Control system, control method, and program

Abstract

In accordance with the present invention, unmanned watercraft can be utilized to perform multiple missions. [Solution] The present invention is a control system for controlling the operation of a single or multiple unmanned boats equipped with a first measurement sensor, and includes a data collection request acquisition unit that acquires request information or plan information for an ocean data collection mission that uses the first measurement sensor to collect ocean data of the ocean area in which the unmanned boat is deployed, an other mission request acquisition unit that acquires request information or plan information for other missions different from the ocean data collection mission, a multiple mission execution feasibility determination unit that determines whether multiple missions including the ocean data collection mission and the other missions can be carried out in parallel, and an unmanned boat operation execution unit that controls the operation of carrying out the multiple missions in parallel when it is determined that the multiple missions can be carried out in parallel.

Description

[Technical field]

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

[0002] In recent years, efforts are being made to put into practical use Maritime Domain Awareness (MDA) systems, which collect, consolidate, and share various types of information about the ocean to effectively and efficiently grasp the state of the ocean. In order to improve the usefulness of the MDA system, it is necessary to collect oceanographic data continuously and without gaps, so the use of unmanned vessels (hereinafter also referred to as "unmanned boats") to collect oceanographic data is being considered in addition to manned aircraft and ships, which are limited resources.

[0003] Patent Document 1 discloses a technology for measuring oceanographic data using a measurement sensor mounted on a boat-shaped observation buoy that can move on the sea, and in particular, discloses a system for transmitting route control data for navigating to a set position for optimally positioning multiple observation buoys from the ground to an observation buoy on the sea via satellite communications. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-50229 A Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, in order to constantly and seamlessly collect oceanographic data using unmanned vessels, it is necessary to deploy a large number of unmanned vessels on the sea, which requires a large number of equipment resources and a large number of human resources for the operation of the unmanned vessels. Here, unmanned vessels that can be deployed on the sea can be used for various purposes such as maritime security, inspection of maritime infrastructure facilities, and maritime communication relay in addition to the collection of oceanographic data described above. Therefore, if unmanned vessels can be used for other purposes in addition to collecting oceanographic data, the resources required for equipment and operations can be used effectively.

[0006] In addition, when a common unmanned vessel is to carry out multiple missions, rather than just a single mission, it is necessary to balance the work required to carry out each mission, and in some cases it may be necessary to have the vessel focus on one mission or to execute both missions in parallel, depending on the situation.

[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 an unmanned vessel control system or control method that can carry out multiple missions in offshore areas, etc., using a single or multiple unmanned vessels. [Means for solving the problem]

[0008] The present invention provides a control system for controlling the operation of a single or multiple unmanned boats equipped with a first measurement sensor, comprising a data collection request acquisition unit that acquires request information or plan information for an ocean data collection mission that uses the first measurement sensor to collect ocean data of the ocean area in which the unmanned boat is deployed, an other mission request acquisition unit that acquires request information or plan information for other missions different from the ocean data collection mission, a multiple mission execution feasibility determination unit that determines whether multiple missions including the ocean data collection mission and the other mission can be carried out in parallel, and an unmanned boat operation execution unit that controls the parallel execution operation of the multiple missions when it is determined that the multiple missions can be carried out in parallel. Effect of the Invention

[0009] In accordance with the present invention, unmanned watercraft can be utilized to perform multiple missions. [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. 1 is a diagram showing an example of the configuration of an unmanned boat system 1000. [Diagram 3] FIG. 2 is a diagram showing an example of an activity state when the unmanned boat system 1000 is deployed in an ocean area. [Figure 4] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned boat 1010. [Diagram 5] FIG. 40 shows an example of a variation of an external oceanographic data collection system 4000. [Figure 6] FIG. 5 is a functional block diagram showing the functional configuration of a user terminal 5000. [Figure 7] FIG. 2 is a functional block diagram showing the functional configuration of an overall control system 2000. [Figure 8] FIG. 3 is a functional block diagram showing the functional configuration of a data analysis system 3000. [Figure 9] FIG. 2 is a flow chart showing a processing flow of the control system 1. [Figure 10] FIG. 2 is a diagram showing an example of the contents of a data collection request determined by a data collection request acquiring unit 2100. [Figure 11] 2 is a diagram showing an example of the contents of advance information acquired by advance information acquisition unit 2200. FIG. [Figure 12] 2 is a diagram showing an example of information regarding request information or plan information for other missions acquired by the other mission request acquisition unit 2400. FIG. [Figure 13] FIG. 13 is a flowchart showing the flow of measurement method determination processing by the measurement method determination unit 2300. [Figure 14] FIG. 23 is a flowchart showing the process flow for determining whether or not multiple tasks can be executed in parallel in the multiple task execution feasibility determining unit 2510. [Figure 15] FIG. 23 is a state transition diagram showing the transition of a request state for multiple mission execution by the multiple mission execution feasibility determining unit 2510. [Figure 16] FIG. 2 is a state transition diagram showing transitions of operational states during an oceanographic data collection mission. [Figure 17] FIG. 2 is a state transition diagram showing the transition of high-level operating states during a maritime search and surveillance mission. [Figure 18] FIG. 1 is a state transition diagram showing the transition of operating states when an object is discovered during a marine search and surveillance mission. [Figure 19] FIG. 11 is a state transition diagram showing the transition of other operational states when an object is discovered during a marine search and surveillance mission. [Figure 20] FIG. 1 is a state transition diagram showing transitions of operational states in the mission of providing a communications infrastructure. [Figure 21] FIG. 1 is a state transition diagram showing transitions of operational states during an offshore facility inspection mission. [Figure 22] FIG. 11 is a state transition diagram showing transitions of operational states during a fishery support mission. [Figure 23] FIG. 11 is a state transition diagram showing the transition of operational states during a biological ecology survey mission. [Figure 24] FIG. 13 is a flowchart showing the flow of an operation plan determination process performed by the operation plan determination unit 2520. [Diagram 25] FIG. 13 is a flowchart showing the flow of a multiple mission continuation feasibility determination process performed by a multiple mission continuation feasibility determination unit 2610. [Figure 26] 13 is a flowchart showing the flow of operation control of the unmanned boat system 1000 by the unmanned boat operation management unit 2620. FIG. [Figure 27] 10 is a flowchart showing the flow of data analysis processing by unmanned boat system 1000 and data analysis system 3000. FIG. [Figure 28] FIG. 11 is a flow chart showing the output processing flow of oceanographic data by the data analysis system 3000. [Figure 29] 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 controlling an operation of a single or multiple unmanned watercraft equipped with a first measurement sensor, a data collection request acquisition unit that acquires request information or plan information for an oceanographic data collection mission that collects oceanographic data of an oceanographic area in which the unmanned watercraft is deployed by the first measurement sensor; An other mission request acquisition unit that acquires request information or plan information of other missions different from the oceanographic data collection mission; a multiple mission execution determination unit that determines whether multiple missions including the oceanographic data collection mission and the other missions can be executed in parallel; a control system including an unmanned vehicle operation execution unit that controls the parallel execution operation of the multiple missions when it is determined that the multiple missions can be executed in parallel; [Item 2] In the control system according to item 1, The ocean data collection mission includes a mission of collecting ocean data in the ocean area using the first measurement sensor, the ocean data including at least one of the speed and direction of ocean currents or tidal currents, wave height, wave period, seawater temperature, oxygen concentration, salinity concentration, Ph, wind speed at the sea surface, air temperature, air pressure, and weather. A control system. [Item 3] In the control system according to item 1 or 2, The oceanographic data collection mission includes a mission of collecting oceanographic data in the ocean area using the first measurement sensor, the oceanographic data including at least any of the following: area or density of plankton growth, area or density of algae growth, position or shape of reefs, height of low tide line, position or shape of coastline, and position or shape of seabed, a control system. [Item 4] In the control system according to any one of items 1 to 3, The other mission request acquisition unit acquires the request information or plan information for a search mission in which a search for a specific object on the sea, underwater, or in the air of the marine area is conducted using the first measurement sensor or a second measurement sensor mounted on the unmanned vessel, a control system. [Item 5] In the control system according to any one of items 1 to 4, The other mission request acquisition unit acquires the request information or plan information for a wireless communication environment providing mission to provide a connection environment to a wireless communication network on the sea, underwater, or in the air of the marine area using a communication device installed on the unmanned craft, a control system. [Item 6] In the control system according to any one of items 1 to 5, The other mission request acquisition unit is a control system that acquires the request information or plan information for an inspection mission to inspect equipment installed on or underwater in the marine area or to monitor intruders to the equipment using the first measurement sensor or the second measurement sensor mounted on the unmanned boat. [Item 7] In the control system according to any one of items 1 to 6, The other mission request acquisition unit acquires the request information or plan information for a fishing support mission in which the unmanned boat performs at least one of monitoring aquaculture or fishing grounds in the marine area, fish detection, and feeding. This is a control system. [Item 8] In the control system according to any one of items 1 to 7, The other mission request acquisition unit acquires the request information or plan information for a marine biological research mission to obtain information regarding the ecology of living organisms in the marine area using the first measurement sensor or the second measurement sensor mounted on the unmanned vessel, a control system. [Item 9] In the control system according to any one of items 1 to 8, The multiple mission execution feasibility determination unit determines whether or not to execute multiple missions by comparing at least one of the area and date and time of mission execution contained in the request information or plan information of the oceanographic data collection mission and the other missions. [Item 10] In the control system according to any one of items 1 to 9, The multiple mission execution feasibility determination unit determines whether or not to execute multiple missions based on at least one of the following conditions: whether or not the unmanned craft deployed in the marine area is equipped with equipment used for the marine data collection mission and the other missions, and whether or not it has the power performance required for the marine data collection mission and the other missions. This is a control system. [Item 11] In the control system according to any one of items 1 to 10, The multiple mission execution determination unit determines whether or not to execute multiple missions based on setting information regarding whether or not to execute multiple missions, including the oceanographic data collection mission and the other missions. [Item 12] In the control system according to any one of items 1 to 11, The multiple mission execution feasibility decision unit, when determining that the multiple missions can be executed in parallel, decides whether to execute the oceanographic data collection mission and the other mission simultaneously, or execute them at different times in parallel, at different times, in a control system. [Item 13] In the control system according to any one of items 1 to 12, The multiple mission execution feasibility determination unit determines whether or not to execute multiple missions based on setting information regarding whether or not to execute multiple missions that is preset in association with the operation status of the oceanographic data collection mission, a control system. [Item 14] In the control system according to any one of items 1 to 13, The multiple mission execution feasibility determination unit determines whether or not to execute multiple missions based on setting information regarding whether or not to execute multiple missions that is preset in association with the operation statuses of the other missions. [Item 15] In the control system according to any one of items 1 to 14, The multiple mission execution feasibility decision unit determines whether to execute multiple missions based on at least one of the states of the CPU processing resources of the unmanned craft executing the other missions, the memory device resources, the recording capacity resources of the measurement data recording device, communication quality, and the degree of goal achievement of the other missions, in a control system. [Item 16] In the control system according to any one of items 1 to 15, When the oceanographic data collection mission and the other missions are being executed in parallel, and the urgency of the other mission increases, The multiple mission execution decision unit decides to interrupt the parallel execution of the multiple missions and cause the unmanned craft to execute the other mission. [Item 17] In the control system according to any one of items 1 to 16, When the multiple mission execution determination unit interrupts the parallel execution of the multiple missions and the urgency of the other missions decreases, The multiple mission execution feasibility decision unit decides to resume the parallel execution of the multiple missions. [Item 18] In the control system according to any one of items 1 to 17, When it is determined that the oceanographic data collection mission and the other missions are to be executed in parallel, A control system in which the multiple mission execution feasibility determination unit determines a single or multiple unmanned craft that will execute the multiple missions in parallel, or the number of unmanned craft, or an operation plan for the unmanned craft. [Item 19] In the control system according to any one of items 1 to 18, The unmanned vehicle operation execution unit controls the parallel execution operation of the multiple missions by either simultaneous parallel execution, in which the ocean data collection mission and the other mission are executed simultaneously, or different-time parallel execution, in which the missions are executed at different times, depending on the judgment result of the multiple mission execution feasibility decision unit. [Item 20] In the control system according to any one of items 1 to 19, a display unit that displays to a user status information indicating whether the mission currently being performed by the unmanned craft is the oceanographic data collection mission, the other mission, or a parallel execution of the multiple missions; [Item 21] In the control system according to any one of items 1 to 20, a user input receiving unit that receives, from a user, a request to specify one of the oceanographic data collection mission, the other mission, or the parallel execution of the multiple missions; The multiple mission execution determination unit determines whether or not the multiple missions can be executed in parallel in response to the designation request. [Item 22] In the control system according to any one of items 1 to 21, A control system comprising a data management unit that records the oceanographic data collected by the oceanographic data collection mission in association with at least one of the following information: the measurement location of the oceanographic data, the unmanned vessel that acquired the oceanographic data, and the measurement date and time of the oceanographic data. [Item 23] In the control system according to any one of items 1 to 22, When the oceanographic data is image data, point cloud data, radar measurement data, or acoustic data, the oceanographic data is analyzed to seawater conditions including at least one of salinity, hydrogen ion exponent, water temperature, seawater components, and seawater density of the seawater at the collection location of the oceanographic data; Oceanographic conditions including at least one of ocean currents, tides, wave heights, wave periods, and wave speeds at the collection location of the oceanographic data; Meteorological conditions including at least one of temperature, humidity, wind speed, wind direction, solar radiation, rainfall, air pressure, air components, and weather at the collection location of the marine data; Bio-ecological conditions including at least one of seaweed beds, plankton, and marine organisms; The state of the seabed land including at least one of the shape of rock reefs, coastline, and seabed; A control system comprising a status reading unit that reads at least one of the above. [Item 24] In the control system according to any one of items 1 to 23, When the oceanographic data is image data, point cloud data, radar measurement data, or acoustic data, the oceanographic data is analyzed to a static seawater state including at least one of a salinity, a hydrogen ion exponent, a water temperature, a seawater composition, and a seawater density of the seawater at the collection position of the oceanographic data; Oceanographic conditions including at least one of ocean currents, tides, wave heights, wave periods, and wave speeds at the collection location of the oceanographic data; Meteorological conditions including at least one of temperature, humidity, wind speed, wind direction, solar radiation, air pressure, rainfall, air components, and weather at the collection location of the marine data; Bio-ecological conditions including at least one of seaweed beds, plankton, and marine organisms; The state of the seabed land including at least one of the shape of rock reefs, coastline, and seabed; A control system comprising a state prediction unit that predicts a future state of at least one of the above. [Item 25] In the control system according to any one of items 1 to 24, The unmanned vessel, A control system comprising at least one of a data processing unit that performs at least one of primary processing and data compression processing of the oceanographic data, and a recording unit that stores the oceanographic data or processed data processed by the data processing unit. [Item 26] In the control system according to any one of items 1 to 25, A control system comprising an information output unit that displays the oceanographic data collected by the oceanographic data collection mission, or processed data generated by data analysis processing of the oceanographic data, or processed image data created using the oceanographic data or the processed data on a display device or transmits it to an external system. [Item 27] A method for controlling an operation of a single unmanned watercraft or a plurality of unmanned watercraft equipped with a first measurement sensor, comprising the steps of: The computer Step of obtaining requirement information or planning information of a marine data collection task for collecting marine data of the marine area where the unmanned boat is deployed by the first measurement sensor Step of obtaining requirement information or planning information of another task different from the marine data collection task Step of determining whether it is possible to concurrently execute a plurality of tasks including the marine data collection task and the other task Step of controlling the concurrent execution operation of the plurality of tasks when it is determined that the concurrent execution of the plurality of tasks is possible A control method for executing [Item 28] A program for controlling the operation of a single or multiple unmanned boats equipped with a first measurement sensor, causing a computer to execute a data collection requirement acquisition command for obtaining requirement information or planning information of a marine data collection task for collecting marine data of the marine area where the unmanned boat is deployed by the first measurement sensor, execute another task requirement acquisition command for obtaining requirement information or planning information of another task different from the marine data collection task, execute a plurality of task execution feasibility determination command for determining whether it is possible to concurrently execute a plurality of tasks including the marine data collection task and the other task, execute an unmanned boat operation execution command for controlling the concurrent execution operation of the plurality of tasks when it is determined that the concurrent execution of the plurality of tasks is possible, A program for causing execution

