Control system, control method, and program

Abstract

According to the present invention, it is possible to perform a search operation of a target area using a plurality of moving objects more appropriately or more efficiently. [Solution] The present invention is a control system that controls the operation of multiple moving bodies equipped with measurement sensors capable of detecting search objects and searches for the search objects, and includes a search target value acquisition unit that acquires search target information related to the target of the search, a search related information acquisition unit that acquires search related information including search condition information related to the conditions of the search and at least one of search status information related to actual values ​​or predicted values ​​of the search, and a search method determination unit that determines or decides to change at least one of the number of units, deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight line time of the multiple moving bodies to be used in the search based on the search target information and the search related information.

Description

[Technical field]

[0001] The present invention relates to a control system, a control method, and a program. [Background technology]

[0002] Patent Document 1 discloses a method for controlling multiple mobile objects equipped with cameras, etc., to monitor a monitored area, and in particular, discloses a technology for controlling the movement of the mobile objects so as to improve the coverage rate, which is the ratio of the monitored area that can be monitored by the mobile objects to the monitored area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-92256 A Summary of the Invention [Problem to be solved by the invention]

[0004] When trying to put into practical use a search system that uses multiple moving objects to perform search operations on a search target area, it is necessary to respond to various requirements that are placed on the search system when it is actually operated.

[0005] For example, it is required to evaluate in advance before the search operation whether or not sufficient search performance can be exhibited for a specific search objective specified by the user. If the search performance is insufficient, it is required to determine appropriate countermeasures such as changing the system configuration or changing the operation method of the moving object in order to exhibit sufficiently high search performance. Furthermore, during the execution of the search operation, it is required to evaluate the search performance in real time, and if sufficient search performance cannot be exhibited for the specific search objective specified by the user, it is required to take appropriate countermeasures such as changing the system configuration or changing the operation method of the moving object.

[0006] Furthermore, when the search target area is an area such as an ocean area where the environment changes greatly due to waves, wind, and weather, there is a large impact on the mobility performance of the moving body and the measurement performance of the measurement sensors (optical cameras, laser sensors, sonar sensors, etc.), so it is necessary to implement appropriate countermeasures such as changing the system configuration or the operation method of the moving body depending on the range that can actually be searched in the search target area.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one object of the present invention is to provide a system or control method, etc., which can perform search work of a target area more appropriately or efficiently using multiple moving objects. [Means for solving the problem]

[0008] According to the present invention, a control system is obtained that controls the operation of multiple moving bodies equipped with measurement sensors capable of detecting search objects and searches for the search objects, the control system comprising: a search target value acquisition unit that acquires search target information related to the target of the search; a search related information acquisition unit that acquires search related information including at least one of search condition information related to the conditions of the search and search status information related to the actual values ​​or predicted values ​​of the search; and a search method determination unit that determines or decides to change at least one of the number of units, deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight line time of the multiple moving bodies used in the search based on the search target information and the search related information. Effect of the Invention

[0009] According to the present invention, it is possible to perform a search operation of a target area using a plurality of moving objects more appropriately or more efficiently. [Brief description of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a control system 1 according to one embodiment of the present invention. [Diagram 2]FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in a real space. [Diagram 3] FIG. 2 is a diagram showing stakeholders related to the control system 1. [Figure 4] FIG. 1 is a configuration diagram showing an unmanned boat system 1000 made up of a plurality of unmanned boats. [Diagram 5] 1 is a conceptual diagram showing an unmanned boat system 1000 deployed on the sea searching for a search target 7000. FIG. [Figure 6] FIG. 1 is a diagram showing the relative positions of a plurality of unmanned boats 1010 that make up a platoon. [Figure 7] FIG. 1 is a diagram showing the relative positions of a plurality of unmanned boats 1010 that make up a plurality of platoons. [Figure 8] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned boat 1010. [Figure 9] FIG. 1 is a conceptual diagram showing how an object in water is detected using an ultrasonic sensor. [Figure 10] FIG. 2 is a functional block diagram showing the functional configuration of an overall control system 2000. [Figure 11] 2 is a diagram showing an example of various information acquired by a prior information acquisition unit 2100. FIG. [Figure 12] 13 is a diagram showing an example of the determination content determined by the object detection determination unit 2300. FIG. [Figure 13] 13 is a diagram showing an example of environmental disturbance information used in the correction calculation of the disturbance effect corrector 2530. FIG. [Figure 14] FIG. 2 is a flow chart showing a processing flow of the control system 1. [Figure 15] 2 is a sequence diagram showing signal exchange between systems in the control system 1. FIG. [Figure 16] FIG. 13 is a flowchart showing an example of a search plan determination process flow by the search plan determination unit 2200. [Figure 17] FIG. 13 is a diagram showing an example of a calculation result of output items in the search plan determination process performed by the search plan determination unit 2200. [Figure 18]13 is a flowchart showing an example of a flow of a warning level determination process performed by a warning level determination unit 2400. FIG. [Figure 19] 13 is a diagram showing an example of a method for determining an alert level according to a detection result of a search object 7000. FIG. [Figure 20] 13 is a flowchart showing an example of a process flow for determining the search state by the search state acquisition unit 2500. FIG. [Figure 21] 13 is a diagram showing an example of a result of determination of a search state by a search state acquisition unit 2500. FIG. [Figure 22] 13 is a flowchart showing an example of a process flow for determining a response action of the unmanned boat system 1000 by the response action determining unit 2600. FIG. [Diagram 23] 11 is a flowchart illustrating an example of a suggested display of a corresponding operation command and an execution process flow. FIG. [Figure 24] 13 is a diagram showing an example of display information proposed and displayed on a display unit 2710 or the like. FIG. [Diagram 25] FIG. 13 is a diagram showing another example of display information suggested and displayed on the display unit 2710 or the like. [Figure 26] FIG. 2 is a hardware configuration diagram of the overall control system 2000. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present invention will be described below with reference to the preferred embodiments thereof. [Item 1] A control system for searching for a search object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the search object, comprising: a search target value acquisition unit that acquires search target information related to a target of the search; a search-related information acquisition unit that acquires search-related information including at least one of search condition information related to the conditions of the search and search status information related to an actual value or a predicted value of the search; A control system comprising a search method determination unit that determines or changes at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line time of the multiple moving bodies to be used in the search based on the search target information and the search-related information. [Item 2] In the control system according to item 1, A control system in which the search condition information acquired by the search-related information acquisition unit includes information regarding at least any of the position or range of the target area of ​​the search, the execution time of the search, the position of the moving body, the search movement speed, the search turning speed, the search movement path, the search movement direction, the search straight-line search time, the search object, the measurement sensor, the assumed probability that the search object is present in the target area, the assumed speed of the search object, and the assumed course of the search object. [Item 3] In the control system according to item 1 or 2, A control system in which the search method determination unit determines at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line time of the multiple moving bodies to be used in the search based on the search target information and the search condition information included in the search-related information before the search begins. [Item 4] In the control system according to any one of items 1 to 3, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of information: a search rate indicating the proportion of the area that has been traveled over or measured by the moving body to the two-dimensional or three-dimensional target area of ​​the search, and a detection probability indicating the probability that the moving body will detect the search target. [Item 5] In the control system according to any one of items 1 to 4, A control system, wherein at least one of the search rate and the detection probability is calculated according to environmental information in the area to be searched. [Item 6] In the control system according to any one of items 1 to 5, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following information: a predicted search rate indicating the proportion of an area in which the moving body is expected to move or measure in the future to the two-dimensional or three-dimensional target area of ​​the search, and a predicted detection probability indicating the probability that the moving body will detect the search target in the future. [Item 7] In the control system according to any one of items 1 to 6, At least one of the predicted search rate and the predicted detection probability is calculated in response to current or future environmental information in the target area. [Item 8] In the control system according to any one of items 1 to 7, The environmental information is Information on disturbances in optical measurement that affect the detection of the search object by optical images, such as solar altitude, fog, rain, snow, light intensity, wave height, sea spray, etc. Laser measurement disturbance information such as fog, rain, snow, wave height, sea spray, and other information that affects the detection of the search object by the laser sensor; Acoustic measurement disturbance information that affects the detection of the search object in the sea by the acoustic sensor, such as seawater concentration, seawater temperature, seawater transparency, etc. Information on disturbances in radio wave measurement that affect the detection of the search object by the radio wave sensor, such as lightning, rain, fog, wave height, sea spray, and other disturbances in radio wave measurement that affect the detection of the search object by the radio wave sensor; A control system comprising at least one of the above. [Item 9] In the control system according to any one of items 1 to 8, The environmental information is Information on ocean currents, tides, wave height, flow speed, wind speed, and other disturbances in resistance of the moving body that affect the dynamic performance of the moving body; Information on seaweed, drift ice, drifting objects, ships, and other marine obstacles that may impede the movement of the moving object; Water temperature, air temperature, solar radiation, and other temperature disturbance information that affects the temperature of the moving body; A control system comprising at least one of the above. [Item 10] In the control system according to any one of items 1 to 9, The search target information includes: a target overall search rate indicating a target value of the ratio of the area where the moving object has moved or been measured to the entire area to be searched; a target local search ratio indicating a target value of a ratio of an area through which the moving object has moved or been measured to a local area that is a part of the target area of ​​the search; a target detection probability indicating a target value for the probability that the moving body detects the search object; a control system including target information regarding at least one of [Item 11] In the control system according to any one of items 1 to 10, The search method determination unit compares the search target information with the search status information, and when it determines that the actual value or predicted value of the search contained in the search status information has not reached the target value of the search contained in the search target information, makes a decision to change at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line time of the multiple moving bodies used in the search. [Item 12] In the control system according to any one of items 1 to 11, The search status information acquired by the search-related information acquisition unit includes: an overall search rate indicating the ratio of areas in which the moving object has moved or been measured to the entire area targeted by the search; A local search ratio indicating a ratio of areas in which the moving object has moved or been measured to a local area that is a part of the target area of ​​the search; A control system including at least one of the following information: [Item 13] In the control system according to any one of items 1 to 12, A control system, wherein the overall search rate indicates the ratio of the area through which the moving object has moved or measured within a specified period of time to the entire target area. [Item 14] In the control system according to any one of items 1 to 13, A control system, wherein the local search rate indicates a ratio of an area traveled or measured by the mobile object within a specified period of time to a local area that is a part of the target area. [Item 15] In the control system according to any one of items 1 to 14, The search method determination unit compares the target value of the overall search rate with an actual value or a predicted value of the overall search rate, and determines that the search target has not been achieved if the actual value or the predicted value of the overall search rate is lower than the target value of the overall search rate. [Item 16] In the control system according to any one of items 1 to 15, The search method determination unit determines that the search goal has not been achieved when at least one of the number, area, density, and shape of local areas where the local search rate is below a predetermined value matches a predetermined unachieved condition. [Item 17] In the control system according to any one of items 1 to 16, The search method determination unit determines that the goal of the search has not been achieved when user input information indicating that the goal of the search has not been achieved is received from a user. [Item 18] In the control system according to any one of items 1 to 17, The search method determination unit is When it is determined that the actual value or the predicted value of the search included in the search state information is less than the target value of the search included in the search target information, A control system that changes the search movement path of the moving body so as to enter or pass through the local area where the local search rate is lower than a predetermined value or where the local search rate is relatively low, or so as to enter or pass through a position where the local area can be measured. [Item 19] In the control system according to any one of items 1 to 18, The search method determination unit is When it is determined that the actual value or the predicted value of the search included in the search state information is less than the target value of the search included in the search target information, A control system that changes the search movement path of the moving body so as to increase the local search rate in the local area where the local search rate is lower than a predetermined value or the local search rate is relatively low, or so as to increase an overall search rate that indicates the proportion of the area through which the moving body has traveled or been measured to the entire target area. [Item 20] In the control system according to any one of items 1 to 19, The search method determination unit is A control system which determines or changes at least one of the number, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line travel time of the multiple moving bodies used in the search, depending on alert level information for each area determined based on externally acquired information, user-input information, or detection information of the object to be searched. [Item 21] In the control system according to any one of items 1 to 20, A control system comprising a display unit that displays and outputs at least one of the following: search status information regarding actual or predicted values ​​of the search acquired by a search-related information acquisition unit; a search rate indicating the proportion of areas where the moving body has moved or measured to the target area of ​​the two-dimensional or three-dimensional search; a detection probability indicating the probability that the moving body will detect the search target; and information regarding the search method determined by the search method determination unit. [Item 22] In the control system according to any one of items 1 to 21, A control system comprising an operation command unit that outputs an operation command to the moving body in response to user input information regarding the search. [Item 23] In the control system according to any one of items 1 to 22, A control system comprising an operation command unit that outputs an operation command to the moving body depending on a result determined by the search method determination unit. [Item 24] In the control system according to any one of Items 1 to 23, the plurality of moving bodies are unmanned boats equipped with the measurement sensors capable of moving on the sea and detecting the object to be searched existing in a two-dimensional or three-dimensional area including a sea area or an underwater area, and the control system. [Item 25] In a control method of a control system that controls operations of a plurality of moving bodies equipped with measurement sensors capable of detecting an object to be searched and searches for the object to be searched, a computer performs a search target value acquisition step of acquiring search target information regarding the target of the search, a search related information acquisition step of acquiring search related information including at least any one of search condition information for performing the search and search state information regarding an actual value or a predicted value of the search, a search method determination step of determining, or determining a change in, at least any one of the number of aircraft, arrangement distribution, formation, search moving speed, and search moving route of the plurality of moving bodies used for the search based on the search target information and the search related information, and executes the control method. [Item 26] A program applicable to a control system that controls operations of a plurality of moving bodies equipped with measurement sensors capable of detecting an object to be searched and searches for the object to be searched, causes a computer to execute a search target value acquisition instruction for acquiring search target information regarding the target of the search, a search related information acquisition instruction for acquiring search related information including at least any one of search condition information for performing the search and search state information regarding an actual value or a predicted value of the search, a search method determination instruction for determining, or determining a change in, at least any one of the number of aircraft, arrangement distribution, formation, search moving speed, and search moving route of the plurality of moving bodies used for the search based on the search target information and the search related information, and is a program for causing the execution.

