WO2017187482A1 - 配送計画立案システムおよび配送計画立案方法 - Google Patents
配送計画立案システムおよび配送計画立案方法 Download PDFInfo
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- WO2017187482A1 WO2017187482A1 PCT/JP2016/062911 JP2016062911W WO2017187482A1 WO 2017187482 A1 WO2017187482 A1 WO 2017187482A1 JP 2016062911 W JP2016062911 W JP 2016062911W WO 2017187482 A1 WO2017187482 A1 WO 2017187482A1
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- 238000012384 transportation and delivery Methods 0.000 claims abstract description 403
- 230000002040 relaxant effect Effects 0.000 claims abstract description 13
- 238000013439 planning Methods 0.000 claims description 126
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06315—Needs-based resource requirements planning or analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Definitions
- the present invention relates to a technique for creating a delivery plan for an article.
- JP 2010-24006 A Patent Document 1
- This gazette states: “A delivery plan planning method that can ease the arrival time with respect to the order arrival time zone specification, and can control the balance between the time zone specification compliance and the number of vehicles. Is provided "(see summary).
- Patent Document 1 JP 2010-24006 A
- Patent Document 1 describes a mechanism for reducing the number of vehicles by relaxing arrival time information when delivering a package specified in delivery order information to a delivery destination.
- the delivery destination is in a tenant building or in front of a crowded station, it is necessary to adjust with a nearby store, so the arrival time cannot actually be changed.
- there are restrictions on delivery conditions that do not require adjustment with the delivery destination such as highway usage distance and truck driver restraint time, and the number of vehicles may be reduced by relaxing these restrictions.
- there are a plurality of constraints that can be changed and the difficulty of actual change varies depending on the constraints. In order for a delivery planner to select a constraint that can be changed as easily as possible, it is necessary to be able to compare and confirm the results of changes of a plurality of constraints.
- Patent Document 1 In the mechanism of Patent Document 1 in which only the arrival time information is targeted for relaxation in order to reduce the number of vehicles, it is possible to compare and confirm the results of changing the above-mentioned multiple constraints, and to reduce the delivery cost by relaxing the constraints. It cannot be calculated.
- a plurality of constraint relaxation plans (combination of constraints and the relaxation range of each constraint) that can alleviate a plurality of constraints and reduce a delivery cost, and a delivery planning system that calculates a delivery cost are provided.
- the present invention is a delivery plan planning system for planning a delivery plan for an article, and is used for calculating a delivery cost based on a constraint condition of the delivery plan and a delivery plan.
- a storage unit that holds the cost information to be generated, and a delivery plan before relaxation of the constraint condition is created so as to satisfy the constraint condition, and a delivery cost of the delivery plan before relaxation is calculated based on the cost information
- a delivery planning and cost calculation unit, and a constraint relaxation unit that generates a constraint relaxation plan by relaxing the constraint condition, and the delivery planning and cost calculation unit further satisfies the constraint relaxation plan , Formulate a delivery plan after relaxation of the constraint, calculate a delivery cost of the delivery plan after relaxation based on the cost information, and the delivery cost of the delivery plan after relaxation is before the relaxation If less than the delivery cost of delivery plan, and outputs the constraint relaxation draft.
- FIG. 1 is a block diagram illustrating an example of a functional configuration of a delivery plan planning apparatus according to an embodiment of the present invention.
- the delivery plan planning apparatus 100 includes an input unit 110, a storage unit 120, a delivery planning / cost calculation unit 130, a constraint relaxation unit 140, and a display unit 150.
- the input unit 110 is a user interface that reads data (external data) stored outside the apparatus.
- the storage unit 120 stores the data read by the input unit 110 and the data calculated by the delivery planning / cost calculation unit 130, as will be described later.
- the delivery planning / cost calculation unit 130 stores store information 160, base information 161, driver information 162, truck information 163, high-speed charge information 164, distance information 165, speed information 166, and constraint relaxation conditions stored in the storage unit 120.
- the information 167 is read, and the delivery plan route information 168, the normal delivery plan cost information 169, the constraint relaxation delivery plan cost information 170, and the constraint relaxation condition combination information 171 are calculated and stored in the storage unit 120.
- the constraint relaxation unit 140 selects a constraint to be relaxed from the constraint relaxation condition information stored in the storage unit 120, and a constraint relaxation plan in which the selected constraint is relaxed in stages (that is, a constraint combination and each constraint relaxation). Width).
- the display unit 150 is a user interface for displaying the calculated delivery plan route information, normal delivery plan cost information, constraint relaxation delivery plan cost information, and constraint relaxation condition combination information.
- the delivery plan planning apparatus 100 is controlled by a delivery plan planning program that implements a delivery plan planning process.
- FIG. 2 is a block diagram illustrating an example of a hardware configuration of the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the delivery planning apparatus 100 includes a CPU (Central Processing Unit) 201, a RAM (Random Access Memory) 210, a ROM (Read Only Memory) 220, an auxiliary storage device 230, a display device 240, an input device 250, a media reading device 260, and A communication device 270 is included.
- a CPU Central Processing Unit
- RAM Random Access Memory
- ROM Read Only Memory
- the CPU 201 is a unit that executes various calculations.
- the CPU 201 executes various processes by executing a predetermined delivery planning program loaded from the auxiliary storage device 230 to the RAM 210.
- the processing executed by the constraint relaxation unit 140 and the delivery planning / cost calculation unit 130 of the present embodiment is actually executed by the CPU 201 in accordance with the delivery plan planning program.
- the delivery plan program is an application program that can be executed on an OS (Operation System) program, for example.
- OS Operaation System
- the delivery plan program may be installed in the auxiliary storage device 230 from a portable storage medium via the media reader 260, for example.