[0012] <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0013] [A. Configuration] (A-1. Overall System Configuration) First, the system configuration of a control system 1 according to an 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, a general control system 2000, and a data analysis system 3000. The general control system 2000 is configured to be able to communicate with an external ocean data collection system 4000 and a user terminal 5000 via an Internet line or the like, and can transmit and receive information. The general control system 2000 can transmit control commands to the unmanned boat system 1000 deployed on the sea via a communication satellite 6100, a terrestrial base station 6200, or the like, and can receive operation statuses, measurement data, and the like from the unmanned boat system 1000.

[0015] The unmanned boat system 1000 includes a single or multiple unmanned boats 1010. When the unmanned boat system 1000 is made up of multiple unmanned boats 1010, the multiple unmanned boats 1010 are connected to each other by wireless communication and can form a communication network. The unmanned boat system 1000 can also be made up of multiple unmanned boat groups (1000a, 1000b). In that case, at least one unmanned boat 1010 in each unmanned boat group communicates wirelessly with the overall control system 2000.

[0016] The unmanned boat 1010 can acquire measurement data of various measurement objects 7000 using the measurement sensors (optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter wave sensors and microwave sensors, sound wave sensors such as sonar, etc.) installed on the boat, including ships, drifting objects, drifters and other sea moving objects, offshore facilities (wind power generation facilities, wave power generation facilities, offshore oil plants, offshore runways, etc.), coastal land conditions such as remote islands, reefs, stranding points, low tide lines, and coastal shapes, ocean conditions (ocean currents, tides, wave height, wave period, wave speed), other seawater conditions (salinity, hydrogen ion index, water temperature, seawater components, seawater density), weather, marine ecology (seaweed beds, plankton, etc.), marine life ecology (whales, sea turtles, schools of fish, etc.), and coastal inhabitants (seals, penguins, polar bears, etc.).

[0017] Various information including the measurement data of the measurement target 7000 acquired by the unmanned boat system 1000 and the operating status of the unmanned boat system 1000 is transmitted to the overall control system 2000 via the communication satellite 6100 or the terrestrial base station 6200. The overall control system 2000 can determine control commands for the unmanned boat 1010 that constitutes the unmanned boat system 1000 based on the measurement data acquired from the unmanned boat system 1000, as well as data collection request information and advance information, and control the operation of the unmanned boat 1010. Information such as the generated control commands is displayed on a user interface unit 2700 (described later) and command inputs can also be acquired from the user via the user interface unit 2700.

[0018] The data analysis system 3000 acquires measurement data relating to the measurement target 7000 acquired by the unmanned boat system 1000 via the overall control system 2000. It also performs data processing and data interpretation processing on the acquired measurement data to generate processed data, and can provide the processed data, etc. to one or more external ocean data collection systems 4000 and one or more user terminals 5000. It also has a function of accepting requests for future ocean data acquisition from the external ocean data collection systems 4000 and the user terminals 5000, and transmitting the request information to the overall control system 2000.

[0019] (A-1-2. Configuration of the unmanned boat system 1000) Fig. 2 is a diagram showing an example of the configuration of the unmanned boat system 1000. As shown in Fig. 2, the multiple unmanned boats 1010 constituting the unmanned boat system 1000 are configured to play the role of a parent unit 1001 capable of wireless communication with a communication satellite 6100 or a terrestrial base station 6200, or a child unit 1002 capable of communicating directly or indirectly with the parent unit 1001. In addition, a wireless communication network is established between the multiple child units 1002 and the multiple unmanned boats 1010 playing the role of the parent unit 1001, allowing wireless communication between them. Each unmanned boat group (1000a, 1000b) includes at least one parent unit 1001 and multiple child units 1002. The parent unit 1001 is connected via wireless communication to a communication satellite 6100 or a terrestrial base station 6200, and has the function of aggregating various information collected from a plurality of child units 1002 and transmitting it to the communication satellite 6100 or the terrestrial base station 6200, as well as transmitting information relating to control commands obtained from the communication satellite 6100 or the terrestrial base station 6200 directly or indirectly to each child unit 1002. Note that the wireless communication path between the terrestrial-side overall control system 2000 and the unmanned boat system 1000 can be either a communication path via the communication satellite 6100 or a communication path via the terrestrial base station 6200, but is not limited to this and other communication paths can also be used, and these communication paths can also be made redundant to transmit and receive information.