[0012] <A. First Embodiment> Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and duplicated explanations will be omitted. In addition, the embodiments shown below are merely examples, and other known elements or alternative means can be adopted depending on the application, purpose, scale, etc.

[0013] [A.Configuration] (A-1. System Configuration) First, the overall system configuration of a control system 1 according to one embodiment of the present invention will be described with reference to FIGS.

[0014] (A-1-1. System Configuration Overview) FIG. 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an unmanned boat system 1000 and a general control system 2000. The general control system 2000 is configured to be able to communicate with an external collaborative system 5000 and an external system 6000 via an Internet line or the like, and can input and output information. The general control system 2000 can transmit control commands to the unmanned boat system 1000 deployed on the sea via a terrestrial base station 4000 and a communication satellite 3000, and can also receive the operation status and measurement data of the unmanned boat system 1000. Therefore, the general control system 2000 can search for the search object 7000 by controlling the operation of the unmanned boat system 1000, which has a plurality of unmanned boats 1010 equipped with measurement sensors capable of detecting the search object 7000.

[0015] The unmanned boat system 1000 includes a single or multiple unmanned boats 1010. When the unmanned boat system 1000 is configured with multiple unmanned boats 1010, the multiple unmanned boats 1010 are connected to each other by wireless communication to form a communication network. The unmanned boat 1010 also has a function of detecting search targets 7000, such as ships, drifting objects, drifters, and other marine moving objects, as well as divers navigating underwater and marine life (such as whales), using measurement sensors mounted on the boat (such as sonar or other sound wave sensors, optical cameras, IR cameras, laser sensors such as LiDAR, and radar sensors such as millimeter wave sensors and microwave sensors).

[0016] The detection determination results and measurement data of objects detected by unmanned boat system 1000, as well as various information on the operation status of each unmanned boat 1010 in unmanned boat system 1000, are transmitted to overall control system 2000 via communications satellite 3000 and terrestrial base station 4000. The overall control system 2000 determines operation commands for unmanned boat system 1000 based on information acquired from unmanned boat system 1000 and request information acquired in advance. Information such as the generated operation commands is transmitted to coordination system 5000, and the coordination system can also acquire intervention commands from the coordination system.

[0017] (A-1-2. Example of control system 1 implemented in real space) Fig. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Fig. 2, a terrestrial base station 4000 and a central control system 2000 are provided on the ground side shown in the upper right of the drawing. Also provided on the ground side is a coordination system 5000 including related facilities of an external coordination organization such as an external coordination monitoring organization facility (including a private security organization, a private rescue organization, etc.), and further, an external system 6000 such as an AIS (Automatic Identification System) control center and an AIS base station that manage information on ships sailing on the ocean is provided.

[0018] On the other hand, on the ocean side shown on the left side of the drawing, an unmanned boat system 1000, a search object 7000, and a part of a cooperative system 5000 such as a surveillance boat operated by an external cooperative organization are deployed. The unmanned boat system 1000 also has a plurality of platoons (1000a, 1000b, 1000c) consisting of a master unit and a plurality of slave units, and each platoon can communicate directly or via a communication satellite 3000. The unmanned boat system 1000 can also communicate with a surveillance boat directly or via a communication satellite 3000, and for example, the unmanned boat system 1000 can notify the surveillance boat (or a research vessel) of detection information related to the search object 7000. The unmanned boat system 1000 can also be communicably connected to an AIS base station to acquire AIS information.

[0019] In the example shown in Figure 2, the overall control system 2000 is implemented in a facility on land, but this is not limited to this. All or some of the functions implemented in the overall control system 2000 shown in this embodiment can also be installed on a coastal field base provided in a coastal area on land (not shown) or on a manned mother ship at sea, and the unmanned boat system 1000 can be operated and managed at the coastal field base or manned mother ship.

[0020] As the configuration of the embodiment described in FIG. 1 and FIG. 2 above, an example has been described in which a non-terrestrial network using a communication satellite 3000 in a geosynchronous orbit or a low earth orbit is used as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aerial vehicle called a High Altitude Platform Station (HAPS) can also be used. In this case, for example, an unmanned aerial vehicle that circles at an altitude of about 8 to 50 km can be used. In addition, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1010, it is also possible to use a communication network that directly connects the terrestrial base station 4000 to the unmanned boat 1010 by wireless communication without passing through the communication satellite 3000 or the HAPS. The terrestrial base station 4000 is not limited to a fixed base station that is immobile, and may be a mobile base station that can be moved.

[0021] (A-1-3. Stakeholders regarding Control System 1) Fig. 3 is a diagram showing stakeholders related to the control system 1. As shown in Fig. 3, the control system 1 has an operator who operates the unmanned boat system 1000 by inputting and outputting information via a user interface unit 2700 of the overall control system 2000. When all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in a coastal field base on land or a manned mother ship at sea (not shown), the operator can manage the operation of the unmanned boat system 1000 at the coastal field base or the manned mother ship.

[0022] In addition, the external cooperative monitoring organization facility of the cooperative system 5000 has a monitoring manager, and the monitoring boat has a monitor, and they cooperate with each other to search for objects in the marine area. The cooperative system 5000 may also include private security companies and private rescue organizations. The AIS control center of the external system 6000 has a person in charge of generating, operating, and managing AIS information. Furthermore, the external system 6000 includes a weather information providing system that provides weather information, and the weather information providing system has a person in charge of generating, managing, and distributing weather information.

[0023] Furthermore, the search object 7000 that is the target of search by the control system 1 and the cooperative system 5000 includes marine moving objects such as ships, drifting objects, and drifters, as well as underwater moving objects such as divers navigating underwater and marine life (such as whales). The control system 1 can more efficiently search for the search object 7000 by communicating with and coordinating with the cooperative system 5000 and the external system 6000.

[0024] (A-2. Unmanned Boat System 1000) Next, the system configuration of an unmanned boat system 1000 according to one embodiment of the present invention will be described with reference to FIGS.

[0025] (A-2-1. Overview of the Unmanned Boat System 1000) 4 is a configuration diagram showing an unmanned boat system 1000 composed of multiple unmanned boats. As shown in FIG. 4, the unmanned boat system 1000 is composed of one or multiple platoons (1000a, 1000b), and each platoon is composed of multiple unmanned boats 1010. The multiple unmanned boats 1010 that compose each platoon are configured to play the role of a master unit 1001 capable of wireless communication with a communication satellite 3000, or a slave unit 1002 capable of direct or indirect communication with the master unit 1001. The master unit 1001 has a function of connecting to the communication satellite 3000 for communication, aggregating information collected from the multiple slave units 1002 and transmitting the information to the communication satellite 3000 in relation to the operation commands, and transmitting information generated by the master unit 1001 directly or indirectly to each slave unit 1002.

[0026] 4 includes a primary connection slave device 10021 that is communicatively connected to a parent device 1001, a secondary connection slave device 10022 that is communicatively connected to the primary connection slave device 10021, and a tertiary connection slave device 10023 that is communicatively connected to the secondary connection slave device 10022. Each slave device (primary connection slave device 10021, secondary connection slave device 10022, tertiary connection slave device 10023) has a function of relaying information received from another parent device 1001 or slave device 1002 to the other parent device 1001 or slave device 1002, thereby forming a communication network between the parent device 1001 and the multiple slave devices 1002.

[0027] (A-2-2. Search by Unmanned Boat System 1000) FIG. 5 is a conceptual diagram showing how an unmanned boat system 1000 deployed on the sea searches for a search object 7000. As shown in FIG. 5, a plurality of unmanned boats 1010 constituting a platoon are deployed on the sea, and a measurement sensor 1110 mounted on each unmanned boat 1010 can detect a search object 7000 present within a measurable range on the sea or underwater. Measurement data and detection judgment results of the detected search object 7000 are collected in a master unit 1001 via a communication network between the unmanned boats 1010, transmitted from the master unit 1001 to a communication satellite 3000, and transmitted to a terrestrial base station 4000 or an internet line to a general control system 2000. Each unmanned boat 1010 is provided with a navigation unit 1300 capable of navigating the unmanned boat 1010 in any direction, and can execute a mission of searching for the search object 7000 based on an operation command transmitted by the general control system 2000.

[0028] (A-2-3. Positional relationship of multiple unmanned boats 1010 in the platoon, etc.) A platoon consisting of a plurality of unmanned boats 1010 will be described below with reference to FIGS.

[0029] (A-2-3-1. Composition of the unmanned boat 1010 that constitutes a single platoon) Fig. 6 is a diagram showing the relative positions of a plurality of unmanned boats 1010 constituting a platoon. In the example shown in Fig. 6, the platoon 1000a includes one master unit 1001 and a plurality of slave units 1002. The master unit 1001 and the plurality of slave units 1002 are connected by wireless communication as shown by solid lines to form a wireless communication network on the sea. The slave unit 1002 includes a primary connection slave unit 10021 that is wirelessly connected to the master unit 1001, and a secondary connection slave unit 10022 that is wirelessly connected to the primary connection slave unit 10021.

[0030] In this embodiment, the number of relays by the child devices when forming a platoon is not limited, and a tertiary connected child device, a quaternary connected child device, or more connected child devices may be provided. The primary connected child device 10021 shown in FIG. 6 has a function of relaying the transmission and reception of information between the parent device 1001 and the secondary connected child devices 10022, thereby enabling the transfer of information between the parent device 1001 and the multiple secondary connected child devices 10022.