- the RAM 210 is a memory that stores a program executed by the CPU 201, data necessary for executing the program, and the like.
- the ROM 220 is a memory that stores a program and the like necessary for starting up the delivery planning apparatus 100.
- the auxiliary storage device 230 is a device such as an HDD (Hard Disk Drive).
- An SSD (Solid State Drive) using a flash memory or the like may be used.
- the storage unit 120 in FIG. 1 corresponds to at least a part of the storage area of the RAM 210 and the auxiliary storage device 230.
- the constraint relaxation condition combination information 171 from the store information 160 may be stored in the auxiliary storage device 230 and at least a part of them may be copied to the RAM 210 as necessary.
- the display device 240 is a device such as a CRT display, LCD (Liquid Crystal Display), or organic EL (Electro-Luminescence) display.
- the input device 250 is, for example, a device such as a keyboard, a mouse, or a microphone.
- the media reader 260 is a device that reads information from a portable storage medium having portability such as a CD-ROM.
- the communication device 270 inputs / outputs data with an external device via the network 280.
- the delivery plan planning device 100 may acquire the store information 160 from the store delivery amount management device 290 via the network 280.
- the delivery plan planning apparatus 100 may acquire the driver information 162 from the driver information management apparatus 292 via the network 280.
- the delivery planning apparatus 100 may acquire the high-speed fee information 164 and the distance information 165 from the road information management apparatus 294 via the network 280.
- the display device 240 corresponds to the display unit 150 in FIG. 1, and the input device 250, the media reading device 260, and the communication device 270 correspond to the input unit 110 in FIG.
- FIG. 3 is a flowchart illustrating an example of a delivery plan planning process executed by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the input unit 110 performs external data reading processing 310 and stores the read data in the storage unit 120.
- the delivery plan planning / cost calculation unit 130 performs a delivery plan planning process 320.
- the constraint relaxation unit 140 performs the constraint relaxation processing 330 to generate a constraint relaxation plan, and (4) searches for the result stored in the storage unit 120 and displays it on the display unit 150.
- External data reading process 310 In the external data reading process 310 of FIG. 3, store information 160, base information 161, driver information 162, track information 163, high-speed charge information 164, distance information 165, speed information 166, and constraint relaxation condition information 167, which are external data, are stored.
- the input unit 110 reads and stores it in the storage unit 120. Specifically, the input unit 110 takes in external data from the media reading device 260 or the communication device 270 and stores it in the auxiliary storage device 230.
- FIG. 4 is an explanatory diagram illustrating an example of the store information 160 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the store information 160 includes at least data items defining a store name 410, a store delivery amount 420, a store delivery available time 430, and a store address 440.
- the first record of the store information 160 in FIG. 4 has a store whose name is “A” (hereinafter also referred to as store A.
- store A The same applies to other stores) in Kamakura City, Kanagawa Prefecture. This means that it is necessary to deliver 1 ton of goods between 1:00 and 1:00. That is, the store delivery available time 430 is a part of the constraint condition that must be satisfied when the delivery plan is made in the present embodiment.
- FIG. 5 is an explanatory diagram illustrating an example of the base information 161 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the base information has at least data items defining the base name 510 and the base address 520.
- the example of FIG. 5 shows that a depot that is a base for temporarily storing and unloading goods is located in Takaza-gun, Kanagawa Prefecture.
- FIG. 6 is an explanatory diagram illustrating an example of the driver information 162 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- Driver information 162 is information relating to a driver who is a delivery worker in this embodiment, and includes at least data items defining a driver name 610, a driver restraint possible time 620, and an overtime cost (unit price) 630.
- the driver whose name is “A” can be restrained for 180 minutes, and the unit price when the restraint time exceeds 180 minutes is 2000 yen per hour.
- the driver restraint possible time 620 is a part of the constraint condition that needs to be satisfied when the delivery plan is made in this embodiment.
- the overtime cost 630 is a part of cost information used for calculating the delivery cost based on the planned delivery plan in this embodiment.
- FIG. 7 is an explanatory diagram illustrating an example of the track information 163 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the track information 163 includes at least data items that define a track name 710, a maximum load capacity 720, a truck fee 730 per unit, and a truck use driver 740. Further, a truck unloading time 750 may be defined.
- the maximum load capacity of a truck with the name “ordinary truck” is 5 tons
- the daily charge is 10,000 yen per vehicle
- the name of the driver who uses the truck is “ A ", indicating that the time required for unloading from the truck is 40 minutes.
- the truck fee 730 is a part of cost information used in this embodiment to calculate a delivery cost based on a planned delivery plan.
- FIG. 8 is an explanatory diagram of an example of the high-speed charge information 164 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the high-speed charge information 164 has at least data items defining the section 810 and the high-speed charge 820.
- the example of the top record in FIG. 8 indicates that a fee of 4000 yen is required when the expressway is used for movement between the depot and the store A.
- the high-speed fee information 164 includes information on a fee when a highway is used for movement between an arbitrary base and a store and between a store and a store.
- the high speed charge information 164 is a part of cost information used for calculating a delivery cost based on a planned delivery plan in the present embodiment.
- FIG. 9 is an explanatory diagram illustrating an example of the distance information 165 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the distance information 165 includes at least data items defining a From 910 indicating a departure store or a base, a To 920 indicating an arrival store or a base, a general road distance 930, and a high-speed distance 940.
- the second record in FIG. 9 indicates that the travel distance of the general road until the truck or the like that has left the store A arrives at the store B is 10 km, and there is no highway available for the movement. If there is an expressway section that can be used to move from store A to store B, the length of the section is defined as the high-speed distance 940.