[0020] 2 includes a primary connected slave device 1002 that is communicatively connected to the master device 1001, a secondary connected slave device 1002 that is communicatively connected to the primary connected slave device 1002, and a tertiary connected slave device 1002 that is communicatively connected to the secondary connected slave device 1002. Each slave device (primary connected slave device 1002, secondary connected slave device 1002, tertiary connected slave device 1002) has the function of relaying information received from other master devices 1001 or slave devices 1002 to the other master devices 1001 or slave devices 1002, thereby forming a communication network that can connect to all unmanned boats 1010 belonging to the unmanned boat group 1000a.

[0021] (A-1-3. Example of deployment of Unmanned Boat System 1000 to the maritime area) Fig. 3 is a diagram showing an example of an activity state when the unmanned boat system 1000 is deployed in an ocean area. In the example shown in Fig. 2, a terrestrial base station 6200, a satellite base station that communicates with a communication satellite 6100, an overall control system 2000, a data analysis system 3000, and an external ocean data collection system 4000 are provided on the ground side shown in the upper right of the drawing. Also provided on the ground side is a coordination system including related facilities of external coordination organizations such as private organization related facilities (including private security organizations, marine research organizations, infrastructure inspection organizations, private rescue organizations, etc.) not shown, and further an AIS (Automatic Identification System) control center and an AIS base station that obtain information about ships from ships navigating the ocean by wireless communication and manage the ship information may be provided.

[0022] On the other hand, on the ocean side shown on the left side of the drawing, an unmanned boat system 1000 consisting of multiple unmanned boats (master boat 1001, slave boat 1002) is deployed on the sea, and a measurement sensor 1110 mounted on the unmanned boat 1010 in the unmanned boat system 1000 measures the measurement target 7000, such as a ship, offshore facility, remote island, and sea conditions. Information such as measurement data of the measurement target 7000 detected by the measurement sensor 1110 is collected in the master boat 1001 via a wireless communication network in the unmanned boat system 1000, and transmitted from the master boat 1001 to the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200. Each unmanned boat 1010 is provided with a navigation unit 1300 capable of controlling navigation in any direction, and can perform operations related to a mission related to measurement of the measurement target 7000 or other missions based on control commands generated by the overall control system 2000.

[0023] In the example shown in Figure 3, 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 at other coastal field bases 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.

[0024] The control system 1 of the present embodiment described in Fig. 1 to Fig. 3 may use the communication satellite 6100, which has been described as an example of a non-terrestrial network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000, which may be placed in, for example, a geosynchronous orbit, a medium earth orbit (MEO), a low earth orbit, or another orbit, or another communication satellite. In addition, the communication network applicable to 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) may also be used. In this case, for example, an unmanned aerial vehicle that circles at an altitude of about 8 to 50 km may be used.

[0025] In addition, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000, it is also possible to use a communication network that directly connects the terrestrial base station 6200 and the unmanned boat system 1000 by wireless communication, rather than a communication network via a communication satellite 6100 or HAPS, which is a non-terrestrial network. The terrestrial base station 6200 is not limited to a fixed base station that is immobile, and may be configured as a mobile base station that is movable. In addition, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000, any of the above-mentioned multiple communication networks (a non-terrestrial network using the communication satellite 6100, a non-terrestrial network using an unmanned aerial vehicle, and a communication network that directly connects the terrestrial base station 6200 and the unmanned boat system 1000 by wireless communication) can be used, but the present invention is not limited to this, and it is also possible to combine the above-mentioned multiple communication networks to make the communication path redundant using multiple communication networks.

[0026] (A-2. Configuration of the Unmanned Boat 1010) Next, the functions and their contents implemented in the unmanned boat 1010 will be described with reference to Fig. 4. In the present invention, an unmanned boat refers to a mobile body capable of traveling on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body including a mobile buoy that can move using a battery, an internal combustion engine, or a thrust generating unit that utilizes wind power or wave power.

[0027] Fig. 4 is a functional block diagram showing the functional configuration of the unmanned boat 1010. Note that Fig. 4 illustrates the functional block diagram of the unmanned boat 1010, but regardless of whether the unmanned boat 1010 is used as the parent unit 1001 or the child unit 1002, the functions implemented in the unmanned boat 1010 can be similar to the functions shown in Fig. 4. The unmanned boat 1010 includes a measurement unit 1100, a host state determination unit 1200, a navigation unit 1300, a communication unit 1400, a data processing unit 1500, and a recording unit 1600.

[0028] The measurement unit 1100 is a functional unit that detects a measurement target 7000 that exists within a measurable range around the unmanned boat 1010 using a measurement sensor 1110, and acquires measurement data relating to the measurement target 7000. The measurement unit 1100 includes the measurement sensor 1110 and a measurement control unit 1120.

[0029] 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 measurement target 7000 that exists within a measurable range 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.

[0030] In addition to the above-mentioned sensors, the measurement sensor 1110 may 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 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 in the water, or a passive sonar that measures the sound generated from an object in the water. The active sonar can be, for example, a side scan sonar, a multi-beam sonar, or a single beam sonar. The sonic sensor may be a USBL transceiver, a modem for acoustic communication, or the like.

[0031] Furthermore, in addition to the above-mentioned sensors, the measurement sensor 1110 may be composed of a seawater condition measurement sensor that measures seawater conditions such as the salinity concentration, hydrogen ion exponent (ph), water temperature, seawater components, and density of seawater, a sea state measurement sensor that measures sea state such as ocean currents, tides, wave height, wave period, and ocean or tide current speed in the surrounding sea area, a meteorological measurement sensor that measures meteorological conditions such as temperature, humidity, wind speed, solar radiation, air pressure, rainfall, other weather, and air quality on the surrounding sea, a marine ecology measurement sensor that measures the state of seaweed beds and plankton in the sea, etc. As another example, the measurement sensor 1110 may be composed of an IMU (accelerometer and angular velocity sensor), a MAG sensor, a GNSS sensor (positioning coordinates), etc.

[0032] 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.

[0033] 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 communication 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 6100 or a terrestrial base station 6200, 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 boat.

[0034] 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.

[0035] 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.

[0036] Next, the navigation unit 1300 is a functional unit that includes a thrust generating unit, an attitude control mechanism, and a navigation control unit, and navigates the aircraft in any direction according to control commands received from the overall control system 2000 via the communication unit 1400. The thrust generating unit is, for example, configured with a propeller, and can generate thrust by driving the propeller using 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.

[0037] The attitude control mechanism is composed of a rudder provided on the aircraft body, a propeller attitude changing mechanism capable of changing the propeller attitude angle (mainly the yaw angle around the Z axis), and the like, and by changing these angles it is possible to control the nose direction (yaw angle) of the unmanned boat 1010. In addition, a center of gravity position changing mechanism that changes the position of a heavy object inside the aircraft body with an actuator can also control the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the aircraft.

[0038] The navigation control unit is a functional unit that controls the output from the thrust generating unit and the attitude control mechanism to control the navigation operation of the aircraft. The navigation control unit 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.

[0039] 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.

[0040] 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.

[0041] Next, the data processing 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 data processing 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 the transmission data from the unmanned boat system 1000 to the overall control system 2000, the data processing unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement to generate transmission data. Furthermore, the data processing unit 1500 may have a function of interpreting the state of the measurement target 7000 by performing primary processing of the measurement data, and determining whether or not to transmit the measurement data or transmission data from the unmanned boat system 1000 to the overall control system 2000 based on the interpretation result, or selecting the data to be transmitted.

[0042] Next, the recording unit 1600 includes a measurement data recording unit 1610 and a device status recording unit 1620. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100 and the transmission data processed by the data processing unit 1500. The device status recording unit 1620 records various types of status information related to the device determined by the device status determination unit 1200.

[0043] (A-3. Configuration of other subsystems) Next, the functions of the external oceanographic data collection system 4000 and the user terminal, which are other subsystems within the control system 1, will be described with reference to FIGS.

[0044] (A-3-1. Specific Example of External Ocean Data Collection System 4000) 5 is a diagram showing an example of a variation of the external ocean data collection system 4000. The external ocean data collection system 4000 is a system that can collect and share ocean data acquired by the unmanned boat system 1000 based on an ocean data collection mission. The external ocean data collection system 4000 can be configured, for example, as an ocean situation awareness system 4100, or a meteorological information transmission processing system 4200, or other system.

[0045] The Maritime Dependent Awareness system (MDA system) 4100 is a system that collects, consolidates, and shares various information related to the ocean for the purpose of effectively and efficiently understanding the ocean situation, and is a system operated by various countries and organizations. The Maritime Dependent Awareness system 4100 has a function of acquiring various information related to the ocean situation from the data analysis system 3000 and other external systems, and consolidating and sharing various information by ocean area (position) and date and time.

[0046] The information collected and shared by the ocean situation awareness system 4100 includes various types of information, such as seawater conditions measuring seawater conditions such as seawater salinity, hydrogen ion exponent (pH), water temperature, seawater components, and density; oceanographic conditions such as ocean currents, tides, wave height, wave period, sea ice, and ocean or tidal current speed; meteorological conditions such as temperature, humidity, wind speed, solar radiation, atmospheric pressure, rainfall, clouds, fog, other weather conditions, and air quality at sea; the state of the marine ecosystem such as underwater seaweed beds, tidal flats, wetlands, coral reefs, plankton, and chlorophyll concentration, or information on the ecological state of other marine organisms; and information on topography and geology such as stranding points (reef shape), seabed shape, bathymetry, low tide line, and coastline.

[0047] The marine situation awareness system 4100 can acquire marine measurement data, processed data obtained by processing the measurement data, or processed image data created using the processed data from the data analysis system 3000. The marine situation awareness system 4100 can also transmit request information for measurement data to be newly acquired to the data analysis system 3000. For example, it can transmit to the data analysis system 3000 request information for marine data for an ocean area, date, time, or data type for which data is insufficient in the marine situation awareness system 4100, or marine data for an ocean area, date, time, or data type for which a request has been received from a user of the marine situation awareness system 4100.

[0048] The weather information transmission processing system 4200 is a system that collects various weather-related observation data and processed data obtained by processing the observation data, and shares it with the outside. The weather information transmission processing system 4200 can collect weather data from various systems that can observe weather data, such as weather observation satellites, radiosondes, ground-based weather observation devices, weather radars, and wind profilers. In addition to the above-mentioned systems, the weather information transmission processing system 4200 can acquire measurement data (or processed data obtained by processing the measurement data) related to the weather in the marine area measured by the unmanned boat system 1000 from the data analysis system 3000.