[0031] Furthermore, the number of secondary connection slave devices 10022 wirelessly connected to the primary connection slave device 10021 is not limited to one, and multiple secondary connection slave devices 10022 wirelessly connected to the primary connection slave device 10021 can form a tree-structured communication network in which multiple unmanned crafts 1010 branch off within the platoon 1000a. Since there is an upper limit to the communication distance over which wireless communication is possible between each unmanned craft 1010, the position of at least one of the two unmanned crafts 1010 that wirelessly communicate with each other, for example, the parent craft 1001 and the primary connection slave device 10021, and the primary connection slave device 10021 and the secondary connection slave device 10022, is controlled so that the relative distance between the unmanned crafts 1010 is maintained within the communication distance (for example, approximately 1.5 km). Furthermore, if the relative distance between the unmanned boats 1010 increases and the communicating unmanned boat 1010 moves out of the communication range, wireless communication will no longer be possible and control commands will no longer be able to be sent from the overall control system 2000. Therefore, it is desirable for the two unmanned boats 1010 that are communicatively connected to each other to perform self-position control in order to maintain the relative distance with the communicating party within the communication range with a higher priority than other controls.

[0032] On the other hand, there is no need to maintain the above-mentioned communication connection for the relative distance between other unmanned crafts 1010 that do not wirelessly communicate with each other. On the other hand, in order to efficiently search for the search target 7000, which is the activity purpose of the unmanned craft system 1000, it is preferable for the unmanned crafts 1010 to maintain an appropriate distance so that the measurement ranges of the measurement sensors of each unmanned craft 1010 do not overlap or overlap moderately, rather than a state in which the unmanned crafts 1010 are too close and the measurement ranges of the measurement sensors overlap for the most part. Therefore, for the relative distance between the unmanned crafts 1010 that do not communicate with each other, the position of at least one of the unmanned crafts 1010 is controlled with a relatively low priority so as to maintain a preset steady-state relative distance (for example, about 1 km). For control to maintain this steady-state relative distance, for example, control based on the Boids algorithm can be applied.

[0033] Furthermore, if the relative distance between the unmanned boats 1010 becomes too close and there is a possibility of a collision, position control is executed to increase the relative distance with a relatively high priority in order to avoid a collision and prevent damage to the unmanned boats 1010.

[0034] As described above, control to maintain the relative distance between unmanned vessels 1010 that communicate with each other wirelessly within the communication distance range, and avoidance control to avoid collisions with other unmanned vessels that come within close range, are executed with a relatively high priority, while control to maintain the relative distance under normal circumstances between unmanned vessels 1010 that do not communicate wirelessly with each other is executed with a relatively low priority.

[0035] (A-2-3-2. Configuration of the unmanned boats 1010 that make up multiple platoons) Fig. 7 is a diagram showing the positional relationship of a plurality of unmanned boats 1010 constituting a plurality of platoons. In the example shown in Fig. 7, two platoons (1000a, 1000b) cooperate with each other to perform position control, and for example, the relative distance between the secondary connection slave device 10022a in the platoon 1000a and the secondary connection slave device 10022b in the platoon 1000b can be controlled to maintain a steady-state relative distance (for example, about 1 km). In addition, the steady-state relative distance can be set to a distance shorter than the communicable distance.

[0036] Furthermore, by arranging the unmanned boats (10022a, 10022b) within a distance range where the measurement ranges of the measurement sensors 1110 of two adjacent unmanned boats (10022a, 10022b) overlap, it is possible to reduce the gap area that cannot be measured by the measurement sensors 1110. On the other hand, when searching a wider area, it is possible to perform an efficient search without waste by arranging the unmanned boats (10022a, 10022b) so that the measurement ranges of the measurement sensors 1110 of the two adjacent unmanned boats (10022a, 10022b) are kept at a predetermined distance or more so that they do not overlap.

[0037] For example, operation status information (position, movement direction, speed, etc.) of each unmanned craft 1010 in each platoon is transmitted to the overall control system 2000 via the master unit 1001, and the corresponding operation decision unit 2600 of the overall control system 2000 generates operation commands to control the position, formation, etc. of each unmanned craft 1010, thereby enabling appropriate control of the operation of the unmanned craft 1010 in each platoon. As another example, operation status information of the unmanned craft 1010 in each platoon can be shared between the master unit 1001a of the platoon 1000a and the master unit 1001b of the platoon 1000b via a communication satellite 3000 or the like (or by direct communication), and the master unit 1001 in each platoon generates operation commands to control the operation of the unmanned craft 1010 in the platoon, thereby enabling appropriate control of the operation of the unmanned craft 1010 in each platoon.

[0038] (A-2-4. Configuration of the unmanned boat 1010) Fig. 6 is a functional block diagram showing the functional configuration of the unmanned boat 1010. Note that Fig. 6 describes the functional block diagram of the unmanned boat 1010, but the parent unit 1001 and child unit 1002 of the unmanned boat 1010 can both be equipped with functions similar to the configuration shown in Fig. 6. The unmanned boat 1010 includes a measurement unit 1100, a vessel state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0039] The measurement unit 1100 is a functional unit that detects a search object 7000 that exists within a measurable range on the sea or underwater around the unmanned boat 1010 using a measurement sensor 1110, and acquires measurement information related to the search object 7000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0040] The measurement sensor 1110 may include one (monocular) or multiple electro-optical sensors that acquire image data on the sea, optical sensors such as optical cameras, infrared sensors (IR sensors), and stereo cameras, laser sensors such as LiDAR that acquire point cloud data, optical distance measuring sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. The measurement sensor 1110 acquires measurement data of a search target 7000 that exists within a measurable range of a two-dimensional plane on the sea by measuring the periphery of the unmanned boat 1010. In addition, each of the above-mentioned sensors can be used as a distance measuring sensor that measures the distance to the target based on the measurement data.

[0041] In addition to the above-mentioned sensors, the measurement sensor 1110 may also have a sonic sensor (also called a sonic measurement unit) including a sonar that uses sound waves such as ultrasonic waves. The sonic sensor can acquire measurement data of a search object 7000 that exists within a measurable range of a three-dimensional space underwater. The sonic sensor can also be used not only underwater but also in the air above the water. When the sonic sensor is used in the air, it can be used as a distance measurement sensor that measures the distance to an object to be measured by measuring the sound waves that are generated and reflected by the object and return. When the sonic sensor is used underwater, the sonic sensor may be either an active sonar that generates sound waves and measures the sound waves that reverberate from an object underwater, or a passive sonar that measures the sound generated from an object underwater. The active sonar can be, for example, a side scan sonar, a multi-beam sonar, or a single beam sonar. The sonic sensor may also be a USBL transceiver, a modem for acoustic communication, or the like.

[0042] Furthermore, the measurement control unit 1120 operates a sensor attitude changing device capable of changing the attitude of the measurement sensor 1110 to control at least one of the attitude angles around the three axes of the measurement sensor 1110 relative to the unmanned boat 1010. Furthermore, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, the shutter speed, and the like. Furthermore, when the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. Furthermore, when the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of the millimeter wave or microwave. Furthermore, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. Furthermore, when the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount or resolution of the optical sensor to an arbitrary control amount.

[0043] Next, the own-vehicle state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state and internal and external states of the unmanned boat 1010. The navigation state determination unit 1210 determines the own-vehicle's position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state. The internal state determination unit 1220 determines the remaining energy and fuel in the battery mounted on the own vessel, the movable distance that can be calculated from the remaining energy and fuel, temporary abnormal states of equipment mounted on the own vessel (temperature abnormality, communication abnormality, etc.), and the failure state of the equipment. In addition, the external condition determination unit 1230 determines the communication quality conditions such as communication strength (dB value, etc.), communication speed, and communication delay of wireless communications with other unmanned boats 1010 in the unmanned boat system 1000, or wireless communications with the overall control system 2000 via a communication satellite 3000 or a terrestrial base station 4000, or the ocean currents and tides (current speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the unmanned boat.

[0044] The method of determining the position, moving speed, moving direction, and acceleration / deceleration of the aircraft by the navigation state determination unit 1210 is not particularly limited, but for example, the position, moving speed, and moving direction of the aircraft at the current time can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Moreover, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0045] The method of measuring the heading of the aircraft at the current time is to determine the heading of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, SLAM technology using the shape of the seabed, etc. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and may be attitude information around three axes, preferably the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0046] Next, the navigation unit 1300 includes a thrust generating unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the aircraft in any direction according to an operation command received via the communication unit 1400. The thrust generating unit 1310 can be any means capable of generating thrust, and as an example, can be configured with a propeller driven by the power of an engine or an electric motor. The thrust generating unit 1310 can also be configured with a sail that receives wind to generate thrust, or can be configured with a wave glider that receives wave power to generate thrust.

[0047] The attitude control mechanism 1320 is composed of a rudder plate provided on the aircraft, a propeller attitude change mechanism capable of changing the attitude angle of the propeller (mainly the yaw angle around the Z axis), etc., and can control the nose direction (yaw angle) of the aircraft by changing these angles. In addition, the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the aircraft can also be controlled by a center of gravity position change mechanism that changes the position of a heavy object inside the aircraft with an actuator.

[0048] Furthermore, the navigation control unit 1330 is a functional unit that controls the thrust generation unit 1310 and the attitude control mechanism 1320 to control the navigation operation of the aircraft. The navigation control unit 1330 includes a processing unit having one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP), and that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0049] The processing unit includes a control module configured to control the navigation state of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, moving speed, moving acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by making the aircraft perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0050] Next, the communication unit 1400 includes an inter-unmanned boat communication unit 1410 and an overall control communication unit 1420, and is a functional unit that communicates with other unmanned boats 1010 in the unmanned boat system 1000 and the overall control system 2000. The inter-unmanned boat communication unit 1410 includes a communication antenna used for an on-shore wireless communication network, and communicates with other unmanned boats 1010 in the unmanned boat system 1000. The overall control communication unit 1420 includes a satellite communication antenna capable of communicating with a communication satellite 6100, or a communication antenna capable of communicating with a terrestrial base station 6200, and communicates with the overall control system 2000 via the communication satellite 6100 or the terrestrial base station 6200. Note that the communication unit may include an AIS antenna or a VHF antenna in addition to the above-mentioned communication units, and may include a communication unit that communicates with an external surveillance boat or an AIS base station.

[0051] Next, the determination unit 1500 is a functional unit that performs data processing such as primary processing and data compression of the measurement data acquired by the measurement sensor 1110. For example, the determination unit 1500 can perform data processing of raw data (measurement data) after measurement acquired by the measurement sensor 1110, and perform primary processing to generate transmission data to be wirelessly transmitted from the unmanned boat system 1000 to the overall control system 2000. Furthermore, in order to reduce the transmission load when wirelessly transmitting transmission data from the unmanned boat system 1000 to the overall control system 2000, the determination unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement to generate transmission data.

[0052] Furthermore, by performing primary processing of the measurement data, the determination unit 1500 can interpret the state of the search target 7000 and determine the presence or absence of a detected object, the size of the detected object, etc. Furthermore, the determination unit 1500 may have a function for determining whether or not measurement data or transmission data needs to be transmitted from the unmanned boat system 1000 to the overall control system 2000, or for selecting the data to be transmitted, depending on the result of the interpretation.

[0053] Next, the recording unit 1600 includes a measurement data recording unit 1610, a device's state recording unit 1620, and a determination information recording unit 1630. The measurement data recording unit 1610 records measurement data measured by the measurement unit 1100. The device's state recording unit 1620 records various types of state information related to the device determined by the device's state determination unit 1200. Furthermore, the determination information recording unit 1630 records various types of determination information determined by the determination unit 1500.