- the distance information 165 includes information on a movement distance between an arbitrary base and the store and between the store and the store.
- FIG. 10 is an explanatory diagram illustrating an example of the speed information 166 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the speed information 166 has at least data items defining the general road speed 1020 and the high speed 1030. Further, a time zone 1010 may be defined. The example of FIG. 10 shows that a general road can be traveled at 30 km / h and a highway can be traveled at 60 km / h. These values may be, for example, empirically obtained average speeds. For example, when the speed varies depending on the time zone due to road congestion or traffic regulation, a different speed may be defined for each time zone.
- FIG. 11 is an explanatory diagram of an example of the constraint relaxation condition information 167 referred to by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the constraint relaxation condition information 167 includes at least data items defining a constraint number 1110, a relaxation condition 1120, a relaxation width 1130, a maximum relaxation amount 1140, and a usability 1150.
- the relaxation condition 1120 indicates the constraint condition to be relaxed
- the relaxation width 1130 indicates the step size of the relaxation amount when the constraint condition is relaxed
- the maximum relaxation amount 1140 indicates the maximum allowable relaxation amount. Show.
- the top record in FIG. 11 shows the relaxation condition that the delivery time of the store A can be advanced in units of 30 minutes, and can be advanced up to 60 minutes in advance.
- the value “False” of the availability 1150 corresponding to this relaxation condition indicates that this relaxation condition cannot be used (that is, this relaxation condition is not subject to constraint relaxation).
- the value of availability 1150 can be set by the user via a constraint relaxation condition setting screen (FIG. 12) described later. If this relaxation condition can be used and the maximum relaxation amount “60 minutes” is applied, the delivery time of the store A is 60 minutes ahead of the start date and extended from 11:00 to 1:00. (See FIG. 4).
- the delivery time of the store D is postponed, the high-speed use distance is shortened, and the restraint time is prolonged.
- Postponing the delivery time is extending the delivery time by postponing the end of the delivery time.
- the expressway use distance is a value indicating the shortest distance when using the expressway, that is, how many km or more the travel distance is permitted, and the storage unit 120 is used as a part of the constraint condition. Retained. For example, when the value is 30 km, the use of the highway is permitted when the moving distance is 30 km or more, and when the value is reduced to 0 km, the use of the highway is permitted regardless of the distance.
- the extension of the restraint time is to restrain beyond the restraint time of the driver, and the cost of the surplus time is calculated based on the unit price of overtime.
- the constraint relaxation condition shown in FIG. 11 is an example, and the relaxation condition can be set for an arbitrary constraint that should be satisfied in the delivery planning.
- the constraints By relaxing the constraints, it is possible to make a delivery plan based on the constraint conditions that could not be set before the relaxation.
- the type of truck that can be used maximum load capacity
- the number of trucks, etc. may be treated as restrictions that can be relaxed.
- you may handle the usage condition of not only a highway but various roads as restrictions which can be eased. Further, all of the above-described constraint conditions may be relaxed, or only a part may be relaxed.
- FIG. 12 is an explanatory diagram illustrating an example of a constraint relaxation condition setting screen output by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- Constraint restriction condition information 167 defined in the external data is displayed on the constraint relaxation condition setting screen.
- Each constraint relaxation condition is provided with a target setting box 1210 for setting whether or not to be a constraint relaxation target, and accepts a selection by the user.
- the relaxation condition for which the user inputs a check in the target setting box 1210 is the target of constraint relaxation.
- the constraint relaxation condition information 167 stored in the storage unit 120 is searched for each constraint relaxation condition. If the constraint relaxation condition is a constraint relaxation target, the availability 1150 is set as True. If it is not applicable, it is set to False.
- the condition “Delay post delivery time for store D” that extends the end of the available delivery time 430 of store D defined in the store information 160, and “highway use” that extends the shortest distance when using the expressway are used.
- the “distance” condition and the “restraint time extension” condition for extending the restraint time of the track driver are subject to constraint relaxation. That is, when the user inputs a check in the relaxation condition target setting box 1210 in FIG. 12, the information is taken into the constraint relaxation condition information stored in the storage unit 120.
- the constraint relaxation condition information of FIG. 11 the availability 1150 of the relaxation conditions of constraint numbers 2, 3, and 4 set as relaxation targets in FIG. 12 is set to True, and the availability 1150 of the relaxation conditions other than the left is set to False. Yes.
- the road types are two types of ordinary roads and highways, but other road types may be added.
- the constraint relaxation condition information 167 may be generated by displaying a setting screen and selecting a relaxation condition to be subject to constraint relaxation after reading external data.
- the delivery plan planning apparatus 100 starts (2) a delivery plan planning process 320.
- Delivery planning process 320 In the delivery planning process 320 of FIG. 3, the delivery planning / cost calculation unit 130 arrives at each store within the delivery time 430 of the store information 160 stored in the storage unit 120, and the restraint time of each track is reached. A delivery plan is formulated so that the driver restraint possible time 620 of the driver information 162 stored in the storage unit 120 is within, and a delivery plan number is given and stored in the delivery plan route information 168. The delivery planning / cost calculation unit 130 formulates a delivery plan by a general delivery planning algorithm using, for example, metaheuristics.
- FIG. 13 is an explanatory diagram of an example of the delivery plan route information 168 stored in the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the delivery plan route information 168 includes at least a delivery plan number 1310, a track number 1320, a track name 1330, a From (store or base name from which the truck has departed) 1340, To (a store or base name from which the truck has arrived) 1350, and a track.
- Data items defining time 1360 required for movement, work time 1370, high-speed use 1380, and total restraint time 1390 are included.