[0049] The weather information transmission processing system 4200 can transmit request information for newly acquired measurement data to the data analysis system 3000. For example, the weather information transmission processing system 4200 can transmit to the data analysis system 3000 request information for meteorological data of an ocean area, date, time, and data type for which data is insufficient in the weather information transmission processing system 4200, or for meteorological data of a meteorological area, date, time, and data type for which a request has been received from a user of the weather information transmission processing system 4200.

[0050] (A-3-2. Configuration of User Terminal 5000) 6 is a functional block diagram showing the functional configuration of the user terminal 5000. The user terminal 5000 can acquire measurement data related to ocean monitoring, communication infrastructure provision, offshore facility inspection, fishery support, biological ecology survey, etc. acquired by the unmanned boat system 1000 based on missions other than ocean data collection, processed data obtained by processing the measurement data, or processed image data created using the processed data, etc. from the data analysis system 3000, and display and output them on the display unit. The user terminal 5000 includes an ocean monitoring related party terminal 5100, a communication infrastructure provision related party terminal 5200, an offshore facility inspection related party terminal 5300, a fishery related party terminal 5400, a biological ecology survey related party terminal 5500, and a reef survey related party terminal 5600.

[0051] The marine monitoring related person terminal 5100 can obtain information on the monitoring results of preset monitoring targets on the sea, in the air, underwater, or on coastal land in the monitored marine area from the data analysis system 3000.

[0052] The communications infrastructure provider terminal 5200 can obtain status information such as the communication quality of wireless communications in any area of ​​the ocean, above sea level, or undersea level, for which a connection environment to a communications network is provided, from the data analysis system 3000.

[0053] The marine facility inspection personnel terminal 5300 can acquire, from the data analysis system 3000, measurement data obtained by measuring the marine facility to be inspected, or data relating to the inspection results obtained by processing the measurement data.

[0054] The fisheries-related person terminal 5400 is a mobile terminal used by a fisheries-related person, or a terminal device installed in a fisheries-related facility or fishing boat, and can obtain processed data related to marine analysis results, monitoring results of aquaculture farms and fishing grounds, and other data processing results related to fishing and aquaculture from the data analysis system 3000.

[0055] The biological ecology survey related party terminal 5500 is a mobile terminal used by a person involved in the marine life ecology survey, or a terminal device installed in a related facility, and can obtain measurement data or processed data related to the marine life ecology survey from the data analysis system 3000.

[0056] Each of the above-mentioned user terminals 5000 can acquire from the user request information (measurement area, date and time, measurement data type, etc.) for newly acquired measurement data, and transmit the request information to the data analysis system 3000.

[0057] (A-4. 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. 7. Fig. 7 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 7, the overall control system 2000 includes a data collection request acquisition unit 2100, a prior information acquisition unit 2200, a measurement method determination unit 2300, an other mission request acquisition unit 2400, an unmanned craft operation planning unit 2500, an unmanned craft operation execution unit 2600, and a user interface unit 2700.

[0058] (A-4-1. Data collection request acquisition unit 2100) The data collection request acquisition unit 2100 is a functional unit that acquires information related to request information and plan information for an ocean data collection mission in which ocean data of the ocean area in which the unmanned boat system 1000 is deployed is collected by the measurement sensor 1110. The data collection request acquisition unit 2100 includes a measurement request type determination unit 2110, a measurement condition determination unit 2120, and a measurement data type determination unit 2130. The contents of the various request information determined by the measurement request type determination unit 2110, the measurement condition determination unit 2120, and the measurement data type determination unit 2130 will be described below with reference to FIG. 10.

[0059] Fig. 10 is a diagram showing an example of the contents of a data collection request determined by the data collection request acquisition unit 2100. The measurement request type determination unit 2110 is a functional unit that determines the type of information related to the ocean for which measurement is requested. As shown in Fig. 10, the content types of the measurement request information determined by the measurement request type determination unit 2110 include seawater conditions, oceanographic conditions, meteorological conditions, marine ecology, seabed topography conditions, and noise conditions.

[0060] The seawater state may include, for example, oxygen concentration, salinity concentration, hydrogen ion exponent (pH), seawater temperature, seawater components, seawater density, etc. The oceanographic state may include, for example, the speed and direction of ocean or tidal currents, wave height, wave period, wave speed, etc. The meteorological state may include, for example, temperature, humidity, wind speed, wind direction, solar radiation, air pressure, air components, weather (rainfall, snowfall, precipitation, cloudiness, etc.), etc. The marine ecology may include, for example, the area and density of algae in seaweed beds, the area and density of plankton, the area and density of chlorophyll, etc. The seabed topography state may include, for example, the position and shape of reefs, the position and shape of the seabed, the height of the low tide line, and the position and shape of the coastline. The noise state may include, for example, the state related to acoustic data measured by an acoustic measuring device such as a sonar or a microphone on the sea or underwater in a marine area.

[0061] Next, the measurement condition determination unit 2120 is a functional unit that determines the measurement conditions when measuring the above-mentioned ocean-related information. As shown in Fig. 10, the measurement conditions determined by the measurement request type determination unit 2110 can include the area, measurement width, date and time, measurement frequency, measurement method, synchronous / asynchronous, measurement completion condition, etc.

[0062] The area information of the measurement conditions may include, for example, patrolling a plurality of areas, a specific designated planar area (such as a two-dimensional area on the sea surface), a specific designated three-dimensional area (such as a three-dimensional space area below the sea surface), and the like, and the measurement distance may include requests for distance designation (such as a two-dimensional mesh), depth designation (such as a three-dimensional mesh), and arbitrary coordinate designation (such as LLA position coordinates). The date and time information may include, for example, date and time information indicating the period for data acquisition, and the deadline date and time for obtaining data analysis results. The measurement frequency may include, for example, information indicating the frequency of measurements, such as five times per day. The measurement method may include anchored measurement, in which measurements are taken while the unmanned boat 1010 is anchored, and on-the-go measurement, in which measurements are taken while the unmanned boat 1010 is moving.

[0063] The synchronous / asynchronous information also includes information indicating the conditions of synchronous control when measurement work is performed synchronously and when measurement work is performed asynchronously among multiple unmanned boats 1010. Conditions for synchronous measurement can include, for example, synchronization of measurement points, synchronization of measurement directions, synchronization of measurement objects, etc. Conditions for asynchronous measurement can similarly include asynchrony of measurement points, asynchrony of measurement directions, asynchrony of measurement objects, etc.

[0064] The information on the measurement completion condition may be, for example, that the measurement has been completed under the above-mentioned measurement conditions (area, date and time, measurement frequency, etc.).

[0065] Next, the measurement data type determination unit 2130 is a functional unit that determines the type of measurement sensor and the type of measurement data used when measuring the above-mentioned information related to the ocean. The measurement data type determined by the measurement request type determination unit 2110 can include, for example, optical image data, point cloud data, radar wave data, acoustic data, seawater condition information, oceanographic condition information, meteorological condition information, marine ecology information, etc.

[0066] The optical image data may include, for example, optical image data acquired by an electro-optical sensor or an infrared sensor (IR sensor). The point cloud data may include, for example, point cloud data measured by laser measurement data such as LiDAR. The radar wave data may include, for example, millimeter wave measurement data, microwave measurement data, etc. The acoustic data may include, for example, underwater acoustic measurement data measured by active sonar such as side scan sonar, multi-beam sonar, single beam sonar, sub-bottom profiler, etc., or passive sonar.

[0067] The seawater condition information may include measurement data on seawater conditions, including, for example, salinity, hydrogen ion exponent (pH), water temperature, seawater components, and seawater density. The oceanographic condition information may include measurement data on oceanographic conditions, including ocean currents, tides, wave height, wave period, and wave speed. The meteorological condition information may include measurement data on meteorological conditions, including, for example, temperature, humidity, wind speed, solar radiation, air quality, air pressure, rainfall, and other weather-related conditions. The marine ecology information may include measurement data on marine ecology, including, for example, the area or volume of seaweed beds, plankton concentration, and chlorophyll concentration.

[0068] The data collection request acquisition unit 2100 may also have a function of acquiring request information other than the various information described above. For example, the request information may include request information specifying a recording method, transmission timing, data analysis type, etc. of acquired data, and may further include a request for cooperation with UAVs, UUVs, etc.

[0069] In addition, the data collection request acquisition unit 2100 can acquire in advance other request information, such as requests for response actions in the event that an abnormality is detected in the analysis results of the marine data.The requests for response actions can include remeasurement under the same conditions, additional measurement under different conditions, notifying the user of a request for an action command, displaying a warning to the user, accepting an intervention command, etc.

[0070] (A-4-2. Advance information acquisition unit 2200) The advance information acquisition unit 2200 is a functional unit that imports information to be processed or used in each functional unit in the integrated control system 2000 from a user, an external device, or a recording device. The advance information acquisition unit 2200 includes a peripheral information acquisition unit 2210, a measurement target information acquisition unit 2220, and a measurement history information acquisition unit 2230. The contents of various pieces of advance information acquired by the peripheral information acquisition unit 2210, the measurement target information acquisition unit 2220, and the measurement history information acquisition unit 2230 will be described below with reference to FIG. 11.

[0071] Fig. 11 is a diagram showing an example of the contents of advance information acquired by the advance information acquisition unit 2200. The surrounding information acquisition unit 2210 is a functional unit that acquires environmental information and operation management information for the marine area in which the unmanned boat system 1000 is deployed and its surrounding areas. As shown in Fig. 11, the information acquired by the surrounding information acquisition unit 2210 includes environmental information and operation management information.

[0072] The environmental information includes, for example, current sea condition information and future sea condition forecast information, current weather information and future weather forecast information, communication environment information related to the communication quality (communication speed, strength, delay, etc.) of wireless communication on the sea, or geographical information in the sea area where the unmanned boat system 1000 is deployed and its surrounding areas. Note that the geographical information can include, for example, information related to the shape of the seabed and the position, area, and shape of land (including islands, shallows, embankments, etc.) in the sea area where the unmanned boat system 1000 is deployed and its surrounding areas.