[0054] (A-2-5. Detection of underwater objects using sonic sensors) In this embodiment, various types of sensors can be used as measurement sensors, such as optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter wave sensors and microwave sensors, and sonic sensors such as sonar, and objects on or under the sea can be detected. Below, an underwater object detection method when a sonic sensor such as sonar is used as a measurement sensor will be described as an example. FIG. 9 is a conceptual diagram showing how to detect underwater objects using a sonic sensor. The example shown in FIG. 9 shows how to detect marine life such as whales and underwater divers using a side scan sonar, and how to detect the position of underwater divers that can communicate with each other using a USBL transceiver and a modem for acoustic communication.

[0055] When using side scan sonar, the surface material, size, and position of underwater objects can be determined based on information on the sound wave intensity obtained from the sound waves emitted from the unmanned boat 1010 and reflected off the underwater object.

[0056] Furthermore, when detecting the position of an underwater diver capable of mutual communication using a USBL transceiver or an acoustic communication modem, the relative position of the diver to the unmanned boat 1010 can be detected by transmitting an acoustic signal (call) from the USBL transceiver and receiving an acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver side with the USBL transceiver. Also, the absolute position coordinates of the diver can be calculated based on the self-position coordinates calculated by the navigation state determination unit 1210 in the unmanned boat 1010, and data including the diver's absolute position coordinates can be transmitted from the acoustic communication modem to the diver.

[0057] (A-3. Configuration of the Integrated Control System 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 10. Fig. 10 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 10, the overall control system 2000 includes a prior information acquisition unit 2100, a search plan determination unit 2200, an object detection determination unit 2300, an alert level determination unit 2400, a search state acquisition unit 2500, a response operation determination unit 2600, a user interface unit 2700, and an operation command unit 2800.

[0058] (A-3-1. Advance information acquisition unit 2100) The advance information acquisition unit 2100 is a functional unit that acquires information to be processed or used in each functional unit in the overall control system 2000 from the unmanned boat system 1000, the cooperative system 5000, the external system 6000, etc. The advance information acquisition unit 2100 includes a search condition acquisition unit 2110 and a search target value acquisition unit 2120.

[0059] The search condition acquisition unit 2110 is a functional unit that acquires search condition information related to various conditions when searching for the search object 7000 using the unmanned boat system 1000. The search condition acquisition unit 2110 acquires the search object 7000 and the target area to be searched, the time to perform the search, the conditions of the unmanned boat and the measurement sensor to be used for the search, etc. Furthermore, the search condition acquisition unit 2110 can include assumed information related to the search object 7000 that is used when calculating the search rate and search performance by simulation, which will be described later.

[0060] The search target value acquisition unit 2120 is a functional unit that acquires search target information related to the search target when searching for the search object 7000 using the unmanned boat system 1000. The search target value acquisition unit 2120 is a functional unit that acquires target values ​​related to the search rate (also called coverage rate), which indicates the proportion of the area that has been moved over or measured by the unmanned boat 1010 to the area targeted for search, and the detection probability (also called target discovery probability, detection rate, or encounter rate), which indicates the probability that the unmanned boat 1010 will detect the search object 7000.

[0061] Hereinafter, various pieces of information acquired by the advance information acquiring unit 2100 will be described with reference to Fig. 11. Fig. 11 is a diagram showing an example of various pieces of information acquired by the advance information acquiring unit 2100.

[0062] As shown in Figure 11, the search condition information acquired by the search condition acquisition unit 2110 includes the search object, the search target area, the search time, the positioning of the unmanned boat, movement conditions, information about the measurement sensors to be used in the search, and assumed information about the search object 7000.

[0063] The information on the search object in the search condition information is information on the object on or under the sea to be detected by the search, such as a ship, a floating buoy, a diver, etc. The information on the target area includes the position and range of the two-dimensional or three-dimensional target area to be searched. For example, the target area includes information indicating the position and range of a two-dimensional sea area or a three-dimensional underwater area.

[0064] The information regarding the search time includes information regarding the date, time, and time period when the search is performed, such as information indicating the start and end times of the search. Next, the information regarding the placement of the unmanned boats includes, for example, random placement of multiple unmanned boats, uniform placement, or density-varying placement that changes the density of the unmanned boats depending on the area.

[0065] Next, the information on the movement conditions of the unmanned boat includes the movement speed, turning speed, movement direction, movement path, straight-line time, etc. Furthermore, the information on the measurement sensor includes the type of the measurement sensor (optical sensor, LiDAR sensor, sonar sensor, etc.) and the measurable range (measurable distance, measurable angle, etc.).

[0066] Next, the search object assumption information includes a presence probability, which is the probability that the search object 7000 exists within the search target area. In addition, the search object assumption information includes assumption information of the movement of the search object 7000, such as an assumed speed, an assumed path, and an assumed straight-line travel time of the search object 7000.

[0067] 11, the search target information acquired by the search target value acquisition unit 2120 includes a target search rate and a target search performance. The target search rate can include an entire area target search rate, which is a target value related to the proportion of areas where the unmanned boat 1010 has already moved or measured to the entire area targeted for search, or a local area target search rate, which is a target value related to the proportion of areas where the unmanned boat 1010 has already moved or measured to a local area that is a part of the area targeted for search.

[0068] The target search performance also includes a target detection probability (also called a target discovery probability, detection rate, or encounter rate) which is a target value for the detection probability indicating the probability that the unmanned boat 1010 will detect the search target 7000.

[0069] (A-3-2. Search plan determination unit 2200) The search plan determination unit 2200 is a functional unit that determines at least one of the number of aircraft, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight ahead time of multiple unmanned boats 1010 used in the search (particularly, makes such determinations before the start of the search) based on the search condition information acquired by the search condition acquisition unit 2110 and the search target information acquired by the search target value acquisition unit 2120. The search plan determination unit 2200 includes a calculation condition determination unit 2210, a system configuration determination unit 2220, and an operation plan determination unit 2230.

[0070] The calculation condition determination unit 2210 is a functional unit that determines various conditions to be calculated by the system configuration determination unit 2220. The calculation condition determination unit 2210, for example, determines a calculation model to be used in calculations to determine the system configuration, etc., and determines input items and output items to the calculation model. For example, the calculation condition determination unit 2210 can determine, as input items, the target detection probability, the search execution time, the movement speed of the unmanned boat, the position of the unmanned boat, the movement direction of the unmanned boat, the straight-line travel time of the unmanned boat, the expected course of the search object, etc., and determine, as output items, the number of unmanned boats, etc.

[0071] The system configuration determination unit 2220 calculates output items (e.g., the number of unmanned boats) based on the determined calculation model and various information of the input items. If the calculated output items such as the number of unmanned boats are within the allowable range, the system configuration determination unit 2220 determines the calculated number of boats as the required system configuration. On the other hand, if the calculated output items such as the number of unmanned boats are outside the allowable range (e.g., if the calculated number of boats is greater than the number of boats owned), the search condition information and search target information, which are input items, can be changed and the output items can be calculated again. Note that the system configuration determination unit 2220 is not limited to the system configuration such as the number of unmanned boats, but can also determine the placement and operation method of the unmanned boats, etc.

[0072] The motion plan determination section 2230 can determine the motion plan for the unmanned watercraft 1010 based on the determination result by the system configuration determination section 2220 .

[0073] (A-3-3. Object detection determination unit 2300) The object detection and determination unit 2300 is a functional unit that determines the appearance and dynamic state of the search object 7000 based on the measurement data acquired by the measurement unit 1100 of the unmanned boat system 1000 or the interpretation result obtained by the determination unit 1500 of the unmanned boat 1010. The object detection and determination unit 2300 includes an appearance determination unit 2310 and a dynamic state determination unit 2320.

[0074] The appearance determination unit 2310 is a functional unit that performs a determination regarding the appearance of the detected search object 7000. Moreover, the dynamic state determination unit 2320 is a functional unit that performs a determination regarding the dynamic state of the search object 7000. Hereinafter, the contents of the determinations made by the appearance determination unit 2310 and the dynamic state determination unit 2320 will be described with reference to FIG.

[0075] Fig. 12 is a diagram showing an example of the determination content determined by the object detection determination unit 2300. As shown in Fig. 12, the appearance information of the search object 7000 determined by the appearance determination unit 2310 can include the type of the search object 7000 (ship, floating buoy, diver, etc.), the size, length, number, orientation (nose direction), identification information (ship name, ship number, etc.), AIS registration information, and exterior plate material. The exterior plate material can be determined by the reflection intensity of measurement data measured by an acoustic sensor, and the determination result of the exterior plate material can be used to determine the type of the search object 7000 (sunken ship, marine life, diver, etc.).

[0076] Furthermore, the dynamic state of the search object 7000 determined by the dynamic state determination unit 2320 can include the position coordinates, moving speed, course direction, course trajectory, turning speed, turning angle, turning radius, maximum speed, maximum acceleration, etc. of the search object 7000. Note that it is difficult to actually measure the maximum speed and maximum acceleration. Therefore, they may be estimated using the size and type of the ship, or the actual measured values ​​of acceleration and speed.

[0077] Furthermore, the object detection determination unit 2300 may have a function of updating in real time the estimated information such as the presence probability, estimated speed, estimated course, and estimated straight-line time of the object to be searched acquired by the search condition acquisition unit 2110 based on information about the object to be searched 7000 determined by the appearance determination unit 2310 and the dynamic state determination unit 2320.

[0078] (A-3-4. Alert level determination unit 2400) The alert level determination unit 2400 is a functional unit that determines an alert level in a search for the search object 7000. The alert level determination unit 2400 can determine an alert level for each area depending on, for example, the area and time period in which the search is performed, or the conditions such as worsening weather (such as worsening weather that causes a reduction in the measurable range) and sea conditions acquired from a weather information providing system of the external system 6000.

[0079] As another example, when a search object 7000 is detected, the alert level determination unit 2400 can determine the alert level for each area depending on a detection flag that is a detection result of the detected search object 7000, and the type, number, size, length, moving speed, and moving direction of the search object 7000. As another example, the alert level can be determined for each area depending on the duration during which the detection probability calculated based on the detection result of the search object 7000 remains below a predetermined value, a change in the presence probability of the search object 7000, and a change in the assumed speed of the search object 7000.

[0080] As another example, when input of information regarding the alert level is received from the user via the user input receiving unit 2720 described later, the alert level can be determined for each area based on the user input information.

[0081] (A-3-5. Search status acquisition unit 2500) The search state acquisition unit 2500 is a functional unit that determines a search state related to an actual value or a predicted value of a search of the search object 7000. The search state acquisition unit 2500 includes a current search state calculation unit 2510, a search performance prediction calculation unit 2520, and a disturbance effect correction unit 2530.

[0082] The current search state calculation unit 2510 is a functional unit that calculates the current search state, and calculates at least one of a search rate indicating the proportion of areas that have been traveled over or measured by the unmanned boat 1010 to the target area of ​​the two-dimensional or three-dimensional search, and a detection probability indicating the probability that the unmanned boat 1010 will detect the object 7000 to be searched.

[0083] Here, the current search state calculation unit 2510 can calculate performance values ​​such as the search rate and detection probability by using the latest assumed information such as the presence probability, assumed speed, assumed course, and assumed straight-line time of the search object 7000 updated in real time by the object detection determination unit 2300. Alternatively, the performance values ​​such as the search rate and detection probability may be calculated by using assumed information of the search object 7000 input by the user via the user interface unit 2700 described later.

[0084] Here, the search rate calculated by the current search state calculation unit 2510 can include an overall search rate indicating the proportion of areas that have been moved or measured by the unmanned boat 1010 to the entire area targeted for search. In this case, the overall search rate can be calculated as a value indicating the proportion of areas that have been moved or measured by the unmanned boat 1010 within a predetermined period to the entire area targeted for search.