- FIG. 13 shows an example of information related to the route of one delivery plan whose delivery plan number is “No. 0”.
- this plan four ordinary trucks with track numbers “No. 1” to “No. 4” are used, and trucks with a track number “No. 1” are delivered from the depot in the order of store A and store B. Then return to the depot.
- the other trucks reciprocate between the depot and store C, store D, and store E, respectively.
- a travel time 1360, a work time 1370, and a binding time 1390 obtained by adding them to each of the section between the depot and the store and the section between the stores are calculated.
- the high-speed use 1380 indicates whether or not the highway is used in each section, and “x” shown in FIG. 13 indicates that the highway is not used in any section.
- the delivery planning / cost calculation unit 130 creates delivery plan cost information using the delivery plan route information 168, the driver information 162, the track information 163, and the high-speed charge information 164 stored in the storage unit 120 after planning the delivery plan.
- the created delivery plan cost information is stored in the normal delivery plan cost information 169 if the constraint is not relaxed when the delivery plan is made, and is stored in the constraint relaxed delivery plan cost information 170 if the constraint is relaxed. To do.
- the delivery plan / cost calculation unit 130 uses the delivery plan route information 168 stored in the storage unit 120 to calculate the total truck cost 1430, which is the total of the truck price, and the expressway usage price.
- the total high-speed cost 1440 that is the sum and the total overtime cost 1450 that is the sum of the driver's overtime wage are calculated, and the total delivery cost 1420 is calculated by adding the three costs to the left.
- the total truck cost 1430 is obtained as follows. First, the delivery plan / cost calculation unit 130 prevents the track number 1320 from overlapping the information corresponding to the delivery plan number 1310 for which the cost is to be calculated among the information included in the delivery plan route information 168. Extract information. Next, the track name 1330 of each information is specified, information in which the track name 710 is the track name in the track information 163 stored in the storage unit 120 is specified, and the track fee 730 is added to the total track cost. In the example of FIG. 13, the delivery planning / cost calculation unit 130 indicates that the track number 1320 is “No. The first line is extracted as 1 information.
- the track name 1330 in the first row is an ordinary track
- the track name 710 of the track information specifies the information of the ordinary track, and a track fee of 10,000 yen is added.
- the delivery planning / cost calculation unit 130 indicates that the track number 1320 is “No. No. 2 information on the fourth line, No. 2 As the information of No. 3, the sixth line, No. The information on the 8th line is extracted as the information of 4, and 10,000 yen is added for each. As a result, the total truck cost 1430 is 40,000 yen.
- the total high-speed cost 1440 is obtained as follows.
- the delivery plan / cost calculation unit 130 uses the expressway 1380 indicating that the expressway is used for each piece of information corresponding to the delivery plan number 1310 for which the cost is to be calculated among the information included in the delivery plan route information 168.
- the high-speed charge information 164 stored in the storage unit 120 is searched, the section 810 that matches the section in the information From 1340 and To 1350 is specified, and the high-speed charge 820 of the specified information is added to the total high-speed cost 1440.
- the total high-speed cost is 0 yen.
- the total overtime cost 1450 is obtained as follows.
- the delivery planning / cost calculation unit 130 includes, for the information corresponding to the delivery planning number 1310 for which the cost is to be calculated among the information included in the delivery plan route information 168, the total binding time 1390 of the information having the same track number 1320. Is added to obtain the total track restraint time for each track number.
- the delivery planning / cost calculation unit 130 searches the track information 163 stored in the storage unit 120, identifies information having the same track name 710 as the track name 1330 of each track number 1320, and identifies the identified information.
- the driver use possible time 620 of the track use driver 740 and the driver name 162 of the driver information 162 stored in the storage unit 120 are the same.
- the delivery planning / cost calculating unit 130 calculates, for each track number 1320 calculated earlier, the difference between the total truck restraint time and the specified driver restraint possible time 620 as the overtime, and the overtime is positive Is added to the total overtime cost 1450 by the overtime time ⁇ the overtime unit price 630 of the driver information.
- the delivery cost can be calculated by various methods based on various cost information.
- the truck information 163 includes usage fee information for each type of truck as cost information.
- the cost calculation unit 130 may calculate the delivery cost based on it. If the unit price (hourly rate) within the restraint time varies depending on the driver, the driver information 162 includes the unit price information within the restraint time for each driver as cost information, and the delivery planning / cost calculation unit 130 delivers based on the information. Cost may be calculated. Further, if necessary, the delivery cost may be calculated using only a part of the cost information.
- FIG. 14 is an explanatory diagram of an example of the normal delivery plan cost information 169 stored in the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the normal delivery plan cost information 169 includes at least data items defining a total delivery cost 1420, a total truck cost 1430, a total high-speed cost 1440, and a total overtime cost 1450. These contents are as described with reference to FIG.
- the normal delivery plan cost information 169 may further include a delivery plan number 1410 that identifies the delivery plan used for the cost calculation.
- the delivery plan planning apparatus 100 starts (3) the constraint relaxation process 330.
- Constraint relaxation processing 330 In the constraint relaxation process 330 of FIG. 3, the constraint relaxation unit 140 generates a constraint relaxation plan, and a delivery plan planning process 320 is performed on the generated constraint relaxation plan by the delivery planning / cost calculation unit 130 to formulate a delivery plan. Then, the constraint relaxation delivery plan cost information is created.
