be provided with a user interface that receives and stores the input of the count c (weight value).

It should be noted that the determination of whether or not to insert base 3 is made based on whether or not the MIN load remaining amount is 0 (whether or not the remaining amount is insufficient even if the MIN replenishment amount is used). On the other hand, the bonus is sought based on the remaining load at MAX, based on the idea that if the vending machine 2 returns to base 3, the vending machine 2 should be replenished with as many products as possible before that time. based on

The cost generation evaluation unit 1123 divides the replenishment amount of each point (point 1, point 2, . decide. For example, when replenishing with the MAX replenishment amount, the replenishment amount is determined from the following equation when replenishing in proportion to the current loading amount.
Replenishment amount at point i =
MIN replenishment amount at point i + maximum load x (MAX replenishment amount at point i - MIN replenishment amount at point i) / (sum of MAX replenishment amounts at each point - summation of MIN replenishment amounts at each point) Formula 9

The search result output unit 1124 outputs the patrol route searched by the route search processing unit 112 to the output device 15 .

FIG. 7 shows an example of the base information 151. As shown in FIG. As shown in the figure, the site information 151 includes one or more records for each site 3, each of which has a site ID 1511 and location information 1512 items. The base ID 1511 is set with the identifier of the base 3 (hereinafter referred to as base ID). In the position information 1512, information indicating the position of the base 3 (in this example, latitude and longitude) is set.

An example of vending machine information 152 is shown in FIG. As shown in the figure, the vending machine information 152 includes vending machine ID 1521, position information 1522, product remaining amount 1523, maximum inventory amount 1524, MAX replenishment amount 1525, and MIN replenishment amount 1526. Contains multiple records for each vending machine 2 . The vending machine ID 1521 is set with an identifier of the vending machine 2 (hereinafter referred to as vending machine ID). Information indicating the position of the vending machine 2 (latitude and longitude in this example) is set in the position information 1522 . The current product remaining amount of the vending machine 2 is set in the product remaining amount 1523 . The maximum possible inventory amount of the vending machine 2 is set in the maximum possible inventory amount 1524 . The MAX replenishment amount of the vending machine 2 is set in the MAX replenishment amount 1525 . The MIN replenishment amount of the vending machine 2 is set in the MIN replenishment amount 1526 . The degree of urgency (degree of urgency 255) collected from each vending machine 2 is set in the degree of urgency 1527 .

An example of the vehicle information 153 is shown in FIG. As shown in the figure, the vehicle information 153 includes one or more records for each vehicle 4 having items of a vehicle ID 1531 and a maximum load capacity 1532 . Vehicle ID 1531 is set with an identifier of vehicle 4 (hereinafter referred to as vehicle ID). The maximum load capacity of the vehicle 4 is set in the maximum load capacity 1532 .

An example of the current route information 154 is shown in FIG. Information indicating the current route described above is set in the current route information 154 . In this example, as the current route information 154, information indicating the route "base 3→vending machine 2A→vending machine 2B→vending machine 2C→vending machine 2D→base 3" is set.

FIG. 11 shows an example of the next route information 155. As shown in FIG. Information indicating the above-described next route is set in the next route information 155 . In this example, as the next route information 155, information indicating the route of "site 3→vending machine 2A→vending machine 2B→vending machine 2C→site 3→vending machine 2D→site 3" is set. .

Next, a specific description will be given of processing related to the route search performed by the route search processing unit 112. FIG.

FIG. 12 is a flowchart for explaining the processing (hereinafter referred to as route search processing S1200) performed by the route search processing unit 112 when searching for a patrol route using the hill-climbing method. The route search processing S1200 will be described below with reference to FIG.

First, the candidate route generator 1121 generates an initial value of the current route (for example, a randomly set route) (S1211).

Subsequently, the simulation processing unit 1122 performs a simulation of the current route (S1212).

Subsequently, the cost generation evaluation unit 1123 obtains the cost for the current route based on the simulation results (S1213).

Subsequently, the candidate route generator 1121 generates the next route based on the current route (S1214).

Subsequently, the simulation processing unit 1122 performs a simulation for the next route (S1215).

Subsequently, the cost generation evaluation unit 1123 obtains the cost for each next route based on the simulation results (S1216).