[0085] Ma Furthermore, the search rate calculated by the current search state calculation unit 2510 may include a local search rate indicating the ratio of areas that have been moved or measured by the unmanned boat 1010 to a local area that is a part of the search target area. In this case, the local search rate can be calculated as a value indicating the ratio of areas that have been moved or measured by the unmanned boat 1010 within a predetermined period to the local area of ​​the search target area.

[0086] The search performance prediction calculation unit 2520 is a functional unit that predicts and calculates the future search state, and predicts and calculates at least one of a predicted search rate, which indicates the proportion of the area that the unmanned vessel 1010 is expected to move to or measure in the future relative to the target area of ​​a two-dimensional or three-dimensional search, and a predicted detection probability, which indicates the probability that the unmanned vessel 1010 will detect the search target object 7000 in the future.

[0087] The disturbance effect correction unit 2530 is a functional unit that performs calculations to correct the search rate and detection probability calculated by the current search state calculation unit 2510, taking into consideration the degree to which disturbances such as weather affect the search rate and detection probability, in accordance with environmental disturbance information such as weather in the target area where the search is performed. The disturbance effect correction unit 2530 can also perform calculations to correct the predicted search rate and predicted detection probability calculated by the search performance prediction calculation unit 2520, taking into consideration the degree to which disturbances such as weather affect the predicted search rate and predicted detection probability, in accordance with environmental disturbance information such as weather in the target area where the search is performed.

[0088] The environmental disturbance information taken into consideration in the calculation of the disturbance effect correction unit 2530 includes measurement performance disturbances that affect the measurement performance of the measurement sensor 1110, and power performance disturbances that affect the power performance of the unmanned boat 1010. The environmental disturbance information taken into consideration in the calculation of the disturbance effect correction unit 2530 will be described below with reference to Fig. 13.

[0089] Fig. 13 is a diagram showing an example of environmental disturbance information used in the correction calculation of the disturbance effect correction unit 2530. As shown in Fig. 13, the measurement performance disturbance includes optical measurement disturbance information that affects the detection of the search object 7000 by the optical image, laser measurement disturbance information that affects the detection of the search object 7000 by the laser sensor, acoustic measurement disturbance information that affects the detection of the search object 7000 present in the sea by the acoustic sensor, and radio wave measurement disturbance information that affects the detection of the search object 7000 by the radio wave sensor.

[0090] The optical measurement disturbance information includes, for example, the solar altitude, fog, rain, snow, light intensity, wave height, sea spray, and other environmental disturbances that affect the acquisition of optical images. Here, during the time periods of sunset and sunrise when the solar altitude is low, backlight occurs during measurement using an optical sensor, which reduces the performance of the optical sensor in acquiring optical images and affects the search rate and detection probability, so it is desirable to take into account the disturbance effects in the correction of the environmental disturbances that affect the acquisition of optical images. The laser measurement disturbance information includes, for example, fog, rain, snow, wave height, sea spray, and other environmental disturbances that affect laser measurement. The acoustic measurement disturbance information includes, for example, seawater concentration, seawater temperature, seawater transparency, and other environmental disturbances that affect underwater acoustic measurement. The radio wave measurement disturbance information includes, for example, lightning, rain, fog, wave height, sea spray, and other environmental disturbances that affect radio wave measurement.

[0091] Also, as shown in Figure 13, the power performance disturbances include moving body resistance disturbance information that acts as resistance to the unmanned boat 1010, marine obstacle information that hinders the movement of the unmanned boat 1010, and temperature disturbance information that affects the operation of the navigation section 1300 of the unmanned boat 1010.

[0092] The moving object resistance disturbance information includes ocean currents, tides, wave heights, flow speeds, wind speeds, and other environmental disturbances that act as resistance to the unmanned vessel 1010 and affect its power performance. The marine obstacle information includes seaweed, drift ice, drifting objects, ships, and other obstacle information that impedes the movement of the unmanned vessel 1010, and the temperature disturbance information includes water temperature, air temperature, solar radiation, and other environmental disturbances that affect the temperature of the unmanned vessel 1010 and affect the operation of the navigation unit 1300.

[0093] (A-3-6. Response action determination unit 2600) The corresponding operation determination unit 2600 is a functional unit that determines changes to at least one of the number of aircraft, the distribution, the formation, the search movement speed, the search turning speed, the search movement path, the search movement direction, and the search straight ahead time of the multiple unmanned boats 1010 used for the search. The corresponding operation determination unit 2600 includes a search goal achievement operation determination unit 2610, an alert level corresponding operation determination unit 2620, a detection result corresponding operation determination unit 2630, and an operation command generation unit 2640.

[0094] The search goal achievement operation determination unit 2610 compares the search target information with the search state information calculated by the search state acquisition unit 2500, and if it determines that the actual search value or predicted search value contained in the search state information has not reached the search target value contained in the search target information, it makes a decision to change at least one of the number, deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight line time of the multiple unmanned boats 1010 used for the search.

[0095] Here, the search goal achievement operation determination unit 2610 can determine whether the search goal has not been achieved by the following method. For example, by comparing the target value of the overall search rate with the actual value or predicted value of the overall search rate, if the actual value or predicted value of the overall search rate is lower than the target value of the overall search rate, it can determine that the search goal has not been achieved.

[0096] In addition, the search goal achievement operation determination unit 2610 can determine that the search goal has not been achieved, for example, when at least one of the number, area, density, and shape of local areas in which the local search rate is below a predetermined value matches a predetermined unachieved condition.

[0097] In addition, when the search goal achievement operation determination unit 2610 determines that the search goal has not been achieved, it can also determine a goal unachieved area. There are multiple methods for determining a goal unachieved area. For example, a local area in which the actual value of the local search rate in each local area obtained by dividing the search target area into a mesh shape does not satisfy the search goal value can be determined as a goal unachieved area.

[0098] As another example, when a plurality of local areas whose actual value of the local search rate does not satisfy the search target value are adjacent to each other and the area of ​​the adjacent plurality of local areas is equal to or larger than a predetermined value, the plurality of local areas can be determined as a target unattained area. Furthermore, as another example, when a plurality of local areas whose actual value of the local search rate does not satisfy the search target value are not adjacent to each other but exist within a predetermined distance range, the plurality of local areas that are gathered within the predetermined range can be determined as a target unattained area. In this way, by determining a target unattained area, the risk of overlooking the search object 7000 that remains in the target unattained area can be reduced.

[0099] As another example, when there are a plurality of adjacent local areas whose actual values ​​of the local search rate do not satisfy the search target value, and the shapes of the adjacent local areas form a line shape, the plurality of local areas can be determined as a target unachieved area. In this way, by determining the target unachieved area, it is possible to reduce the risk that the search object 7000 passes through the target unachieved area and passes through the search target area.

[0100] When there are a plurality of adjacent local areas in which the actual value of the local search rate does not satisfy the search target value, and the shape of the adjacent local areas is circular or elliptical, the plurality of local areas can be determined as a target unattained area. In this manner, by determining the target unattained area, the risk of overlooking the search object 7000 circling within the circular or elliptical target unattained area can be reduced.

[0101] Furthermore, the search goal achievement operation determination section 2610 can determine that the search goal has not been achieved when, for example, user input information indicating that the search goal has not been achieved is received from the user via the user input receiving section 2720 described below.

[0102] In addition, as an example of changing the search movement path when the search goal achievement operation determination unit 2610 determines that the search goal has not been achieved, the search movement path of the unmanned boat 1010 can be changed so as to enter or pass through the above-mentioned target unachieved area, or a local area where the local search rate is lower than a predetermined value or where the local search rate is relatively low, or so as to enter or pass through a position where the local area can be measured.

[0103] As another example of changing the search movement path when it is determined that the search target has not been achieved, the search movement path of the unmanned vessel 1010 can be changed so as to increase the local search rate in the above-mentioned target unachieved areas or in local areas where the local search rate is lower than a predetermined value or is relatively low, or so as to increase the overall search rate, which indicates the proportion of areas where the unmanned vessel 1010 has already traveled or measured to the entire area targeted for search.

[0104] The alert level response operation decision unit 2620 is a functional unit that decides a response operation according to the alert level for each area determined by the alert level determination unit 2400. Here, the response operation can include at least any of the number of aircraft, the distribution, the formation, the search movement speed, the search turning speed, the search movement path, the search movement direction, and the search straight ahead time of the multiple unmanned boats 1010 used for the search.

[0105] As yet another example, the alert level response action decision unit 2620 can measure and acquire information on sea conditions and weather in an area where search activities are not possible due to the influence of sea conditions (ocean currents, tides, high waves, etc.) and weather, and when it determines that conditions have become such that search activities are possible, such as when ocean currents have weakened or the weather has improved, it can change the deployment distribution, formation, and search movement route of multiple unmanned boats 1010 so that multiple unmanned boats 1010 or a platoon are concentrated in the area and search activities in the area are given priority.

[0106] As yet another example, when the unmanned boat system 1000 searches a three-dimensional underwater space as a target area, the alert level response operation determination unit 2620 can change the formation of the multiple unmanned boats 1010 to a formation made up of multiple rows, with each row having a movement path that patrols in opposite directions, thereby reducing gaps that are missed in the underwater target area. Also, the alert level response operation determination unit 2620 may change the formation of the multiple unmanned boats 1010 to a formation in which each unmanned boat 1010 forms a triangle or hexagon, and the unmanned boats 1010 may be anchored or patrolled.

[0107] As yet another example, when the unmanned boat system 1000 is used to search a three-dimensional underwater space in a strait area, the number of gaps in the underwater target area that are missed can be reduced by placing multiple unmanned boats 1010 at predetermined intervals (for example, intervals of about 1 km).

[0108] The detection result corresponding operation decision unit 2630 is a functional unit that decides a corresponding operation depending on the detection result of the search object 7000 determined by the object detection determination unit 2300 .

[0109] The action command generation unit 2640 is a functional unit that generates action commands for the unmanned boat system 1000 based on the response actions determined respectively by the search goal achievement action determination unit 2610, the alert level response action determination unit 2620, and the detection result response action determination unit 2630.

[0110] (A-3-7. User interface unit 2700) The user interface unit 2700 is a functional unit that displays and outputs acquired information, judgment results, or decision information of each functional unit in the integrated control system 2000, and receives input information from a user. The user interface unit 2700 includes a display unit 2710 and a user input receiving unit 2720. The user interface unit 2700 may be a portable mobile terminal such as a smartphone, a tablet terminal, or a notebook PC.

[0111] The display unit 2710 can display and output information acquired by the prior information acquisition unit 2100, various determined information such as the calculation conditions, system configuration, and operation plan determined by the search plan determination unit 2200, the detection result of the search object 7000 by the object detection determination unit 2300, the alert level determination result by the alert level determination unit 2400, the calculation results of the current search state and future search performance prediction calculated by the search state acquisition unit 2500, a search rate indicating the proportion of areas where the unmanned boat 1010 has moved or measured to the target area of ​​the two-dimensional or three-dimensional search, a detection probability indicating the probability that the unmanned boat 1010 will detect the search object 7000, and the contents of the change operation determined by the response operation determination unit 2600.

[0112] When the display unit 2710 displays and outputs the calculation results of the current search state and future search performance prediction calculated by the search state acquisition unit 2500, it can display and output the current search state and future search performance prediction on a two-dimensional plane on the sea or a map of a three-dimensional underwater space.

[0113] The user input receiving unit 2720 is a functional unit that receives user input for each piece of information displayed by the display unit 2710 or other user input. User input information can also be received via an operation button provided on the display screen of the display unit 2710.