- FIG. 15 is a flowchart illustrating an example of the constraint relaxation processing executed by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the constraint relaxation unit 140 searches (3-1) the constraint relaxation condition information 167 stored in the storage unit 120, and drafts a delivery plan by easing one constraint to the maximum. Then, a constraint relaxation extraction process 1510 for selecting a constraint that reduces the delivery cost is performed. Next, the constraint relaxation unit 140 combines a plurality of constraints selected in (3-2) and (3-1), and changes the relaxation width 1130 of the constraint relaxation condition information 167 stored in the storage unit 120 step by step. A constraint relaxation plan generation process 1520 for generating a constraint relaxation plan is performed, and (3-3) a delivery plan planning / cost calculation process 1530 of the generated constraint relaxation plan is performed. The constraint relaxation unit 140 repeats (3-2) and (3-3) until the constraint relaxation termination condition is satisfied.
- the constraint relaxation termination condition is, for example, that a delivery plan is drafted for all constraint relaxation plans.
- the delivery planning / cost calculation unit 130 and the constraint relaxation unit 140 perform the following processing for each piece of information included in the constraint relaxation condition information 167 stored in the storage unit 120 when the availability 1150 is True. Do. That is, the constraint relaxation unit 140 relaxes the relaxation condition 1120 of the information to the maximum relaxation amount 1140, and the delivery planning / cost calculation unit 130 performs the delivery plan planning process 320 based on the relaxed constraint condition, and the delivery plan cost information Create The total delivery cost 1620 (see FIG.
- the information availability 1150 is set to True, otherwise it is set to False.
- the relaxation condition 1120 relaxes it. However, it is determined that the cost is not expected to decrease, and is excluded from the following processing targets. As a result, for the relaxation condition 1120 that is unlikely to reduce the cost, the following calculation for specifying the optimal relaxation amount is omitted, so that the calculation amount is reduced. However, if it is not necessary to limit the amount of calculation, the above processing 1510 is omitted, and the availability 1150 of all the relaxation conditions 1120 is set to True, so that the following processing is performed for all the relaxation conditions 1120. May be performed.
- the above processing is performed on the values 2, 3, and 4 of the constraint number 1110 of the constraint relaxation condition information 167 in FIG.
- the available delivery time of the store D is extended backward by 120 minutes. That is, the store delivery time 430 of store D is 2:50 to 3:30 from the store information 160 in FIG. 4, but the store delivery time of store D is regarded as 2:50 to 5:30 due to relaxation of restrictions. .
- the delivery planning / cost calculating unit 130 When the delivery planning / cost calculating unit 130 performs the delivery planning process 320 under these conditions, a delivery plan using three ordinary trucks is obtained, and the costs include a total truck cost of 30,000 yen, a total high-speed cost of 0 yen, The total overtime cost is 0 yen and the total delivery cost is 30,000 yen. Since this total delivery cost of 30,000 yen is lower than the total delivery cost of 40,000 yen of the normal delivery plan cost information shown in FIG. 14, the availability 1150 of the constraint relaxation condition information remains True.
- the constraint relaxation unit 140 searches the constraint relaxation condition information 167 stored in the storage unit 120, selects one or more constraints whose availability 1150 is True, and relaxes each constraint by the relaxation width 1130 of the information.
- the amount of mitigation is determined by and a constraint mitigation plan is generated.
- the restriction relaxation plan generation targets three relaxation conditions: the store D time after the store D time in which the availability 1150 is True from the constraint relaxation condition information 167, and the high-speed use distance and the constraint time extension.
- the constraint relaxation unit 140 when only the postponement of the store D delivery time is selected, the constraint relaxation unit 140 extends the delivery time of the store D by 10 minutes, such as a constraint relaxation plan that extends the delivery time by 10 minutes, or a constraint relaxation plan that extends 20 minutes. Then, 12 constraint relaxation plans including a constraint relaxation plan relaxed up to 120 minutes are generated. Similarly, when only the high-speed usage distance is selected, the constraint relaxation unit 140 reduces by 10 km each, such as a constraint relaxation plan with the high-speed usage distance of 100 km and a constraint relaxation plan with the speed of 90 km, and relaxes to 0 km at the maximum. Ten constraint relaxation plans including up to the constraint relaxation plan are generated.
- the high-speed usage distance after relaxation is calculated by applying the relaxation width to the initial value. Therefore, the value of the high speed use distance (for example, 100 km) when the minimum relaxation is performed may be determined in advance.
- the constraint time extension can be calculated in the same manner as described above.
- the constraint relaxation unit 140 sets a constraint relief plan in which the store D delivery time postponement is 10 minutes and the high-speed use distance is 100 km. All combinations are generated for each relaxation amount of each constraint, such as a constraint relaxation plan in which the postponement of the store D delivery time is 20 minutes and the high-speed use distance is 100 km.
- the delivery plan / cost calculation unit 130 The generated delivery plan is stored in the delivery plan route information 168, the constraint relaxation plan used to generate the delivery plan is used as the constraint relaxation condition combination information 171 and the generated delivery plan cost information is used as the constraint relaxation. Each is stored in the delivery plan cost information 170.
- FIG. Street constraint relaxation condition combinations are generated.
- no. 2, No. 3 the single constraint condition (for example, the delivery time of the store D in No. 1) is relaxed. 4 and no.
- two types of constraint conditions for example, in No. 4, whether or not the highway is used and the delivery time of the store D) are relaxed.
- the delivery plan number for the delivery plan number 1710 in FIG. 17 is stored in the same information as the delivery plan number 1610 in FIG. For example, the delivery plan number No.
- the constraint relaxation delivery plan cost information 170 indicates that the total delivery cost when the constraint conditions are relaxed according to this constraint relaxation plan is 30,000 yen, the total truck It shows that the cost was 30,000 yen and other costs were 0 yen.
- FIG. 16 is an explanatory diagram of an example of the constraint relaxation delivery plan cost information 170 stored in the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the constraint relaxation delivery plan cost information 170 includes at least data items defining a delivery plan number 1610, a total delivery cost 1620, a total truck cost 1630, a total high-speed cost 1640, and a total overtime cost 1650.