Subsequently, the cost generation evaluation unit 1123 determines whether or not the cost of the next route is smaller than the cost of the current route (S1217). If the cost of the next route is smaller than the cost of the current route (S1217: YES), the cost generation evaluation unit 1123 resets the next route as the current route (storing the next route information 155 as the current route information 154) (S1218). ). After that, the process proceeds to S1219. On the other hand, if the cost of the next route is not less than the cost of the current route (S1217: NO), the process proceeds to S1219.

In S1219, the simulation processing unit 1122 determines whether or not the cost of the next route is equal to or less than a preset threshold. If the cost of the next route is equal to or less than the preset threshold (S1219: YES), the process proceeds to S1220. If the cost of the next route is not equal to or less than the preset threshold (S1219: NO), the process returns to S1214.

In S<b>1220 , the search result output unit 1124 stores the next route information 155 as the route search result 157 . The search result output unit 1124 outputs the route search result 157 to the output device 15 as appropriate.

FIG. 13 is a flowchart for explaining the processing (hereinafter referred to as route search processing S1300) performed by the route search processing unit 112 when searching for a patrol route using the simulated annealing method. The route search processing S1300 will be described below with reference to FIG.

First, the simulation processing unit 1122 sets the initial value of the temperature T (S1311).

Next, the candidate route generator 1121 generates an initial value of the current route (for example, a randomly set route) (S1312).

Subsequently, the simulation processing unit 1122 performs a simulation of the current route (S1313).

Subsequently, the cost generation evaluation unit 1123 obtains the cost for the current route based on the simulation results (S1314).

Subsequently, the candidate route generator 1121 generates the next route based on the current route (S1315).

Subsequently, the simulation processing unit 1122 performs the simulation described above for the next route (S1316).

Subsequently, the cost generation evaluation unit 1123 obtains the cost for each next route based on the simulation result (S1317).

Subsequently, the cost generation evaluation unit 1123 determines whether or not to accept the next route (S1318). In making the above determination, the cost generation evaluation unit 1123 determines in principle whether or not the cost is less than the cost of the current route. It accepts the next path with a probability that depends on the temperature T. For the above probabilities, for example, the Metropolis standard is used. By doing so, it is possible to make it difficult to fall into a local optimal solution. When the cost generation evaluation unit 1123 determines to accept the next route (S1318: Accepted), the cost generation evaluation unit 1123 sets the next route as the current route (stores the next route information 155 as the current route information 154) again ( S1319). The process then proceeds to S1320. On the other hand, if the cost generation evaluation unit 1123 determines not to accept the next route (S1318: not accepted), the process proceeds to S1320.

In S1320, the simulation processing unit 1122 determines whether or not the temperature T should be lowered. The simulation processing unit 1122 determines to lower the temperature T, for example, when the loop processing of S1315 to S1320 is repeated a preset number of times or more.

When the simulation processing unit 1122 determines to lower the temperature T (S1320: YES), the simulation processing unit 1122 lowers the temperature T (S1321). After that, the process proceeds to S1322. For example, in the case of exponential annealing, the simulation processing unit 1122 sets T _k+1 =γ·T _k (where γ is a coefficient that determines the cooling rate). On the other hand, when the simulation processing unit 1122 determines not to lower the temperature T (S1320: NO), the process returns to S1315.

In S1322, the simulation processing unit 1122 determines whether or not the cost of the next route is equal to or less than a preset threshold. If the cost of the next route is equal to or less than the preset threshold (S1322: YES), the process proceeds to S1323. If the cost of the next route is not equal to or less than the preset threshold (S1322: NO), the process returns to S1315.

In S<b>1323 , the search result output unit 1124 stores the next route information 155 as the route search result 157 . The search result output unit 1124 outputs the route search result 157 to the output device 15 as appropriate.

Next, the processing performed according to the route search processing S1200 or the route search processing S1300 described above will be described with specific examples. For simplicity of explanation, it is assumed that the third index value is 0.

FIG. 14A is an example of a current route randomly generated as an initial value in S1211 of FIG. 12 or S1312 of FIG. The current route shown in the figure is a route of "site 3→vending machine 2A→vending machine 2C→vending machine 2B→vending machine 2D→site 3".