[0114] The user input receiving unit 2720 can receive user input including user approval, rejection, modification, etc., of the information of the operation command generated by the operation command generating unit 2640 and displayed on the display unit 2710 .

[0115] The user input receiving unit 2720 may also have a function of switching the operation of the specified unmanned watercraft 1010 from autonomous operation to manual operation by the user, and receiving operation input that directly controls the operation of the unmanned watercraft 1010 in real time.

[0116] (A-3-8. Operation command section 2800) The action command unit 2800 is a functional unit that confirms the action plan determined by the action plan determination unit 2230 of the search plan determination unit 2200 and the action command determined by the action command generation unit 2640 of the corresponding action determination unit 2600, and transmits a command signal to the unmanned boat system 1000. The action command unit 2800 includes an action confirmation unit 2810 and a command output unit 2820.

[0117] The operation confirmation unit 2810 is a functional unit that confirms an operation command based on a user input including a user's approval, rejection, change, etc., to the information of the operation command received by the user input receiving unit 2720. When the operation confirmation unit 2810 receives a user input including a user's approval, rejection, change, etc., to the information of the operation command from the collaborative system 5000, it can also confirm the operation command based on the user input information.

[0118] The command output unit 2820 is a functional unit that transmits the action command signal confirmed by the action confirmation unit 2810 to the unmanned boat system 1000 .

[0119] (A-3. Configuration of the Integrated Control System 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 10. Fig. 10 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 10, the overall control system 2000 includes a prior information acquisition unit 2100, a search plan determination unit 2200, an object detection determination unit 2300, an alert level determination unit 2400, a search state acquisition unit 2500, a response operation determination unit 2600, a user interface unit 2700, and an operation command unit 2800.

[0120] (A-4. Control flow of control system 1) Next, a description will be given of the overall control flow of the control system 1. Fig. 14 is a flow chart showing the processing flow of the control system 1. Steps 101 to 102 shown in Fig. 14 are advance preparation processing before executing a search, and steps 103 to 107 are processing performed during execution of the search.

[0121] First, the prior information acquisition unit 2100 acquires prior information (step 101).

[0122] Next, the search plan determination unit 2200 determines the system configuration etc. of the unmanned boat system 1000 (step 102).

[0123] Next, the object detection and determination unit 2300 determines the appearance and dynamic state of the search object 7000 based on the measurement data acquired by the measurement unit 1100 of the unmanned boat system 1000 or the interpretation results obtained by the judgment unit 1500 of the unmanned boat 1010 (step 103).

[0124] Next, the alert level determination unit 2400 determines the alert level in the search for the search object 7000 (step 104).

[0125] Next, the search state acquisition unit 2500 determines the search state regarding the actual value or predicted value of the search of the search object 7000 (step 105).

[0126] Next, the response action determination unit 2600 determines changes to the response action, including at least one of the number, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight line time of the multiple unmanned boats 1010 used in the search (step 106).

[0127] Next, a countermeasure action is proposed by the user interface unit 2700, and the action command unit 2800 outputs a command for the confirmed countermeasure action (step 107).

[0128] (A-5. Control sequence in control system 1) Next, a description will be given of a control sequence between the systems in the control system 1. FIG 15 is a sequence diagram showing the exchange of signals between the systems in the control system 1.

[0129] First, advance information and the like is transmitted from the cooperative system 5000 to the integrated control system 2000 .

[0130] Next, the search plan determination unit 2200 of the overall control system 2000 determines the system configuration and operation plan of the unmanned boat system 1000, and a search control command generated in accordance with the determination result is transmitted to the parent unit 1001 of the unmanned boat system 1000. In addition, the parent unit 1001 relays the received search control command to the child unit 1002.

[0131] Next, the child device 1002 executes a search in accordance with the search control command, detects the search target 7000, and transmits the detection result from the child device 1002 to the parent device 1001. The parent device 1001 also transmits the detection result to the overall control system 2000.

[0132] Next, the response operation determination unit 2600 of the overall control system 2000 determines candidates for response operations according to the detection result of the search object 7000, and transmits information on the candidate response operations to the collaboration system 5000. The collaboration system 5000 acquires a user input for the candidate response operations, and transmits the user input information to the overall control system 2000.

[0133] Next, the overall control system 2000 determines the corresponding operation in accordance with the user input information, and transmits a corresponding operation command (for example, a command to change the search operation) to the parent unit 1001 of the unmanned boat system 1000. In addition, the parent unit 1001 relays the received corresponding operation command to the child unit 1002.

[0134] (A-6. Search plan determination process) Next, the process of determining a search plan by the search plan determination unit 2200 will be described with reference to FIGS.

[0135] (A-6-1. Search plan decision processing flow) 16 is a flowchart showing an example of a search plan determination process flow by the search plan determination unit 2200. In particular, FIG. 16 shows detailed content of step 102 in the flowchart shown in FIG.

[0136] First, the calculation condition determination unit 2210 determines input items to be input to a calculation model for calculating the system configuration, etc., and output items to be calculated by the calculation model (step 201). In this step, for example, the search condition information acquired by the search condition acquisition unit 2110 and the search target information acquired by the search target value acquisition unit 2120 can be determined as input items. In addition, at least one of the number of the multiple unmanned boats 1010 used in the search, the layout distribution, the formation, the search movement speed, the search turning speed, the search movement path, the search movement direction, and the search straight ahead time can be determined as output items.

[0137] Next, the system configuration determination unit 2220 calculates information determined as an output item using a calculation model based on information of the input items (step 202).

[0138] Next, the system configuration determination unit 2220 determines the next processing step to transition to depending on whether the output information of the calculation item is within an acceptable range (step 203). In this step, for example, if the number of unmanned boats 1010 is calculated as an output item, the next processing step to transition to is determined depending on whether the calculated number of boats is within the range of the number of boats that can be arranged. In this step, if it is determined that the calculated information of the output item is not within the acceptable range, the process transitions to step 204. On the other hand, if it is determined that the calculated information of the output item is within the acceptable range, the process transitions to step 205.

[0139] Next, if it is determined in step 203 that the information on the output items calculated is not within the allowable range, at least one of the search conditions and the search target value acquired by the prior information acquisition unit 2100 is changed (step 204). In this step, the change can be made automatically by the system configuration determination unit 2220, but an input to change the search conditions and the search target value may also be received from the user via the user interface unit 2700.

[0140] Next, if it is determined that the information on the output items calculated in step 203 is within an acceptable range, the system configuration etc. are determined by the system configuration determination unit 2220 (step 205). Determining the system configuration etc. in this step is, for example, determining parameters including at least any of the number, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight ahead time of the multiple unmanned boats 1010 used in the search.

[0141] Next, based on the system configuration and the like determined in step 205, the operation plan determination unit 2230 determines a search plan (step 206).

[0142] (A-6-2. Example of calculation of output items of search plan) Fig. 17 is a diagram showing an example of the calculation result of the output items in the search plan determination process by the search plan determination unit 2200. In particular, Fig. 17 shows an example of the result of calculating a plurality of parameters related to the search using a calculation model.

[0143] In the example shown in Figure 17, multiple parameters related to the search include the detection probability of the search object, the number of unmanned boats 1010, the time constraints of the search, the placement distribution of the unmanned boats 1010, the speed of the unmanned boats 1010, the movement path of the unmanned boats 1010, the straight-line movement time of the unmanned boats 1010, and the movement path of the search object 7000. Note that the example shown in Figure 17 is just one example, and instead of the detection probability of the search object 7000, the search rate of the search object can also be used.

[0144] For example, the calculation condition determination unit 2210 can determine the detection probability, time constraint, distribution, speed, moving path, straight-line time, and path of the search object as input items. In this case, the values ​​of each item acquired by the search condition acquisition unit 2110 are input as the time constraint, distribution, speed, moving path, straight-line time, and path of the search object. In addition, the detection probability is input as a calculation condition for the number of aircraft, which is an output item, that the detection probability is equal to or greater than the target value of the detection probability acquired by the search target value acquisition unit 2120. Based on such input information, the number of aircraft that can satisfy the conditions of each input item can be calculated.

[0145] The output items in the search plan determination process by the search plan determination unit 2200 are not limited to the number of aircraft, and can be other parameters. For example, the detection probability, the number of aircraft, the time constraint, the moving path, the straight-line travel time, and the path of the search object can be determined as input items. In this case, the values ​​of each item acquired by the search condition acquisition unit 2110 are input as the detection probability, the number of aircraft, the time constraint, the moving path, the straight-line travel time, and the path of the search object. In addition, the detection probability is input as a calculation condition for the number of aircraft, which is an output item, that the detection probability is equal to or greater than the target value of the detection probability acquired by the search target value acquisition unit 2120. Based on such input information, the arrangement distribution and moving speed of the unmanned boats 1010 that can satisfy the conditions of each input item can be calculated.

[0146] Furthermore, as another example, in the process of determining the search plan by the search plan determination unit 2200, the detection probability can be set as an output item, and the number of aircraft, time constraints, distribution, speed, moving path, straight-line time, and path of the search object can be set as input items. In this case, the values ​​of each item acquired by the search condition acquisition unit 2110 are input into the number of aircraft, time constraints, distribution, speed, moving path, straight-line time, and path of the search object. Based on such input information, the detection probability that can satisfy the conditions of each input item can be calculated. The search plan determination unit 2200 compares the detection probability calculated as the output item with the target value of the detection probability acquired by the search target value acquisition unit 2120, and if the calculated detection probability falls below the target value of the detection probability, it can change one of the input items or the target value of the detection probability to determine each parameter related to the search that can satisfy the search target value.

[0147] (A-7. How to determine the alert level) Next, a method for determining the alert level by the alert level determining section 2400 will be described with reference to FIGS.

[0148] (A-7-1. Alert level determination process flow) 18 is a flow chart showing an example of the alert level determination process flow by the alert level determination unit 2400. In particular, FIG. 18 shows the detailed contents of the process of step 104 in FIG.

[0149] First, a warning level is calculated according to the area, time period, weather, etc. (step 301). In this step, for example, the warning level can be calculated based on information on the correspondence relationship between the area, time period, and warning level that has been set in advance. Also, when the weather conditions are bad and affect the detection of the search object, the warning level may be calculated to be increased.

[0150] Next, the object detection determination unit 2300 determines the next processing step to transition to depending on whether the search object 7000 is detected or not (step 302). In this step, if the search object 7000 is detected, the processing transitions to step 303, whereas if the search object 7000 is not detected, the processing transitions to step 304.

[0151] Next, if the search object 7000 is detected in step 302, an alert level is calculated according to the detection result of the detected search object 7000 (step 303). The method of calculating the alert level in this step will be described in detail later with reference to FIG.

[0152] Next, the calculated alert level is displayed on the display unit 2710 or the like, and input information relating to the alert level is accepted from the user via the user input accepting unit 2720 or the like (step 304).

[0153] An alert level is then determined (step 305) taking into account the user input information.

[0154] (A-7-2. Method for determining alert level according to detection result of search object 7000) Fig. 19 is a diagram showing an example of a method for determining an alert level according to a detection result of a search object 7000. In the example shown in Fig. 19, the information regarding the detection result of the search object 7000 includes the presence or absence of a detection flag for the object, the type of the search object 7000, the number and size of the search objects, the moving speed of the search objects, the direction of the path of the search objects, the time period during which the search object was detected, the detected position of the search object, the duration during which the encounter rate with the search object is below a predetermined value, an increase in the probability of the presence of the search object, and an increase in the expected speed of the search object.

[0155] The example shown in Fig. 19 shows a method of calculating an alert level for each of the above detection results. For example, when the detection result of the search object 7000 shows that there is an object detection flag, the alert level is set higher than when there is no detection flag. Alternatively, the alert level is calculated based on the type of the detected search object 7000 (type can be determined according to the outer plate material of the search object 7000, etc.) and preset correspondence information between the type and alert level.