- FIG. 17 is an explanatory diagram of an example of the constraint relaxation condition combination information 171 stored in the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the constraint relaxation condition combination information 171 includes at least data items that define a delivery plan number 1710, a constraint relaxation 1720, and a relaxation width 1730.
- the delivery planning / cost calculation unit 130 checks the termination condition (for example, whether or not a delivery plan has been drafted for all constraint relaxation plans) after completion of the distribution plan / cost calculation processing 1530 of the constraint relaxation plan (processing) 1540) If the end condition is not satisfied, the process returns to (3-2). If the end condition is satisfied, the result output process 340 is started.
- the display unit 150 displays the delivery plan route information stored in the storage unit 120, the constraint relaxation delivery plan cost information, and the constraint relaxation condition combination information.
- the CPU 201 may generate screen data that displays a constraint relaxation plan and a delivery cost calculated based on the constraint relaxation plan, and output the screen data to the display device 240, and the display device 240 may display the screen.
- An example of the result to be displayed is shown in FIGS.
- FIG. 18 is an explanatory diagram illustrating an example of a constraint relaxation and delivery cost display screen output by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the constraint relaxation and delivery cost display screen displays a combination of constraint relaxation condition combination information 171 stored in the storage unit 120 and constraint relaxation delivery plan cost information 170.
- the constraint relaxation and delivery cost display screen has at least data items for displaying the total delivery cost obtained by the constraint relaxation and the relaxation width of each constraint. As a result, the user can easily grasp the set and width of constraint relaxation necessary for reducing the delivery cost.
- FIG. 19 is an explanatory diagram showing an example of a graph display of constraint relaxation and delivery cost output from the delivery plan planning apparatus 100 according to the embodiment of the present invention.
- the graph display of constraint relaxation and delivery cost amount displays constraint relaxation condition combination information 171 and constraint relaxation delivery plan cost information 170 stored in the storage unit 120.
- the graph display of the constraint relaxation and the delivery cost amount is based on the constraint relaxation width necessary for the delivery cost reduction obtained by searching the constraint relaxation delivery plan cost information 170 and the constraint relaxation condition combination information 171. Displays the total delivery cost.
- a circle 1910 (or any other figure may be used) at a position on the coordinate space corresponding to the size of the two relaxation widths with the store D delivery time postponed as the horizontal axis and the restraint time extension as the vertical axis. )
- the delivery cost is displayed according to the size.
- the numerical value of the delivery cost is displayed in a circle 1910 or a balloon 1920 corresponding to the circle 1910. Accordingly, the user can easily grasp the cost of the entire delivery with respect to the cost generated by the constraint relaxation.
- FIG. 20 is an explanatory diagram illustrating an example of a delivery plan Gantt chart display screen output by the delivery plan planning apparatus 100 according to the embodiment of this invention.
- the delivery plan Gantt chart display screen displays delivery plan route information stored in the storage unit 120.
- the time is on the horizontal axis and the track (for example, the track number) is on the vertical axis.
- the delivery plan route information stored in the storage unit 120 is searched, and when the user specifies the delivery plan number, the information is displayed using a frame 2010 with the time required for the work contents of the truck as a width.
- the movement using the general road is displayed with a hatched background
- the movement using the high speed is displayed with a dot background
- the unloading is displayed with a frame 2010 without a background.
- the background pattern is changed and displayed in accordance with the work content, but each work content may be displayed in a color such as red or blue.
- a plurality of constraint relaxation plans are automatically created, the respective delivery costs are calculated, and the results are presented in a manner that is easy for the user to grasp, so that they can be easily changed. Constraints can be selected by the user to reduce delivery costs.
- this invention is not limited to the above-mentioned Example, Various modifications are included.
- the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.
- each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
- Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor.
- Information such as programs, tables, and files that realize each function is stored in memory, a hard disk, a recording device such as an SSD (Solid State Drive), or non-transitory data that can be read by a computer such as an IC card, SD card, or DVD. Can be placed on storage media.