FIG. 14B is an example of the next route generated by switching the order of the two vending machines 2B and 2C randomly selected for the current route of FIG. 14A in S1214 of FIG. 12 or S1315 of FIG. be. The next route shown in the figure is a route of "site 3→vending machine 2A→vending machine 2B→vending machine 2C→vending machine 2D→site 3".

FIG. 14C is a diagram showing how the simulation in S1215 of FIG. 12 or S1316 of FIG. 13 is performed based on the next route shown in FIG. 14B. In this example, when the vending machine 2C is about to head to the vending machine 2D, the remaining load at MIN is only 5 kg, which is less than the MIN replenishment amount of the vending machine 2D, 20 kg. A route returning to base 3 is inserted. The next route shown in the figure is a route of "site 3→vending machine 2A→vending machine 2B→vending machine 2C→site 3→vending machine 2D→site 3". In the case of this example, the simulation processing unit 1122 calculates a bonus (=maximum load capacity−max remaining load capacity=100−0=100) when returning from the vending machine 2C to the base 3, and returns from the vending machine 2D to the base 3 Calculate the integrated value (=140) with the bonus for returning (=maximum loading capacity−maximum loading capacity=100−60=40). In this example, the total distance traveled by the vehicle 4 is 230 (=30+50+10+70+30+40), and if the coefficient c is 2, the value of the cost function is: first index value−c×second index value=230−2 x140=-50.

Here, based on the simulation result of FIG. 14C, if it is determined in S1217 of FIG. 12 that the cost is improved from the current route (S1217: YES), or if it is determined to be accepted in the acceptance determination S1318 of FIG. If so (S1318: accept), the route in FIG. 14C is set as the current route (S1218 in FIG. 12 or S1319 in FIG. 13). That is, the current route becomes a route of "base 3→vending machine 2A→vending machine 2B→vending machine 2C→base 3→vending machine 2D→base 3", and the next route is newly generated based on this current route. (S1214 in FIG. 12 or S1315 in FIG. 12).

FIG. 14D is a simplified drawing of the route (current route) of FIG. 14C. FIG. 14E is an example of the next route generated by switching the order of the two vending machines 2C and the base 3 randomly selected for the current route of FIG. 14D in S1214 of FIG. 12 or S135 of FIG. The next route shown in the figure is a route of "site 3→vending machine 2A→vending machine 2B→site 3→vending machine 2C→vending machine 2D→site 3".

FIG. 14F is a diagram showing how the simulation in S1215 of FIG. 12 or S1316 of FIG. 13 is performed based on the next route of FIG. 14E. The route shown in the figure includes a route returning from the vending machine 2B to the base 3 and a route returning from the vending machine 2D to the base 3. Bonus for returning (= maximum load - remaining load at MAX = 100 - 0 = 100) and bonus for returning from vending machine 2D to base 3 (= maximum load - remaining load at MAX = 100 - 0 = 100) to obtain an integrated value (= 200). In this example, the total distance traveled by the vehicle 4 is 330 (=30+50+90+70+50+40), and if the coefficient c is 2, the value of the cost function is: first index value−c×second index value=330−2 x200=-70.

Here, based on the simulation result of FIG. 14F, if it is determined in S1217 of FIG. 12 that the cost is improved from the current route (S1217: YES), or if it is determined to be accepted in the acceptance determination S1318 of FIG. If so (S1318: accept), the route shown in FIG. 14F is set as the current route (S1218 in FIG. 12 or S1319 in FIG. 13). That is, the current route becomes a route of "base 3→vending machine 2A→vending machine 2B→base 3→vending machine 2C→vending machine 2D→base 3", and the next route is newly generated based on this current route. (S1214 in FIG. 12 or S1315 in FIG. 13).

For example, when the coefficient c is reduced to 1, that is, when the value of consuming (replenishing) the cargo of the vehicle 4 is decreased (the traveling time is shorter than consuming (replenishing) the cargo) 14C, the cost function value is 90, and the cost function value is 130 in the case of FIG. 14F, the current route is not replaced, and S1217 in FIG. 12 is determined as NO. , is determined as non-acceptance in S1318 of FIG.

FIGS. 15A and 15B are examples of search results when a tour route search is actually performed by the tour route search device 10 configured as described above. FIG. 15A shows the search results when the short travel time is emphasized rather than the consumption (replenishment) of the load (when the coefficient c is made small), and FIG. This is the search result when the consumption (replenishment) of things is emphasized (when the coefficient c is set larger than in the case of FIG. 15A).