[0156] Alternatively, depending on the number or size of the detected search objects, the alert level is increased as the number or size increases. Alternatively, depending on the movement speed of the detected search objects, the alert level is increased as the movement speed increases. Alternatively, depending on the course direction of the detected search objects, the alert level is increased if the course direction is toward an important facility.

[0157] Alternatively, the alert level is calculated based on the time period when the search object 7000 was detected and preset corresponding information. Alternatively, the alert level is calculated based on the detection position when the search object 7000 was detected and preset corresponding information. Alternatively, the alert level is reduced when the measurement time is long, depending on the duration during which the encounter rate is equal to or lower than a predetermined value.

[0158] Alternatively, if the presence probability of the search object is increased according to the detection result of the search object, the alert level is increased, or if the assumed speed of the search object is increased according to the detection result of the search object, the alert level is increased.

[0159] (A-8. How to determine search status) Next, a search state determination method and a determination result will be described with reference to FIG. 20 and FIG.

[0160] (A-8-1. Search state determination process flow) Fig. 20 is a flowchart showing an example of a search state determination process flow by the search state acquisition unit 2500. Steps 401 and 402 shown in Fig. 20 indicate a calculation process of a current search state, steps 403 and 404 indicate correction of the current search state based on disturbance information, steps 405 and 406 indicate prediction of a future search state, and step 407 indicates prediction and correction of a future search state based on disturbance information.

[0161] First, the current search state calculation unit 2510 calculates a current search performance value (step 401). In this step, for example, a search rate is calculated, which indicates the ratio of an area that has been traveled or measured by the unmanned watercraft 1010 to a target area for a two-dimensional or three-dimensional search.

[0162] Next, the current search state calculation unit 2510 calculates a current search performance estimate (step 402). In this step, for example, a detection probability indicating the probability that the unmanned boat 1010 will detect the search object 7000 is calculated.

[0163] Next, environmental disturbance information is acquired by the disturbance effect correction unit 2530 (step 403). In this step, for example, information on measurement performance disturbance and dynamic performance disturbance as shown in FIG.

[0164] Next, the disturbance effect correction unit 2530 corrects the search result value and the search performance estimate value based on the environmental disturbance information (step 404). By performing the correction based on the environmental disturbance information in this step, it is possible to calculate the search result value and the search performance estimate value more accurately.

[0165] Next, the search performance prediction calculation unit 2520 predicts and calculates future search performance values ​​(step 405). In this step, for example, a predicted search ratio is calculated, which indicates the ratio of an area where the unmanned watercraft 1010 is expected to move or measure in the future to a target area for a two-dimensional or three-dimensional search.

[0166] Next, the search performance prediction calculation unit 2520 predicts and calculates a future search performance estimate value (step 406). In this step, for example, a predicted detection probability indicating the probability that the unmanned boat 1010 will detect the search object 7000 in the future is calculated.

[0167] Next, the disturbance effect correction unit 2530 corrects the search result value and the future predicted value of the search performance estimate value based on the environmental disturbance information (step 407). By performing the correction based on the environmental disturbance information in this step, it is possible to calculate the future predicted value of the search result value and the search performance estimate value more accurately.

[0168] (A-8-2. Search state determination result) Fig. 21 is a diagram showing an example of a determination result of the search state by the search state acquisition unit 2500. Fig. 21 is a diagram showing an example of a determination result of a local search rate, which indicates the ratio of areas where the unmanned boat 1010 has already moved or been measured to some local areas of the search target area.

[0169] 21, the local search rate for each local area divided into a mesh is indicated by the intensity of the color, with local areas with high local search rates being displayed in dark colors and local areas with low local search rates being displayed in light colors. This figure shows an example of the distribution of the local search rate for each local area on a map showing a two-dimensional area on the sea, but when expressing the local search rate for each local area for a three-dimensional area underwater, the distribution of the local search rate for each local area can be shown on a three-dimensional map.

[0170] (A-9. Processing for determining corresponding actions) Next, the response action determination process will be described with reference to Fig. 22. Fig. 22 is a flowchart showing an example of a process flow for determining a response action of the unmanned boat system 1000 by the response action determination unit 2600. Fig. 22 particularly shows detailed processing content of step 106 in the flowchart shown in Fig. 14. Steps 501 to 503 shown in Fig. 22 show processing for determining a response action according to a goal achievement state, steps 504 to 505 show processing for determining a response action according to an alert level, and steps 506 to 507 show processing for determining a response action according to a detection result of the search object 7000.

[0171] First, the search goal achievement operation determination unit 2610 compares the search state result value calculated by the search state acquisition unit 2500 with the search target value acquired by the search target value acquisition unit 2120 (step 501). In this step, for example, the result value and the search target value of the overall search rate for the entire target area of ​​the search or the local search rate for a local area that is a part of the target area can be compared.

[0172] Next, based on the comparison result of step 501, a target unachieved area where the actual value of the search state does not satisfy the search target value is determined (step 502). In this step, for example, a local area in which the actual value of the local search rate in each local area obtained by dividing the area to be searched into a mesh does not satisfy the search target value can be determined as a target unachieved area.

[0173] Next, the content of the corresponding action is determined according to the result of the determination of the target unattained area in step 502 (step 503). In this step, it may be determined whether or not the system configuration or the operation plan within each platoon constituting the unmanned boat system 1000 needs to be changed, or it may be determined whether or not the system configuration (such as the number of platoons) or the operation plan (such as the movement plan of the platoon) needs to be changed on a platoon basis.

[0174] Next, the alert level response operation decision unit 2620 determines whether or not a response operation is required depending on the alert level determined by the alert level determination unit 2400 (step 504). In this step, it may be determined whether or not a change is required to the system configuration or operation plan within each platoon that constitutes the unmanned boat system 1000, or it may be determined whether or not a change is required to the system configuration (such as the number of platoons) or operation plan (such as the movement plan for the platoon) on a platoon basis.

[0175] Next, if it is determined in step 504 that a response action is required based on the alert level, the content of the response action according to the alert level is determined (step 505).

[0176] Next, the detection result response operation decision unit 2630 determines whether a response operation is required depending on the detection result of the search object 7000 (step 506). In this step, it may be determined whether a change is required for the system configuration or operation plan within each platoon that constitutes the unmanned boat system 1000, or it may be determined whether a change is required for the system configuration (such as the number of platoons) or operation plan (such as the movement plan for the platoon) on a platoon basis.

[0177] Next, the detection result response operation decision unit 2630 decides the content of the response operation according to the detection result of the search object 7000 (step 507). In this step, the content of changes to the system configuration or operation plan within each platoon that constitutes the unmanned boat system 1000 may be determined, or the content of changes to the system configuration (such as the number of platoons) or operation plan (such as the movement plan of the platoon) on a platoon basis may be decided.

[0178] Next, the action command generator 2640 generates a response action command based on the response action determined in the above step (step 508). The response action command generated in this step includes the system configuration and action plan for each unmanned boat 1010 or platoon that constitutes the unmanned boat system 1000, and includes, for example, at least any of the number of unmanned boats 1010 or platoons, the arrangement and distribution of the unmanned boats 1010 or platoons, the formation of the platoon, the search movement speed of the unmanned boat 1010 or platoon, the search turning speed of the unmanned boat 1010, the search movement path of the unmanned boat 1010 or platoon, the search movement direction of the unmanned boat 1010 or platoon, and the search straight movement time of the unmanned boat 1010 or platoon.

[0179] In addition to the above, the response operation command generated in step 508 may include a command specifying a role to be assigned to the unmanned craft 1010 or the platoon.

[0180] (A-10. Proposal and execution of corresponding actions) Next, a process of proposing a response action to a user and a process of executing the response action will be described with reference to Figs.

[0181] (A-10-1. Display of suggested actions and execution process flow) 23 is a flow chart showing an example of a suggested display of a corresponding operation command and an execution process flow, particularly showing the detailed process content of step 107 in the flow chart shown in FIG.

[0182] First, command candidates for the corresponding operation are proposed and displayed on the display unit 2710 or a display unit in the cooperative system 5000 (step 601).

[0183] Next, a user input for a command candidate for a corresponding action is accepted from the user input accepting unit 2720 or the cooperative system 5000 (step 602).

[0184] Next, the action determination unit 2810 determines the corresponding action based on the user input information (step 603).

[0185] Next, the command output unit 2820 outputs a command for the determined corresponding action (step 604).

[0186] (A-10-2. Example of suggested action to take) Next, an example of the proposed display of the response operation will be described with reference to Fig. 24 and Fig. 25. Fig. 24 is a diagram showing an example of display information proposed and displayed on the display unit 2710, etc. The example shown in Fig. 24 particularly shows a proposed screen of response operation candidates when the detection probability, which is the search result value, does not reach the target detection probability.

[0187] 24, a message is displayed at the top of the display screen indicating that the detection probability, which is the search result value, has not reached the target detection probability, and furthermore, the target detection probability (90%) and the detection probability result value (86%) are displayed. Also, at the bottom left of the screen, the search result value for each local area obtained by dividing the search target area into a mesh is displayed in map format.

[0188] Furthermore, the bottom right of the screen displays items relating to the current system configuration and searching method of unmanned boat system 1000 (number of aircraft, distribution, speed, straight ahead time, direction of travel, etc.), the current values ​​for each item, and the values ​​of the proposed changes. In this figure, the proposed changes are to increase the number of aircraft from 100 to 250, and to change the distribution from random to uniform. Also, the display screen displays correction input buttons that allow the user to change the values ​​of each item, as well as a corresponding action approval button for approving the displayed values ​​of the proposed changes.

[0189] Next, Fig. 25 is a diagram showing another example of display information proposed and displayed on the display unit 2710 etc. As shown in Fig. 25, a message indicating that the alert level has been raised is displayed at the top of the display screen, and further, it is displayed that the type of the detected search object 7000 is a ship, and that the alert level after the increase is level 4. In addition, at the bottom left of the screen, the distribution of alert levels for each local area obtained by dividing the search target area into a mesh shape is displayed in map format.

[0190] Furthermore, the bottom right of the screen displays items relating to the current system configuration and searching method of unmanned boat system 1000 (number of aircraft, distribution, speed, straight ahead time, direction of travel, etc.), the current values ​​for each item, and the values ​​of the proposed changes. In this figure, the proposed changes are to change the distribution from random to variable (change for each area) and to change the number of aircraft from 100 to 200. Also displayed on the display screen are correction input buttons that allow the user to change the values ​​of each item, and a corresponding action approval button for approving the displayed proposed change values.

[0191] (A-11. Hardware configuration) 26 is a hardware configuration diagram of a supervisory control system 2000. Here, the supervisory control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the supervisory control system 2000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0192] The input device 100 can constitute the user input receiving unit 2720 of the user interface unit 2700, and is a device for a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or a voice input device such as a microphone.

[0193] The output device 200 is a device that outputs various information generated by the overall control system 2000, and can constitute the display unit 2710 of the user interface unit 2700. Specifically, the output device 200 can constitute the display unit 2710 using a display device for eyewear, AR, or VR, or can be a printer or a speaker.

[0194] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing calculations.

[0195] The main memory device 400 is a memory device including a RAM and a ROM that reads and writes temporarily to a memory element at any address during processing without requiring a waiting time depending on an access pattern. For example, the RAM is temporarily written and read during a program, an application program, and various other processes executed by the processing device 300. The ROM is a non-volatile memory that does not lose recorded information even if the power supply of the device is lost. The auxiliary memory device 500 is a non-volatile memory device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0196] The communication device 600 is a device that performs wireless or wired information communication between the overall control system 2000 and the outside.