[0073] The traffic management information also includes, for example, AIS information and surrounding ship information relating to the marine area in which the unmanned boat system 1000 is deployed and the surrounding areas. The surrounding ship information may include information on navigation routes that pass near the marine area (position, traffic volume by time period, whether or not passage is possible by time period), etc. The traffic management information may also include ship navigation information obtained from a VHF Data Exchange System in addition to the above.

[0074] Next, the measurement target information acquisition unit 2220 is a functional unit that acquires measurement target information on the measurement target 7000 that the unmanned boat system 1000 measures during a marine data collection mission (particularly, measurement of coastal land conditions, etc.) or other missions (particularly, monitoring and inspection missions, etc.). As shown in Fig. 11, the information acquired by the measurement target information acquisition unit 2220 includes information such as the position coordinates and external dimensions of the measurement target 7000.

[0075] Next, the measurement history information acquisition unit 2230 is a functional unit that acquires measurement target information related to the measurement target 7000 on which the unmanned boat system 1000 performs measurements during a marine data collection mission (particularly, measurement of coastal land conditions, etc.) or other missions (particularly, monitoring and inspection missions, etc.). As shown in Fig. 11, the information acquired by the measurement history information acquisition unit 2230 includes information such as past measurement dates and times and past measurement data trends.

[0076] (A-4-3. Measurement method determination unit 2300) The measurement method determination unit 2300 is a functional unit that determines a method for measuring oceanographic data according to request information for an oceanographic data collection mission. The measurement method determination unit 2300 includes a measurement type determination unit 2310, a measurement plan determination unit 2320, a data processing plan determination unit 2330, and a group formation determination unit 2340.

[0077] The measurement type determination unit 2310 is a functional unit that determines the measurement space type and the time type of the measurement target when measuring oceanographic data. First, the measurement space type includes information indicating the number of dimensions of the measurement target space from which measurement data is obtained (one-dimensional, two-dimensional, or three-dimensional).

[0078] One-dimensional spatial types can include, for example, a type that obtains measurement values ​​for each underwater depth from the sea surface (Z-axis direction), a type that obtains measurement values ​​for each height above the sea surface (Z-axis direction), or a type that obtains measurement values ​​for each distance from a measurement position on the sea surface.

[0079] Two-dimensional spatial types can include, for example, types that obtain measurement values ​​for each position on a plane (XY plane) on the ocean surface, or types that obtain measurement values ​​(e.g., measurements taken using side-scan sonar) for each position on any plane (such as the XZ plane) extending in the depth direction underwater.

[0080] Three-dimensional spatial data types may include, for example, a type that obtains measurements for each position in three-dimensional space (XYZ space) including the sea surface and underwater, a type that obtains measurement values ​​for each position in three-dimensional space (XYZ space) including the sea surface and the sky, and a type that obtains measurement values ​​for each position in three-dimensional space (XYZ space) including underwater, the sea surface and the sky. Note that the measurement values ​​for each position in three-dimensional space (XYZ space) including the sea surface and underwater may include measurement value information for each position of the seabed, reefs, coastline, low tide line, etc., in addition to underwater positions.

[0081] Next, the measurement time type includes information indicating the measurement timing such as the frequency of acquiring measurement data and the trigger, etc. For example, the measurement time type includes a measurement type that performs continuous measurement at all times, an interval measurement type that performs measurement periodically at a specified period (interval), a specified date and time measurement that performs measurement at a specified date and time, and a trigger measurement type that performs measurement when a set trigger condition is met.

[0082] For example, when rocks or stranding points are to be measured, because changes in rocks and stranding points are relatively gradual, a measurement time type can be used in which periodic measurements are taken at relatively long intervals.

[0083] The measurement plan determination unit 2320 is a functional unit that determines a station plan including the order of areas and positions to perform measurements and travel routes when there are multiple areas or objects to be measured or when the measurement area is large. The measurement plan determination unit 2320 determines a measurement plan that can realize the measurement space type and measurement time type determined by the measurement type determination unit 2310.

[0084] The data processing plan determination unit 2330 is a functional unit that determines plans for various processes to be performed in the unmanned boat system 1000 after acquiring measurement data, including data storage of measurement data, data compression, transmission of measurement data to the overall control system 2000, primary data analysis processing, and transmission of post-analysis data to the overall control system 2000.

[0085] For example, the data processing plan determination unit 2330 can determine a data transmission plan for transmitting measurement data acquired within the unmanned boat system 1000 in real time to the overall control system 2000. As another example, the data processing plan determination unit 2330 can determine a data transmission plan for temporarily recording measurement data acquired within the unmanned boat system 1000 in the recording unit 1600 of one of the unmanned boats 1010 in the unmanned boat system 1000, and transmitting the measurement data to the overall control system 2000 when the communication load decreases or when movement to a communication area is completed.

[0086] As yet another example, the data processing plan determination unit 2330 can perform data compression processing in the data processing unit 1500 of the unmanned boat 1010 to compress the amount of measurement data acquired within the unmanned boat system 1000, or primary analysis processing of the measurement data, and determine a data transmission plan to transmit the compressed data or the analyzed data to the overall control system 2000.

[0087] When the unmanned boat system 1000 has a plurality of unmanned boats 1010, the group formation determination unit 2340 can determine a formation configuration for the plurality of unmanned boats 1010 and a plan for allocating roles and operations to each unmanned boat 1010. When the unmanned boat system 1000 operates in cooperation with an external unmanned aerial vehicle or unmanned submersible, the group formation determination unit 2340 can determine a formation configuration and a plan for allocating roles and operations including the cooperating unmanned aerial vehicle or unmanned submersible. When the unmanned boat system 1000 operates in cooperation with an external oceanographic survey system, the group formation determination unit 2340 can determine the placement of the unmanned boats 1010, taking into consideration cooperation with the oceanographic survey system.

[0088] (A-4-4. Other Mission Request Acquisition Unit 2400) The other mission request acquisition unit 2400 is a functional unit that acquires request information or plan information of other missions different from the marine data collection mission. The contents of the other mission request information or plan information acquired by the other mission request acquisition unit 2400 will be described below with reference to FIG. 12. FIG. 12 is a diagram showing an example of information related to the other mission request information or plan information acquired by the other mission request acquisition unit 2400. The example shown in FIG. 12 shows an example in which the other missions different from the marine data collection mission include marine monitoring, communication infrastructure provision, offshore facility inspection, fishery support, and biological ecology survey missions.

[0089] In the maritime search and surveillance mission, the types of objects to be searched and monitored include objects on the sea, objects in the air, objects under the sea, seabed topography information (including reefs, the seabed, stranding points, and coastlines), and ocean acoustic information. The seabed topography information and ocean acoustic information measured in the maritime search and surveillance mission can be used as comparison data for differential analysis with measurement data when detecting and determining underwater objects using acoustic sensors such as sonar. In addition, information regarding detailed requests and plans for the maritime search and surveillance mission can include the measurement sensor to be used, the measurement area, the measurement date and time, detailed information on the measurement target, and the activity plan. The measurement sensor used in the maritime search and surveillance mission may be the same sensor as the measurement sensor used in the above-mentioned maritime data collection mission, or a different sensor.

[0090] In the mission of providing communication infrastructure, areas to provide a connection environment to a wireless communication network by a communication device mounted on the unmanned vessel 1010 include the sea, the sky, and underwater. In addition, information on detailed requests and plans for the mission of providing communication infrastructure can include detailed target areas for communication infrastructure provision, infrastructure provision dates and times, targets for wireless communication connection, required communication quality (communication speed, communication strength, communication delay, etc.), and activity plans.

[0091] In the offshore facility inspection mission, the targets of inspection and measurement of offshore facilities installed on or under the sea include an offshore wind power generation system consisting of a number of wind power generation facilities scattered on the sea, an offshore runway, an offshore oil plant, etc. In addition, information on the detailed request and plan of the offshore facility inspection mission can include an inspection plan including the measurement sensor to be used, the inspection area, the inspection date and time, the inspection target, the inspection order between the multiple inspection target facilities, and a movement plan. Note that the measurement sensor used in the offshore facility inspection mission may be the same sensor as the measurement sensor used in the above-mentioned marine data collection mission, or may be a different sensor. In addition, the offshore facility inspection mission is not limited to the inspection and measurement of the above-mentioned various offshore facilities, and may also include a monitoring mission for intruders who have invaded the facilities.

[0092] Fishery support missions include marine analysis (fish detection, etc.) for offshore and deep-sea fishing, coastal fishing, and aquaculture support, aquaculture feeding, and monitoring of aquaculture and fishing grounds (including monitoring theft and poaching at aquaculture and fishing grounds).In addition, detailed requests and plans for fishery support missions can include the measurement sensors to be used, activity areas, activity dates and times, measurement targets, and activity plans.

[0093] The missions of the biological and ecological survey include the missions of investigating the ecology of animals living in the sea (whales, sea turtles, etc.) and animals living on the coast or on land near the coast. In addition, the information on the detailed requests and plans for the biological and ecological survey missions can include the measurement sensors to be used, the activity area, the activity date and time, the measurement target, and the activity plan. The measurement sensors used in the biological and ecological survey missions may be the same as the measurement sensors used in the above-mentioned ocean data collection missions, or they may be different sensors.

[0094] (A-4-5. Unmanned Vehicle Operation Planning Division 2500) The unmanned vehicle operation planning unit 2500 is a functional unit that determines whether or not multiple missions, including an oceanographic data collection mission and other missions, can be carried out in parallel, and determines plans necessary for operating the unmanned vehicle system 1000, such as the motion plans and communication paths required for carrying out the multiple missions. The unmanned vehicle operation planning unit 2500 includes a multiple mission execution feasibility determination unit 2510, an motion plan determination unit 2520, and a communication path determination unit 2530.

[0095] The multiple mission execution feasibility determination unit 2510 is a functional unit that determines whether or not multiple missions, including an oceanographic data collection mission and other missions, can be executed in parallel. In addition to determining whether or not multiple missions can be executed in parallel, the multiple mission execution feasibility determination unit 2510 may also have a function to determine whether or not to execute the parallel execution of the multiple missions, whether or not to execute the parallel execution of the oceanographic data collection mission and other missions simultaneously, or whether or not to execute the parallel execution of the multiple missions at different times. When determining whether or not to execute the parallel execution in this way, the determination can be made based on preset information, but it is also possible to make the determination based on conditions such as intervention information from the user and priority.