- control lines and information lines indicate what is considered necessary for the explanation, and not all control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
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Abstract
Description
図3の外部データ読込み処理310では、外部データである店舗情報160、拠点情報161、ドライバ情報162、トラック情報163、高速料金情報164、距離情報165、速度情報166、および制約緩和条件情報167を入力部110が読み込み、記憶部120に格納する。具体的には、入力部110がメディア読取装置260または通信装置270から外部データを取り込み、補助記憶装置230に格納する。
図3の配送計画立案処理320では、配送立案・コスト計算部130が、記憶部120に格納された店舗情報160の納品可能時間430以内に各店舗へトラックが到着し、各トラックの拘束時間が記憶部120に格納されたドライバ情報162のドライバ拘束可能時間620以内となるように配送計画を立案し、配送立案番号を与えて配送計画経路情報168に格納する。配送立案・コスト計算部130は、例えばメタヒューリスティクスなどを使った一般的な配送計画立案アルゴリズムによって配送計画を立案する。
図3の制約緩和処理330では、制約緩和部140が制約緩和案を生成し、生成した制約緩和案に対して配送立案・コスト計算部130にて配送計画立案処理320を行って配送計画を立案し、制約緩和配送計画コスト情報を作成する。
配送立案・コスト算出部130および制約緩和部140は、記憶部120に格納された制約緩和条件情報167に含まれる各情報について、使用可否1150がTrueとなっている場合には、以下の処理を行う。すなわち、制約緩和部140が当該情報の緩和条件1120を最大緩和量1140に緩和し、緩和された制約条件に基づいて配送立案・コスト計算部130が配送計画立案処理320を行い、配送計画コスト情報を作成する。作成された配送計画コスト情報の総配送コスト1620(図16参照)が、記憶部120に格納された通常配送計画コスト情報の(すなわち緩和前の)総配送コスト1420未満である(すなわち当該制約条件を緩和することによってコストが低下する)場合には、当該情報の使用可否1150をTrue、それ以外の場合はFalseにする。
制約緩和部140は、記憶部120に格納された制約緩和条件情報167を検索し、使用可否1150がTrueである制約を1つ以上選択し、各制約について当該情報の緩和幅1130ずつ緩和することで緩和量を決定し、制約緩和案を生成する。本実施例では、制約緩和条件情報167から使用可否1150がTrueである店舗D時間後倒し、高速利用距離、拘束時間延長の3つの緩和条件が制約緩和案生成の対象となる。
(3-2)により決定した制約緩和案に対して、配送立案・コスト計算部130が配送計画立案処理320を実施し、配送計画コスト情報を生成する。
図3の結果出力処理340では、表示部150が、記憶部120に格納された配送計画経路情報と、制約緩和配送計画コスト情報と、制約緩和条件組合せ情報と、を表示する。例えば、CPU201が、制約緩和案及びそれに基づいて計算された配送コスト等を表示する画面のデータを生成して表示装置240に出力し、表示装置240が当該画面を表示してもよい。表示する結果の一例を図18~20に示す。
Claims (14)
- 物品の配送計画を立案する配送計画立案システムであって、
配送計画の立案の制約条件、及び、配送計画に基づいて配送コストを計算するために使用されるコスト情報を保持する記憶部と、
前記制約条件を満たすように、前記制約条件の緩和前の配送計画を立案し、前記緩和前の配送計画の配送コストを前記コスト情報に基づいて計算する配送立案及びコスト計算部と、
前記制約条件を緩和することによって制約緩和案を生成する制約緩和部と、を有し、
前記配送立案及びコスト計算部は、さらに、
前記制約緩和案を満たすように、前記制約条件の緩和後の配送計画を立案し、前記緩和後の配送計画の配送コストを前記コスト情報に基づいて計算し、
前記緩和後の配送計画の配送コストが前記緩和前の配送計画の配送コストより低い場合、前記制約緩和案を出力することを特徴とする配送計画立案システム。 - 請求項1に記載の配送計画立案システムであって、
前記記憶部は、前記制約条件の最大緩和量を示す制約緩和条件をさらに保持し、
前記配送立案及びコスト計算部は、
前記制約条件を前記最大緩和量まで緩和した制約緩和案を生成して緩和後の配送計画を立案し、前記緩和後の配送計画の配送コストを前記コスト情報に基づいて計算し、
前記緩和後の配送計画の配送コストが前記緩和前の配送計画の配送コストより低い場合、前記制約条件を前記最大緩和量より小さい緩和量まで緩和した一つ以上の制約緩和案を生成して一つ以上の緩和後の配送計画を立案し、前記一つ以上の緩和後の配送計画の配送コストを前記コスト情報に基づいて計算することを特徴とする配送計画立案システム。 - 請求項2に記載の配送計画立案システムであって、
前記制約緩和条件は、緩和量の刻み幅を含み、
前記配送立案及びコスト計算部は、前記制約条件を前記刻み幅に基づいて決定した一つ以上の緩和量まで緩和することによって前記一つ以上の制約緩和案を生成することを特徴とする配送計画立案システム。 - 請求項1に記載の配送計画立案システムであって、
前記制約条件は、前記物品の配送先への納品時間、配送作業者の拘束時間、及び、配送のための道路の利用条件の少なくとも一つを含み、
前記コスト情報は、配送に使用する車両の利用料金、前記配送作業者の時間外料金、及び、前記道路の利用料金の少なくとも一つを含むことを特徴とする配送計画立案システム。 - 請求項4に記載の配送計画立案システムであって、
前記記憶部は、一つ以上の前記配送先の所在地及び前記各配送先に配送される物品の量を示す配送先情報と、一つ以上の配送拠点の所在地を示す拠点情報と、前記車両が移動する経路における移動速度を示す速度情報と、前記配送作業者の拘束時間を示す作業者情報と、前記車両の最大積載量、前記車両を使用する配送作業者及び前記車両からの物品の荷卸しに要する時間を示す車両情報と、前記各拠点と前記各配送先との間の移動距離及び前記各配送先相互間の移動距離を示す距離情報と、をさらに保持し、
前記配送立案及びコスト計算部は、前記配送先情報、前記拠点情報、前記速度情報、前記作業者情報及び前記距離情報に基づいて、前記制約条件及び前記制約緩和案をそれぞれ満たすように、前記緩和前の配送計画及び前記緩和後の配送計画を立案することを特徴とする配送計画立案システム。 - 請求項4に記載の配送計画立案システムであって、