[0197] The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and it goes without saying that the present invention includes equivalents thereof.

[0198] [A-2. Effects of this embodiment] According to the above-described embodiment, it is possible to perform a search operation of a target area using multiple moving bodies more appropriately or more efficiently. As one example, when performing a search using multiple unmanned boats, the configuration and operation plan of the unmanned boat system are determined according to a target value of the search, or the configuration and operation plan of the unmanned boat system are changed according to a comparison between the current search situation and the target value, thereby making it possible to perform the search operation more appropriately or more efficiently. [Explanation of symbols]

[0199] 1...Control system (system) 100...input device 200...output device 300... Processing device 400... Main storage device 500... Auxiliary storage device 600... Communication device 700…Bus 1000…Unmanned Boat System 1001... Parent unit 1002... Child unit 10021: Primary connection slave unit 10022: Secondary connection slave unit 10023...Tertiary connection slave unit 1010...Unmanned boat 1100...Measuring unit 1110...Measuring sensor 1120: Measurement control unit 1200: Aircraft state determination unit 1210: Navigation state determination unit 1220: Internal state determination unit 1230: External state determination unit 1300: Navigation section 1310: Thrust generation section 1320: Attitude control mechanism 1330: Navigation control unit 1400…Communication section 1410…Unmanned vessel communication section 1420…Satellite Communications Division 1500…Judgment section 1600: Recording section 1610: Measurement data recording section 1620: Own aircraft status recording section 1630: Judgment information recording section 2000…Comprehensive control system 2100: Advance information acquisition unit 2110: Search condition acquisition unit 2120…Search target value acquisition unit 2200: Search plan determination unit 2210: Calculation condition determination unit 2220: System configuration determination unit 2230: Operation plan determination unit 2300: Object detection and determination unit 2310: Appearance determination unit 2320... Dynamic state determination unit 2400…Warning Level Judgment Division 2500: Search state acquisition unit 2510: Current search state calculation unit 2520... Search performance prediction calculation unit 2530... Disturbance effect correction unit 2600: Corresponding action determination unit 2610: Search goal achievement action determination unit 2620: Alert level response action determination unit 2630: Detection result response action determination unit 2640…Operation command generation unit 2700...User interface section 2710: Display unit 2720: User input reception unit 2800…Operation command unit 2810: Operation determination unit 2820: Command output unit 3000...Communication satellite 4000...Ground base station 5000... Collaborative system 6000... External system 7000…Search target

Claims

1. A control system for searching for a search object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the search object, comprising: a search target value acquisition unit that acquires search target information including a target value of the search related to the degree of movement or measurement to be performed by the moving object; a search-related information acquisition unit that acquires search status information including a performance value of the currently performed search related to the degree of movement or measurement performed by the moving object; A control system comprising a search method determination unit that determines or changes at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line time of the multiple moving bodies to be used in the search based on the search target information and the search status information.

2. 2. The control system of claim 1, the search-related information acquisition unit acquires search condition information related to conditions of the search; A control system in which the search condition information acquired by the search-related information acquisition unit includes information regarding at least any one of the position or range of the target area of ​​the search, the execution time of the search, the position of the moving body, the search movement speed, the search turning speed, the search movement path, the search movement direction, the search straight-line search time, the search object, the measurement sensor, the presence probability which is the probability that the search object exists in the target area, the expected speed of the search object, the expected course of the search object, and the expected straight-line search time of the search object.

3. 2. The control system of claim 1, the search-related information acquisition unit acquires search condition information related to conditions of the search; The search method determination unit determines at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time of the multiple moving bodies to be used in the search based on the search target information and the search condition information before the search begins.

4. 2. The control system of claim 1, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of information: a search rate indicating the proportion of the area that has been traveled over or measured by the moving body to the two-dimensional or three-dimensional target area of ​​the search, and a detection probability indicating the probability that the moving body will detect the search target.

5. 5. The control system of claim 4, A control system, wherein at least one of the search rate and the detection probability is calculated according to environmental information in the area to be searched.

6. 2. The control system of claim 1, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following information: a predicted search rate indicating the proportion of an area in which the moving body is expected to move or measure in the future to the two-dimensional or three-dimensional target area of ​​the search, and a predicted detection probability indicating the probability that the moving body will detect the search target in the future.

7. 7. The control system of claim 6, At least one of the predicted search rate and the predicted detection probability is calculated in response to current or future environmental information in the target area.

8. 8. The control system according to claim 5 or 7, The environmental information is Information on disturbances in optical measurement that affect the detection of the search object by optical images, such as solar altitude, fog, rain, snow, light intensity, wave height, sea spray, etc. Laser measurement disturbance information such as fog, rain, snow, wave height, sea spray, and other information that affects the detection of the search object by the laser sensor; Acoustic measurement disturbance information that affects the detection of the search object in the sea by the acoustic sensor, such as seawater concentration, seawater temperature, seawater transparency, etc. Information on disturbances in radio wave measurement that affect the detection of the search object by the radio wave sensor, such as lightning, rain, fog, wave height, sea spray, and other disturbances in radio wave measurement that affect the detection of the search object by the radio wave sensor; A control system comprising at least one of the above.

9. 8. The control system of claim 7, The environmental information is Information on ocean currents, tides, wave height, flow speed, wind speed, and other disturbances in resistance of the moving body that affect the dynamic performance of the moving body; Information on seaweed, drift ice, drifting objects, ships, and other marine obstacles that may impede the movement of the moving object; Water temperature, air temperature, solar radiation, and other temperature disturbance information that affects the temperature of the moving body; A control system comprising at least one of the above.

10. 2. The control system of claim 1, The search target information includes: a target overall search rate indicating a target value of the ratio of the area where the moving object has moved or been measured to the entire area to be searched; a target local search ratio indicating a target value of a ratio of an area through which the moving object has moved or been measured to a local area that is a part of the target area of ​​the search; a target detection probability indicating a target value for the probability that the moving body detects the search object; a control system including target information regarding at least one of

11. 2. The control system of claim 1, The search method determination unit compares the search target information with the search status information, and when it determines that the actual value or predicted value of the search contained in the search status information has not reached the target value of the search contained in the search target information, makes a decision to change at least one of the number of units, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line time of the multiple moving bodies used in the search.

12. 12. The control system of claim 11, The search status information acquired by the search-related information acquisition unit includes: an overall search rate indicating the ratio of areas in which the moving object has moved or been measured to the entire area targeted by the search; A local search ratio indicating a ratio of areas in which the moving object has moved or been measured to a local area that is a part of the target area of ​​the search; A control system including at least one of the following information:

13. 13. The control system of claim 12, A control system, wherein the overall search rate indicates the ratio of the area through which the moving object has moved or measured within a specified period of time to the entire target area.

14. 13. The control system of claim 12, A control system, wherein the local search rate indicates a ratio of an area traveled or measured by the mobile object within a specified period of time to a local area that is a part of the target area.

15. 13. The control system of claim 12, The search method determination unit compares the target value of the overall search rate with an actual value or a predicted value of the overall search rate, and determines that the search target has not been achieved if the actual value or the predicted value of the overall search rate is lower than the target value of the overall search rate.

16. 13. The control system of claim 12, The search method determination unit determines that the search goal has not been achieved when at least one of the number, area, density, and shape of local areas where the local search rate is below a predetermined value matches a predetermined unachieved condition.

17. 12. The control system of claim 11, The search method determination unit determines that the goal of the search has not been achieved when user input information indicating that the goal of the search has not been achieved is received from a user.

18. 2. The control system of claim 1, The search method determination unit is A control system which determines or changes at least one of the number, distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line travel time of the multiple moving bodies used in the search, depending on alert level information for each area determined based on externally acquired information, user-input information, or detection information of the object to be searched.

19. 2. The control system of claim 1, A control system comprising a display unit that displays and outputs at least one of the following: search status information regarding actual or predicted values ​​of the search acquired by a search-related information acquisition unit; a search rate indicating the proportion of areas where the moving body has moved or measured to the target area of ​​the two-dimensional or three-dimensional search; a detection probability indicating the probability that the moving body will detect the search target; and information regarding the search method determined by the search method determination unit.

20. 2. The control system of claim 1, A control system comprising an operation command unit that outputs an operation command to the moving body in response to user input information regarding the search.

21. 2. The control system of claim 1, A control system comprising an operation command unit that outputs an operation command to the moving body depending on a result determined by the search method determination unit.

22. 2. The control system of claim 1, A control system in which the multiple moving bodies are composed of unmanned boats capable of moving on the sea and equipped with the measurement sensor capable of detecting the search object present in a two-dimensional or three-dimensional area including an offshore area or an underwater area.

23. A control system for controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting a search object, and searching for the search object, comprising: a search target value acquisition unit that acquires search target information related to a target of the search; a search-related information acquisition unit that acquires search-related information including at least one of search condition information related to the conditions of the search and search status information related to an actual value or a predicted value of the search; a search method determination unit that determines or changes at least one of the number of the moving bodies used in the search, the distribution of the moving bodies, the formation, the search movement speed, the search turning speed, the search movement path, the search movement direction, and the search straight movement time based on the search target information and the search related information; The search method determination unit is When the search target information and the search state information are compared and it is determined that the actual value or the predicted value of the search included in the search state information is less than the target value of the search included in the search target information, A control system which changes the search movement path of the moving body so that the moving body enters or passes through a local area where a local search rate, which indicates the ratio of areas that the moving body has traveled or measured to local areas that are part of the area subject to the search, is lower than a predetermined value, or where the local search rate is relatively low, or so that the moving body enters or passes through a position where the local area can be measured.

24. A control system for controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting a search object, and searching for the search object, comprising: a search target value acquisition unit that acquires search target information related to a target of the search; a search-related information acquisition unit that acquires search-related information including at least one of search condition information related to the conditions of the search and search status information related to an actual value or a predicted value of the search; a search method determination unit that determines or changes at least one of the number of the moving bodies used in the search, the distribution of the moving bodies, the formation, the search movement speed, the search turning speed, the search movement path, the search movement direction, and the search straight movement time based on the search target information and the search related information; The search method determination unit is When the search target information and the search state information are compared and it is determined that the actual value or the predicted value of the search included in the search state information is less than the target value of the search included in the search target information, A control system which changes the search movement path of the moving body so that a local search rate, which indicates the ratio of areas that have been moved or measured by the moving body to a local area that is a part of the target area of ​​the search, is lower than a predetermined value, or the local search rate of the local area where the local search rate is relatively low is increased, or so that an overall search rate, which indicates the ratio of areas that have been moved or measured by the moving body to the entire target area of ​​the search, is increased.

25. A control method for a control system that controls the operation of a plurality of moving objects equipped with measurement sensors capable of detecting a search object, and searches for the search object, comprising: The computer a search target value acquisition step of acquiring search target information including a target value of the search related to the degree of movement or measurement to be performed by the moving object; acquiring search-related information including a performance value of the currently performed search related to the extent of movement or measurement performed by the mobile object; a search method determination step of determining or changing at least one of the number of the moving bodies, the arrangement distribution, the formation, the search movement speed, and the search movement route to be used in the search based on the search target information and the search state information; A control method for performing the above.

26. A program usable in a control system for controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting a search object, and searching for the search object, comprising: On the computer, a search target value acquisition command for acquiring search target information including a target value of the search related to the degree of movement or measurement to be performed by the moving body; a search related information acquisition command to acquire search status information including a performance value of the currently performed search relating to the extent of movement or measurements performed by the mobile entity; a search method determination command for determining or changing at least one of the number of the moving bodies, the arrangement distribution, the formation, the search movement speed, and the search movement route to be used in the search based on the search target information and the search status information; A program that executes the following.

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