As shown in FIG. 15A , when shorter travel time is emphasized rather than consumption (replenishment) of cargo, the search result is a patrol route that returns to base 3 once patrol route that does not stop at base 3). Also, as shown in FIG. 15B, when the consumption (replenishment) of the load is emphasized rather than the short travel time, the search result is a patrol route that makes two stops at base 3 (replenishment with the MAX replenishment amount It converges on the patrol route that stops at the base 3 just before the cargo is used up. By adjusting the coefficient c in this way, it is possible to search for a tour route according to various needs.

As described above, in the patrol route search system 1 of the present embodiment, the replenishment amount of the products loaded on the vehicle 4 to each vending machine 2 is set to the maximum possible replenishment amount (MAX replenishment amount). and the minimum replenishment amount (MIN replenishment amount), while searching for the patrol route so as to minimize the cost function. Exploration can be done.

The embodiments described above are intended to facilitate understanding of the present invention, and are not intended to limit and interpret the present invention. The present invention may be modified and improved without departing from its spirit, and the present invention also includes equivalents thereof.

For example, in the above description, the business of replenishing products in the vending machine 2 has been described as an example. It can be applied to a variety of situations, such as the monitoring of agricultural water tanks installed in multiple locations, where mobile units patrol multiple facilities and replenish supplies, regardless of whether they are on land, at sea, or in the air.

Alternatively, the patrol route search device 10 may perform the patrol after the vehicle 4 starts to travel. In that case, for example, based on the load capacity of the vehicle 4 at the present time, a patrol route is searched for the route from the point in question.

In the above-described embodiment, the patrol route search device 10 searches for patrol routes using information related to product consumption status collected from vending machines 2 installed in various places. The patrol route search device 10 may search for a patrol route by simulating the situation of product consumption in the vending machine 2 .

1 patrol route search system 2 vending machine 210 storage unit 211 sales control processing unit 212 money reception processing unit 213 product remaining amount acquisition unit 214 MAX replenishment amount calculation unit 215 MIN replenishment amount calculation unit 216 communication processing unit 251 product remaining amount 252 inventory Maximum possible amount 253 MAX replenishment amount 254 MIN replenishment amount 255 Urgency 3 Base 4 Vehicle 5 Communication network 10 Patrol route search device 110 Storage unit 111 Communication processing unit 112 Route search processing unit 1121 Candidate route generation unit 1122 Simulation processing unit 1123 Cost generation Evaluation unit 1124 Search result output unit 151 Site information 152 Vending machine information 153 Vehicle information 154 Current route information 155 Next route information 156 Cost function information 157 Route search result S1200 Route search processing S1300 Route search processing

Claims (15)