[0096] There are several possible methods for the multiple mission execution feasibility determining unit 2510 to determine whether multiple missions can be executed in parallel. As one example, the multiple mission execution feasibility determining unit 2510 can determine whether multiple missions can be executed by comparing at least one of the areas and dates / times of mission execution contained in the request information or plan information of the ocean data collection mission and other missions. In other words, when at least a portion of the requested execution areas of each mission or the requested execution dates / times of each mission overlap, it can be determined that multiple missions can be executed.

[0097] As another example, instead of or in addition to the above-mentioned comparison conditions of the mission execution area and the schedule, the multiple mission execution feasibility determining unit 2510 can determine whether or not the unmanned vessel 1010 can execute multiple missions based on at least one of the conditions of whether or not the unmanned vessel 1010 is equipped with equipment used for both the ocean data collection mission and other missions, and whether or not the unmanned vessel 1010 has the power performance required for the ocean data collection mission and other missions. In other words, if the unmanned vessel 1010 is equipped with equipment used for both the ocean data collection mission and other missions, or if the unmanned vessel 1010 has the power performance required for the ocean data collection mission and other missions, it can be determined that the unmanned vessel 1010 can execute multiple missions. Here, the power performance includes maximum speed, maximum acceleration, maximum jerk, maximum deceleration acceleration, turning radius, maximum turning speed, course change speed, course change responsiveness, maximum cruising distance, attitude angle maintenance performance, etc.

[0098] As another example, instead of or in addition to the above-mentioned conditions for determining whether or not multiple missions can be executed, the multiple mission execution determination unit 2510 can determine whether or not multiple missions can be executed based on setting information regarding whether or not multiple missions, including the ocean data collection mission and other missions, can be executed. The setting information in this case can be, for example, information in which the execution of multiple missions is preset for each type of other mission. Or, the information can be information in which the execution of multiple missions is preset for each operation status of the multiple missions.

[0099] As described above, when determining whether or not to execute multiple missions based on setting information in which the feasibility of executing multiple missions is preset for each operation status of the multiple missions, the multiple mission execution feasibility determining unit 2510 can determine whether or not to execute multiple missions based on setting information related to whether or not to execute multiple missions that is preset in association with the operation status of the oceanographic data collection mission. Alternatively or in addition to this, it is also possible to determine whether or not to execute multiple missions based on setting information related to whether or not to execute multiple missions that is preset in association with the operation status of the other missions. In other words, it is possible to determine whether or not to execute multiple missions based on information related to whether or not to execute multiple missions that is set in association with at least one of the operation status of the oceanographic data collection mission to be performed in parallel and the operation status of the other missions.

[0100] The motion plan determination unit 2520 is a functional unit that, when it is decided to execute multiple missions in parallel, including an oceanographic data collection mission and other missions, determines the single or multiple unmanned vessels that will execute multiple missions in parallel, the number of unmanned vessels, and the motion plan for the unmanned vessels. In other words, it determines the motion plan for each unmanned vessel 1010 in the unmanned vessel system 1000.

[0101] The operation plan determined by the operation plan determination unit 2520 may include, for example, a transition plan for the work status of multiple missions in order to have the unmanned vessel 1010 carry out multiple missions in parallel, and may also include a movement plan including the number of unmanned vessels 1010, their locations, movement routes, and movement schedules.

[0102] The communication path determination unit 2530 has a function of determining the wireless communication path connecting the unmanned boat system 1000 and the overall control system 2000 from the communication path that passes through the communication satellite 6100 or the terrestrial base station 6200. In addition, as the terrestrial base station 6200, a base-based base station installed at a fixed location (such as a privately-operated BWA or a mobile phone base station) or a mobile base station (a vehicle-based base station) can be selected.

[0103] The communication path determination unit 2530 may also have a function of determining the configuration of an on-sea wireless communication network configured among the multiple unmanned boats 1010 that make up the unmanned boat system 1000. Here, the communication path determination unit 2530 can also determine whether or not to build an on-sea wireless communication network in cooperation with a USV, a floating buoy, a UAV, a UUV, a submarine buoy, or the like.

[0104] Furthermore, the communication path determination unit 2530 can determine the positions of the multiple unmanned boats 1010 for realizing the wireless communication paths connecting the unmanned boat system 1000 and the overall control system 2000 and the wireless communication network configured between the multiple unmanned boats 1010, based on the results of determining these wireless communication paths and the configuration of the wireless communication network between the multiple unmanned boats 1010. Note that when an on-sea wireless communication network is constructed in cooperation with USVs, floating buoys, UAVs, UUVs, submarine buoys, etc., the communication path determination unit 2530 can also determine the positions of the cooperating USVs, etc.

[0105] (A-4-6. Unmanned Boat Operation Unit 2600) The unmanned craft operation execution unit 2600 is a functional unit that controls the parallel execution of multiple missions in real time when it is determined that multiple missions, including the oceanographic data collection mission and other missions, can be executed in parallel. The unmanned craft operation execution unit 2600 includes a multiple mission continuation feasibility determination unit 2610, an unmanned craft operation management unit 2620, and a control command output unit 2630.

[0106] The multiple mission continuation determination unit 2610 is a functional unit that determines whether or not to continue the parallel execution of multiple missions, including the oceanographic data collection mission and other missions. For example, the multiple mission continuation determination unit 2610 can grasp the current state, including the current operation status of the oceanographic data collection mission and other missions, of the unmanned boat system 1000, and determine whether or not to continue the parallel execution of multiple missions based on the state.

[0107] As an example, the multiple mission continuation determination unit 2610 can determine whether or not to execute multiple missions depending on the CPU processing resources, memory device resources, and recording capacity resources of the measurement data recording unit 1610 that records measurement data of the unmanned craft 1010 that is executing the other missions. In other words, if it is determined that these resources are insufficient compared to the resources required for the other missions, it can determine that execution of multiple missions is not possible. Note that the memory device here refers to a memory device including a RAM or ROM that temporarily writes and reads data during processing by the CPU.

[0108] As another example, the multiple mission continuation feasibility decision unit 2610 can decide whether or not to execute multiple missions depending on the current state of communication quality (communication speed, communication strength, communication delay, etc.) in the wireless communication path connecting the unmanned boat system 1000 and the overall control system 2000, and the communication quality (communication speed, communication strength, communication delay, etc.) in the wireless communication network configured between multiple unmanned boats 1010. In other words, if it is determined that these communication qualities are worse than the communication qualities required for other missions, it can decide that execution of multiple missions is not possible.

[0109] As another example, the multiple mission continuation feasibility determining unit 2610 can determine whether or not to execute the multiple missions depending on the state of the goal achievement level of the other missions. As an example, if the other mission is a monitoring mission of an offshore area and the goal of the monitoring mission is a coverage rate indicating the ratio of a monitored area to the entire area to be monitored, if it is determined that the current coverage rate is too low for the target coverage rate, it can determine that execution of the multiple missions is impossible and concentrate the unmanned boat system 1000 on the monitoring mission. As another example, if the other mission is an offshore facility inspection mission and the goal of the offshore facility inspection mission is the number of inspected offshore facilities, if it is determined that the current number of inspected offshore facilities is too low for the target number of inspected offshore facilities, it can determine that execution of the multiple missions is impossible and concentrate the operation of the unmanned boat system 1000 on the offshore facility inspection mission.

[0110] As yet another example, when multiple missions, including an oceanographic data collection mission and another mission, are being executed in parallel and the urgency of the other mission increases, the multiple mission continuation decision unit 2610 can decide to interrupt the parallel execution of the multiple missions and have the unmanned boat 1010 execute the other mission. As one example, when a user inputs an input to increase the urgency via the user interface unit 2700 described below, or when an event that increases the urgency is detected, such as when a monitored object is discovered during a monitoring mission, the parallel execution of the multiple missions can be interrupted and the operation of the unmanned boat system 1000 can be focused on executing the other mission whose urgency has increased.

[0111] As described above, when the parallel execution of multiple missions is interrupted and the urgency of the other missions decreases, the multiple mission continuation decision unit 2610 can decide to resume the parallel execution of multiple missions. In other words, when the urgency of the other missions decreases and it is no longer necessary to concentrate the operation of the unmanned boat system 1000 on the execution of only the other mission whose urgency has increased, the parallel execution of multiple missions can be resumed again.

[0112] The unmanned boat operation management unit 2620 has the function of controlling the parallel execution operation of multiple missions in real time when the multiple mission execution feasibility decision unit 2510 or the multiple mission continuation feasibility decision unit 2610 determines that multiple missions, including an ocean data collection mission and other missions, can be executed in parallel.

[0113] The unmanned craft operation management unit 2620 calculates changes to the formation and movement route of the multiple unmanned crafts 1010 in the unmanned craft system 1000, and the conditions under which the oceanographic data collection mission can be carried out, based on, for example, the status of the oceanographic data collection mission and the status of the external environment.

[0114] The control command output unit 2630 is a functional unit that outputs control commands to the unmanned boat system 1000 in response to various decision results of the unmanned boat operation planning unit 2500, the multiple mission continuation feasibility decision unit 2610, and the unmanned boat operation management unit 2620, or in response to an intervention command from a user received by a user input reception unit 2720 described below. For example, the control command output unit 2630 outputs a control command to the unmanned boat system 1000 to perform simultaneous parallel execution or different-time parallel execution in response to the decision result of the multiple mission execution feasibility decision unit 2510 regarding whether the method of executing the oceanographic data collection mission and other missions in parallel should be either simultaneous parallel execution or different-time parallel execution.

[0115] Alternatively, the control command output unit 2630 can output a control command to the unmanned boat system 1000 to perform simultaneous parallel execution or different-time parallel execution in response to request information from a user specifying whether the method of parallel execution of the ocean data collection mission and other missions should be simultaneous parallel execution or different-time parallel execution.

[0116] (A-4-7. User interface unit 2700) The user interface unit 2700 is a functional unit that displays and outputs various information to a user of the overall control system 2000 and receives input information from the user. The user interface unit 2700 includes a display unit 2710 and a user input receiving unit 2720.

[0117] The display unit 2710 can display and output measurement data acquired by the unmanned boat system 1000, and acquired information, judgment information, or decision information from each functional unit in the overall control system 2000. For example, the display unit 2710 can display to the user status information of a mission currently being performed, indicating whether the mission being performed by the unmanned boat system 1000 is an oceanographic data collection mission, another mission, or multiple missions being performed in parallel.