前記制約緩和案において緩和された制約条件の種類及び緩和量と、前記緩和後の配送計画のコストと、を表示する表示部をさらに有することを特徴とする配送計画立案システム。 - 請求項6に記載の配送計画立案システムであって、
前記表示部は、前記制約条件の緩和量に対応する座標空間上の位置に、前記緩和後の配送計画のコストの大きさに対応する大きさの図形を表示することによって、前記制約緩和案において緩和された制約条件の種類及び緩和量と、前記緩和後の配送計画のコストと、を表示することを特徴とする配送計画立案システム。 - プロセッサと、前記プロセッサに接続される記憶装置と、を有する計算機システムが物品の配送計画を立案するための配送計画立案方法であって、
前記記憶装置は、配送計画の立案の制約条件、及び、配送計画に基づいて配送コストを計算するために使用されるコスト情報を保持し、
前記配送計画立案方法は、
前記プロセッサが、前記制約条件を満たすように、前記制約条件の緩和前の配送計画を立案し、前記緩和前の配送計画の配送コストを前記コスト情報に基づいて計算する第1手順と、
前記プロセッサが、前記制約条件を緩和することによって制約緩和案を生成する第2手順と、
前記プロセッサが、前記制約緩和案を満たすように、前記制約条件の緩和後の配送計画を立案し、前記緩和後の配送計画の配送コストを前記コスト情報に基づいて計算する第3手順と、
前記プロセッサが、前記緩和後の配送計画の配送コストが前記緩和前の配送計画の配送コストより低い場合、前記制約緩和案を出力する第4手順と、を含むことを特徴とする配送計画立案方法。 - 請求項8に記載の配送計画立案方法であって、
前記記憶装置は、前記制約条件の最大緩和量を示す制約緩和条件をさらに保持し、
前記第2手順は、前記プロセッサが、前記制約条件を前記最大緩和量まで緩和した制約緩和案を生成する手順を含み、
前記第3手順は、
前記プロセッサが、前記制約条件を前記最大緩和量まで緩和した制約緩和案を満たすように緩和後の配送計画を立案し、前記緩和後の配送計画の配送コストを前記コスト情報に基づいて計算する手順と、
前記プロセッサが、前記緩和後の配送計画の配送コストが前記緩和前の配送計画の配送コストより低い場合、前記制約条件を前記最大緩和量より小さい緩和量まで緩和した一つ以上の制約緩和案を生成して一つ以上の緩和後の配送計画を立案し、前記一つ以上の緩和後の配送計画の配送コストを前記コスト情報に基づいて計算する手順と、を含むことを特徴とする配送計画立案方法。 - 請求項9に記載の配送計画立案方法であって、
前記制約緩和条件は、緩和量の刻み幅を含み、
前記第3手順は、前記プロセッサが、前記制約条件を前記刻み幅に基づいて決定した一つ以上の緩和量まで緩和することによって前記一つ以上の制約緩和案を生成する手順を含むことを特徴とする配送計画立案方法。 - 請求項8に記載の配送計画立案方法であって、
前記制約条件は、前記物品の配送先への納品時間、配送作業者の拘束時間、及び、配送のための道路の利用条件の少なくとも一つを含み、
前記コスト情報は、配送に使用する車両の利用料金、前記配送作業者の時間外料金、及び、前記道路の利用料金の少なくとも一つを含むことを特徴とする配送計画立案方法。 - 請求項11に記載の配送計画立案方法であって、
前記記憶装置は、一つ以上の前記配送先の所在地及び前記各配送先に配送される物品の量を示す配送先情報と、一つ以上の配送拠点の所在地を示す拠点情報と、前記車両が移動する経路における移動速度を示す速度情報と、前記配送作業者の拘束時間を示す作業者情報と、前記車両の最大積載量、前記車両を使用する配送作業者及び前記車両からの物品の荷卸しに要する時間を示す車両情報と、前記各拠点と前記各配送先との間の移動距離及び前記各配送先相互間の移動距離を示す距離情報と、をさらに保持し、
前記第1手順は、前記配送先情報、前記拠点情報、前記速度情報、前記作業者情報及び前記距離情報に基づいて、前記制約条件を満たすように、前記緩和前の配送計画を立案する手順を含み、
前記第3手順は、前記配送先情報、前記拠点情報、前記速度情報、前記作業者情報及び前記距離情報に基づいて、前記制約緩和案を満たすように、前記緩和後の配送計画を立案する手順を含むことを特徴とする配送計画立案方法。 - 請求項11に記載の配送計画立案方法であって、
前記計算機システムは、前記プロセッサに接続される表示装置をさらに有し、
前記第4手順は、前記表示装置が、前記制約緩和案において緩和された制約条件の種類及び緩和量と、前記緩和後の配送計画のコストと、を表示する手順を含むことを特徴とする配送計画立案方法。 - 請求項13に記載の配送計画立案方法であって、
前記第4手順は、前記表示装置は、前記制約条件の緩和量に対応する座標空間上の位置に、前記緩和後の配送計画のコストの大きさに対応する大きさの図形を表示することによって、前記制約緩和案において緩和された制約条件の種類及び緩和量と、前記緩和後の配送計画のコストと、を表示する手順を含むことを特徴とする配送計画立案方法。
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US16/093,836 US11138549B2 (en) | 2016-04-25 | 2016-04-25 | Delivery plan making system and delivery plan making method |
PCT/JP2016/062911 WO2017187482A1 (ja) | 2016-04-25 | 2016-04-25 | 配送計画立案システムおよび配送計画立案方法 |
SG11201809130VA SG11201809130VA (en) | 2016-04-25 | 2016-04-25 | Delivery plan making system and delivery plan making method |
EP16900355.5A EP3451278A4 (en) | 2016-04-25 | 2016-04-25 | SYSTEM FOR CREATING A DELIVERY PLAN AND METHOD FOR CREATING A DELIVERY PLAN |
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SG11201809130VA (en) | 2018-11-29 |
JPWO2017187482A1 (ja) | 2018-12-20 |
US20190080287A1 (en) | 2019-03-14 |
EP3451278A4 (en) | 2019-09-11 |
CN109074620B (zh) | 2021-11-19 |
JP6568651B2 (ja) | 2019-08-28 |
EP3451278A1 (en) | 2019-03-06 |
US11138549B2 (en) | 2021-10-05 |
CN109074620A (zh) | 2018-12-21 |
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