A patrol route search device for searching for a patrol route of a moving body that patrols while replenishing supplies to facilities provided at a plurality of points,
For each of the facilities, a maximum replenishable amount that is the maximum amount of materials that can be replenished, a minimum replenishment amount that is the minimum amount of materials that must be replenished, and a current load on the moving body. a storage unit for storing a remaining load amount, which is the amount of the material in the vehicle, a maximum load amount of the moving body, and a remaining amount of the material in each of the facilities;
A candidate route, which is a patrol route that is a candidate for the search, is generated, and the replenishment amount of the materials loaded on the moving body to the facility is set within a range determined by the maximum possible replenishment amount and the minimum replenishment amount. While being adjustable, a first index value relating to the route length of the candidate route is obtained, the patrol route is searched based on the first index value, and the replenishment amount of supplies at each facility on the patrol route is determined by the movement a route search processing unit that calculates by proportionally dividing the maximum load capacity of the body ;
A patrol route search device. The patrol route search device according to claim 1,
The route search processing unit, when the moving body moves along the candidate route, the remaining load amount when the maximum replenishable amount is replenished every time the moving body comes to the facility; Searching for the patrol route by simulating the remaining load amount when the minimum replenishment amount is replenished each time the moving body stops by the facility;
Patrol route search device. The patrol route search device according to claim 1,
The route search processing unit generates, as the candidate route, a patrol route including a route for the mobile body to return to a base where the goods can be replenished.
Patrol route search device. The patrol route search device according to claim 3,
The storage unit stores a maximum load capacity of the mobile body,
The route search processing unit obtains a second index value based on a value obtained by subtracting the remaining load amount when traveling with the maximum replenishable amount and returning to the base from the maximum load amount. searching for the patrol route based on
Patrol route search device. The patrol route search device according to claim 4,
The storage unit stores a weight value indicating the degree of influence of the value when searching for the patrol route,
The route search processing unit searches for the tour route by applying the weight value to the second index value.
Patrol route search device. The patrol route search device according to any one of claims 1 to 5,
The storage unit stores an urgency level, which is a value indicating the urgency of replenishment of each of the equipment;
The route search processing unit searches for the patrol route based on a third index value related to the degree of urgency.
Patrol route search device. The patrol route search device according to any one of claims 1 to 5,
The storage unit stores the maximum stockable amount of each of the equipment,
The route search processing unit uses a value obtained by subtracting the remaining amount of the material from the maximum possible stock amount in the equipment as the maximum replenishable amount.
Patrol route search device. The patrol route search device according to any one of claims 1 to 5,
The route search processing unit performs the search by any one of a hill climbing method, a simulated annealing method, a genetic algorithm, and a tabu search,
Patrol route search device. The patrol route search device according to any one of claims 1 to 5,
receiving information for determining at least one of the maximum replenishment amount and the minimum replenishment amount for each of the equipment, and determining at least one of the maximum replenishment amount and the minimum replenishment amount based on the information; with a seek-and-remember user interface;
Patrol route search device. The patrol route search device according to claim 9,
A user interface that receives and stores a value according to the characteristics of the material and the consumption tendency of the material as the minimum replenishment amount,
Patrol route search device. The patrol route search device according to claim 9,
The storage unit stores the maximum stockable amount of each of the equipment,
a user interface that receives a ratio of the equipment to the maximum stockable quantity and stores a value obtained by multiplying the maximum stockable quantity by the ratio as the minimum replenishment quantity of the equipment;
Patrol route search device. The patrol route search device according to claim 9,
a user interface that receives a ratio of the maximum replenishable amount of the equipment and stores a value obtained by multiplying the maximum replenishable amount by the ratio as the minimum replenishment amount of the equipment;
Patrol route search device. The patrol route search device according to claim 5,
A user interface that receives and stores the input of the weight value,
Patrol route search device. A patrol route search method for searching for a patrol route of a mobile body that patrols while replenishing materials to each of facilities provided at a plurality of points,
The information processing device
For each of the facilities, a maximum replenishable amount that is the maximum amount of materials that can be replenished, a minimum replenishment amount that is the minimum amount of materials that must be replenished, and a current load on the moving body. a step of storing a remaining load amount, which is the amount of the goods in the vehicle, a maximum load capacity of the moving body, and a remaining amount of the goods in each of the facilities;
A candidate route, which is a patrol route that is a candidate for the search, is generated, and the replenishment amount of the materials loaded on the moving body to the facility is set within a range determined by the maximum possible replenishment amount and the minimum replenishment amount. While being adjustable, a first index value relating to the route length of the candidate route is obtained, the patrol route is searched based on the first index value, and the replenishment amount of materials at each facility on the patrol route is determined by the movement a step of calculating by proportionally dividing the maximum load capacity of the body ;
A patrol pathfinding method that performs An information processing device that executes a patrol route search method for searching for a patrol route of a mobile body that patrols while replenishing supplies to facilities provided at a plurality of points,
For each of the facilities, a maximum replenishable amount that is the maximum amount of materials that can be replenished, a minimum replenishment amount that is the minimum amount of materials that must be replenished, and a current load on the moving body. a step of storing a remaining load amount, which is the amount of the goods in the vehicle, a maximum load capacity of the moving body, and a remaining amount of the goods in each of the facilities;
A candidate route, which is a patrol route that is a candidate for the search, is generated, and the replenishment amount of the materials loaded on the moving body to the facility is set within a range determined by the maximum possible replenishment amount and the minimum replenishment amount. While being adjustable, a first index value relating to the route length of the candidate route is obtained, the patrol route is searched based on the first index value, and the replenishment amount of supplies at each facility on the patrol route is determined by the movement a step of calculating by proportionally dividing the maximum load capacity of the body ;
program to run the

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