[0118] The display unit 2710 can also display and output the position, orientation, speed and other operating status of each unmanned boat 1010 in the unmanned boat system 1000, the formation, deployment area, operation history and the like of the unmanned boat system 1000. The display unit 2710 can also notify the user when the multiple mission continuation advisability decision unit 2610 has decided to interrupt the parallel execution of multiple missions, and when making this notification, the user can be notified not only by display output but also by sound, light emission or vibration.

[0119] The user input accepting unit 2720 is a functional unit that accepts any user input information related to various information displayed on the display unit 2710 or unrelated to the displayed information. For example, the user input accepting unit 2720 can accept a request from the user to specify either an oceanographic data collection mission, another mission, or the parallel execution of multiple missions.

[0120] The user input information received by the user input receiving unit 2720 may include an intervention control command from a user to the unmanned boat 1010 or the unmanned boat system 1000. The user input receiving unit 2720 may be a portable mobile terminal such as a smartphone, a tablet terminal, or a notebook PC. The user input information may also be received via an operation button provided on the display screen of the display unit 2710.

[0121] (A-5. Overview of Data Analysis System 3000) Next, an overview of the data analysis system 3000 will be described with reference to Fig. 8. Fig. 8 is a functional block diagram showing the functional configuration of the data analysis system 3000. The data analysis system 3000 includes a data acquisition management unit 3100, a measurement data management unit 3200, a measurement data analysis processing unit 3300, an information output unit 3400, and an external information acquisition unit 3500.

[0122] (A-5-1. Data Acquisition Management Unit 3100) The data acquisition management unit 3100 is a functional unit that manages requests and plans for acquiring measurement data acquired by oceanographic data collection missions. The data acquisition management unit 3100 includes a data request determination unit 3110, a data collection planning unit 3120, and a data acquisition request unit 3130.

[0123] The data request determination unit 3110 is a functional unit that determines request information regarding ocean data acquired by an ocean data collection mission from the external ocean data collection system 4000 or the user terminal 5000. For example, the data request determination unit 3110 can determine measurement request information shown in FIG.

[0124] The data collection planning unit 3120 is a functional unit that generates a plan for data collection in response to the data request determined by the data request determination unit 3110. In addition, the data acquisition request unit 3130 is a functional unit that transmits information regarding the above-mentioned data acquisition request and data collection plan to the overall control system 2000 to request data acquisition.

[0125] (A-5-2. Measurement data management unit 3200) The measurement data management unit 3200 is a functional unit that acquires and accumulates oceanographic data and the like from the integrated control system 2000. The measurement data management unit 3200 includes a measurement data acquisition unit 3210 and a measurement data accumulation unit 3220.

[0126] The measurement data acquisition unit 3210 is a functional unit that acquires ocean data acquired by the unmanned boat system 1000 during an ocean data collection mission via the overall control system 2000. The measurement data storage unit 3220 has a function of recording the ocean data acquired by the measurement data acquisition unit 3210 in association with at least one of the following information: the measurement position of the ocean data, identification information of the unmanned boat 1010 that acquired the ocean data, and the measurement date and time of the ocean data.

[0127] (A-5-3. Measurement data analysis processing unit 3300) The measurement data analysis processing unit 3300 is a functional unit that performs data processing, including analysis, on ocean data acquired by the unmanned boat system 1000 during an ocean data collection mission. The measurement data analysis processing unit 3300 includes a data processing unit 3310 and a distribution information generation unit 3320.

[0128] The data processing unit 3310 has a function of performing data processing including various analytical processes on the ocean data acquired by the measurement data acquisition unit 3210. Here, the data processing unit 3310 does not perform data processing on all the ocean data acquired by the measurement data acquisition unit 3210, but can select ocean data that matches the request conditions of the request information (e.g., the request information shown in FIG. 10) regarding the ocean data acquired from the external ocean data collection system 4000 or the user terminal 5000, and execute the data processing shown below on the selected ocean data.

[0129] For example, when the acquired oceanographic data is image data, point cloud data, radar measurement data, or acoustic data, the data processing unit 3310 can perform analysis processing of the oceanographic data to decipher various ocean-related condition information shown in Figure 10 acquired as requested information, such as seawater conditions, oceanographic conditions, meteorological conditions, marine ecology, and seabed land conditions.

[0130] More specifically, the data processing unit 3310 can interpret at least one of the following: seawater conditions including at least one of the salinity, hydrogen ion exponent, water temperature, seawater components, and seawater density of the seawater at the collection position of the ocean data; oceanographic conditions including at least one of the ocean current, tidal current, wave height, wave period, and wave speed of the collection position of the ocean data; meteorological conditions including at least one of the air temperature, humidity, wind speed, wind direction, solar radiation, air pressure, rainfall, and air components of the collection position of the ocean data; biological and ecological conditions including at least one of seaweed beds, plankton, and marine organisms; and seabed land conditions including at least one of the reef shape, coast shape, and seabed shape. The data processing unit 3310 may have a function of predicting the future by performing analysis and processing of the ocean data, in addition to interpreting the current state of the ocean as described above.

[0131] The distribution information generation unit 3320 is a functional unit that generates distribution information to be distributed to the external ocean data collection system 4000 and the user terminal 5000. The distribution information generation unit 3320 can create processed image data using processed data generated by the data processing unit 3310 through data analysis processing, or ocean data acquired by the unmanned boat system 1000, or a combination of these. For example, when the processed data generated by the data processing unit 3310 is oceanographic conditions (wave height, etc.), processed image data in which the oceanographic conditions are integrated with map information, wide-area satellite images, etc. can be generated as distribution information.

[0132] (A-5-4. Information output unit 3400) The information output unit 3400 is a functional unit that transmits to the external ocean data collection system 4000 or the user terminal 5000 ocean data collected by an ocean data collection mission, or processed data generated by data analysis processing of the ocean data, or processed image data created using the ocean data or the processed data, as distribution information, and displays it on the display unit of the external ocean data collection system 4000 or the user terminal 5000. Here, the information output unit 3400 does not transmit all of the ocean data, processed data, or processed image data to the external ocean data collection system 4000 or the user terminal 5000, but instead selects ocean data, etc. that matches the request conditions of the request information (e.g., the request information shown in FIG. 10) regarding the ocean data acquired from the external ocean data collection system 4000 or the user terminal 5000, transmits the selected ocean data, etc. to the external ocean data collection system 4000 or the user terminal 5000, and displays it on the display unit of the external ocean data collection system 4000 or the user terminal 5000.

[0133] (A-5-5. External information acquisition unit 3500) The external information acquisition unit 3500 is a functional unit that acquires information from the external ocean data collection system 4000 or the user terminal 5000. For example, the external information acquisition unit 3500 can acquire a request for distribution information to be displayed on the display unit from the external ocean data collection system 4000 or the user terminal 5000. In addition, the external information acquisition unit 3500 can acquire request information for newly collected ocean data from the external ocean data collection system 4000 or the user terminal 5000.

[0134] (A-6. Control flow of control system 1) Next, we will explain the overall control flow of the control system 1. Fig. 9 is a flow chart showing the processing flow of the control system 1. Steps 101 to 106 explained below indicate pre-setting, steps 107 and 108 indicate real-time control after the unmanned boat system 1000 is deployed on the sea, and steps 109 to 110 indicate processing steps for managing the acquired oceanographic data.

[0135] First, the data collection request acquisition unit 2100 acquires information related to request information and plan information for the ocean data collection mission to collect ocean data in the ocean area where the unmanned boat system 1000 is deployed by the measurement sensor 1110 (step 101). In this step, for example, various types of request information such as those shown in Fig. 10 are acquired.

[0136] Next, the advance information acquisition unit 2200 imports information to be processed or used in each functional unit in the overall control system 2000 from the user, from the outside, or from a recording device (step 102).

[0137] Next, the measurement method for measuring the oceanographic data is determined by the measurement method determination unit 2300 in accordance with the request information for the oceanographic data collection mission (step 103). The detailed processing content of this step will be described later.

[0138] Next, the other mission request acquisition unit 2400 acquires request information or plan information of other missions different from the oceanographic data gathering mission (step 104).

[0139] Next, the multiple mission execution decision unit 2510 decides whether or not multiple missions including the oceanographic data collection mission and other missions can be executed in parallel (step 105). The detailed processing content of this step will be described later.

[0140] Next, the motion plan determination unit 2520 determines a single or multiple unmanned craft that will execute multiple missions in parallel, the number of unmanned craft, and a motion plan for the unmanned craft (step 106). The detailed processing of this step will be described later.

[0141] Next, the multiple mission continuation decision unit 2610 decides whether or not parallel execution of multiple missions including the oceanographic data collection mission and other missions can be continued (step 107). The detailed processing content of this step will be described later.

[0142] Next, the unmanned boat operation management unit 2620 determines the formation, movement route, etc. of the unmanned boat system 1000 (step 108). The detailed processing content of this step will be described later.

[0143] Next, the measurement data analysis processing unit 3300 of the data analysis system 3000 processes the measurement data acquired by the ocean data collection mission (step 109). In this step, for example, the state of the ocean can be interpreted or predicted by processing the measurement data.

[0144] Next, the information output unit 3400 of the data analysis system 3000 transmits the ocean data collected by the ocean data collection mission, or the processed data generated by data analysis processing of the ocean data, or the processed image data created using the ocean data or the processed data as distribution information to an external ocean data collection system 4000 or a user terminal 5000 (step 110).

[0145] (A-7. Control flow of the measurement method determination unit 2300) 13 is a flowchart showing the measurement method determination process flow by the measurement method determination unit 2300. In particular, FIG. 13 shows detailed processing of step 103 in the flowchart of FIG.

[0146] First, the measurement type determination unit 2310 determines the type of measurement space to be the measurement target when measuring oceanographic data (step 201).

[0147] Next, the measurement type determination unit 2310 determines the measurement time type to be used for measuring oceanographic data (step 202).

[0148] Next, the measurement plan determination unit 2320 determines a station-side plan including the areas and positions to be measured, the order of positions, and the travel routes (step 203).

[0149] Next, the data processing plan determination unit 2330 determines a data processing plan to be executed in the unmanned boat system 1000 (step 204). In this step, plans are determined for various processes to be executed in the unmanned boat system 1000 after the measurement data is acquired, including, for example, data storage of measurement data in the unmanned boat system 1000, data compression, transmission of the measurement data to the overall control system 2000, primary data analysis processing, and transmission of the analyzed data to the overall control system 2000.

[0150] Next, the group formation determination unit 2340 determines the formation configuration of the multiple unmanned crafts 1010 and a plan for allocating roles and operations to each unmanned craft 1010 (step 204).

[0151] Next, the group formation determination unit 2340 determines the overall formation configuration, including unmanned aerial vehicles and unmanned submersibles that operate in cooperation with the unmanned boat system 1000, and a plan for role and operation allocation (step 205).

[0152] (A-8. How to process the determination of the measurement method)

[0153] A method for determining whether or not multiple tasks can be executed in parallel in the multiple task execution feasibility decision unit 2510 will be described below with reference to FIG. 14 to FIG.

[0154] (A-8-1. Processing flow for determining measurement method) 14 is a flowchart showing the process flow for determining whether or not multiple tasks can be executed in parallel in the multiple task execution feasibility determining unit 2510. In particular, FIG. 14 shows detailed processing of step 105 in the flowchart of FIG.

[0155] First, the multiple mission execution decision unit 2510 decides the hardware conditions required for each of the multiple missions (step 301).

[0156] Next, the next processing step to transition to is determined depending on whether the hardware configuration of the unmanned boat 1010 of the unmanned boat system 1000 complies with the hardware conditions required for the multiple missions (step 302). If it is determined in this step that the hardware configuration of the unmanned boat 1010 complies with the hardware conditions required for the multiple missions, processing transitions to step 303. On the other hand, if it is determined that the hardware configuration of the unmanned boat 1010 does not complies with the hardware conditions required for the multiple missions, processing transitions to step 306.

[0157] Next, if it is determined in step 302 that the hardware configuration of the unmanned boat 1010 complies with the hardware conditions required for multiple missions, the activity area and time required for each of the multiple missions are determined based on the requirement information acquired by the measurement condition determination unit 2120 (step 303).

[0158] Next, at least one of the activity required area and the time required for each of the multiple tasks is compared, and the next processing step to transition to is determined depending on whether or not at least a portion of the time overlaps with the activity required area (step 304). If it is determined in this step that at least a portion of the time overlaps with the activity required area, the processing transitions to step 305. On the other hand, if it is determined that the time does not overlap with the activity required area, the processing transitions to step 306.

[0159] Next, if it is determined in step 304 that the activity request area and the time overlap at least partially, the next processing step to transition to is determined depending on whether or not the setting information preset for each task allows for the parallel execution of multiple tasks (step 305). In this step, if the setting information allows for the parallel execution of multiple tasks, the processing transitions to step 307. On the other hand, if it is determined that the setting information does not allow for the parallel execution of multiple tasks, the processing transitions to step 306.

[0160] Next, if it is determined in step 302 that the hardware configuration of the unmanned craft 1010 does not conform to the hardware conditions required for multiple missions, or if it is determined in step 304 that there is no overlap in time with the activity request area, or if it is determined in step 305 that the setting information does not allow for the parallel execution of multiple missions, it is determined that the parallel execution of multiple missions is not possible (step 306).

[0161] Next, if the setting information permits the parallel execution of multiple missions in step 305, a request is determined for each operation status of the work plan (state transition plan) of the oceanographic data collection mission regarding whether parallel execution is not possible, whether simultaneous parallel execution is possible, or whether parallel execution is possible at different times (step 307). The detailed processing content of this step will be described later.

[0162] Next, for each operation status of the work plan (state transition plan) of the other missions, it is determined whether or not simultaneous parallel execution is possible or parallel execution at different times is possible (step 308). The detailed processing content of this step will be described later.

[0163] (A-8-2. Determination of measurement method according to operation status of each mission) The operation status of each task used in the decision process shown in steps 307 and 308 in FIG. 14 will be described below with reference to FIGS.

[0164] (A-8-2-1. Request decision processing for parallel execution of multiple tasks) Fig. 15 is a state transition diagram showing the transition of the request state for multiple mission execution by the multiple mission execution feasibility decision unit 2510. As shown in Fig. 15, the request state for multiple mission execution can be broadly divided into two states: a dedicated oceanographic data measurement request state and a parallel measurement request state. The dedicated measurement request state is a request state in which no parallel measurement requests for multiple missions are made and the unmanned boat system 1000 is dedicated only to the oceanographic data gathering mission. The parallel measurement request state is a request state in which the oceanographic data gathering mission and other missions are performed in parallel.

[0165] In the state transition diagram shown in Fig. 15, when processing starts, a standby state (ST1501) is entered, and then the state transitions to either a dedicated measurement request state or a parallel measurement request state. Here, it is possible to determine whether or not to transition to the parallel measurement request state depending on the overlapping area and overlapping date and time where the area and date and time of mission execution overlap, which are included in the request information or plan information of the oceanographic data collection mission and the other mission. In addition to this, it is also possible to determine whether or not to transition to the parallel measurement request state depending on whether the unmanned vessel 1010 has the equipment and power performance required for both the oceanographic data collection mission and the other mission, or on pre-set information regarding the possibility of executing multiple missions.

[0166] Furthermore, it is possible to determine whether or not to transition to a parallel measurement request state depending on setting information regarding whether or not multiple missions can be executed, which is preset for each operational status of an oceanographic data collection mission shown in FIG. 16 described later.

[0167] When transitioning to a dedicated measurement request state, the state is transitioned to one of the following request states within the dedicated measurement request state: recovery charging (ST1502), movement between data acquisition points (ST1503), anchored measurement for dedicated marine data acquisition (ST1504), or measurement while moving for dedicated marine data acquisition (ST1505).

[0168] On the other hand, when the state is to be transitioned to a parallel measurement request state, the state is transitioned to a request state of anchored measurement with parallel ocean data acquisition (ST1506) or on-the-move measurement with parallel ocean data acquisition (ST1507). Here, the determination of whether to perform anchored measurement or on-the-move measurement can be made according to the measurement method and measurement data type included in the request information shown in FIG.

[0169] After the measurement is performed in any of the above states, the system transitions to a request state for ocean data analysis and distribution processing (ST1508), and the processing ends after passing through a standby state. Note that the analysis of the ocean data can be performed within unmanned boat system 1000, or can be performed by data analysis system 3000.

[0170] In the dedicated measurement request state shown in Fig. 15, since only the oceanographic data collection mission is requested, an operation plan for executing only the oceanographic data collection mission is generated in accordance with the request state. On the other hand, in the parallel measurement request state, an operation plan for the oceanographic data collection mission and the other mission is generated, taking into consideration whether the operation status of the other missions is in a state in which the parallel measurement request shown in Fig. 15 can be accepted.

[0171] (A-8-2-2. State transition in ocean data collection mission) Figure 16 is a state transition diagram showing the transition of the operation state in an ocean data collection mission. As shown in Figure 16, the operation status of an ocean data collection mission is roughly divided into three states: pre-measurement preparation state, measurement mission execution state, and measurement mission abort / end state.

[0172] The pre-measurement preparation state includes an operation status of a movement state (ST1601) in which the unmanned craft 1010 moves to the measurement target area after processing starts, and a deployment state (ST1602) in which the unmanned craft 1010 is deployed after moving to the measurement target area.

[0173] The measurement mission execution state also includes the operating states of anchored measurement for acquiring oceanographic data (ST1603), moving measurement for acquiring oceanographic data (ST1604), recovery charging state (ST1605) using a charging device (such as a solar panel or wave power generation device) installed on the unmanned vessel 1010, standby state including when measurement is interrupted (ST1606), moving state between data acquisition positions (ST1607), and measurement data analysis and distribution state (ST1608).

[0174] The measurement mission abort / end state also includes the operational states of a return state (ST1609) in which the unmanned vehicle 1010 is moved to a position from which it can be retrieved, and a recovery state (ST1610) in which the unmanned vehicle 1010 is retrieved after returning.

[0175] In addition, information on whether or not measurement operations related to other missions can be performed in parallel is set in association with each of the above-mentioned operation states, and based on this information, it can be determined whether to transition to the dedicated measurement request state or the parallel measurement request state shown in Fig. 15. Here, for example, in the anchored measurement for ocean data acquisition (ST1603), the recovery charging state (ST1605), the standby state (ST1606), and the measurement data analysis distribution state (ST1608), it is possible to set the operation state to permit the parallel execution of anchored measurement for other missions, so that the request state shown in Fig. 15 can be the request state for anchored measurement for parallel acquisition of ocean data (ST1506).

[0176] Also, in each of the states of the moving state (ST1601), the deployed state (ST1602), the moving measurement of oceanographic data (ST1604), the moving state between data acquisition positions (ST1607), and the return state (ST1609), it is possible to set the operation state to permit the parallel execution of the moving measurement of other missions, and therefore the request state shown in Fig. 15 can be the request state of the moving measurement of the parallel acquisition of oceanographic data (ST1507). On the other hand, in the recovery state (ST1610), it is no longer possible to execute the parallel execution of other missions.

[0177] (A-8-2-3. Higher state transitions in maritime search and surveillance missions) The transition of the operation state in the marine search and monitoring mission will be described below with reference to Figures 17 to 19. Information on whether or not the marine data collection mission can be performed in parallel, which is set in association with each operation state shown in Figures 17 to 19, will also be described.

[0178] Figure 17 is a state transition diagram showing the transition of higher-level operating states in the marine search and surveillance mission. As shown in Figure 17, the operating status of the marine data collection mission is roughly divided into three states: pre-survey preparation state, surveillance mission execution state, and surveillance mission abort / end state.

[0179] The pre-monitoring preparation state includes the operation status of a movement state (ST1701) in which the vehicle moves to the monitoring area after starting the mission, and a deployment state (ST1702) in which the multiple unmanned craft 1010 are deployed after moving to the monitoring area.

[0180] In addition, the surveillance mission execution state includes the operating states of a search surveillance state (ST1703) in which the area to be monitored is monitored, a recovery charging state (ST1704) using a charging device (such as a solar panel or wave power generation device) installed on the unmanned vessel 1010, a standby state (ST1705) including when surveillance measurement is suspended, and a post-discovery action state (ST1706) in which an action is taken after the object to be monitored is discovered.

[0181] The surveillance mission abort / end state also includes the operational states of a return state (ST1707) in which the unmanned vehicle 1010 is moved to a position from which it can be recovered, and a recovery state (ST1708) in which the unmanned vehicle 1010 is recovered after returning.

[0182] Note that information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 17. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 17.

[0183] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 17, for example, in the recovery charge state (ST1704) and the standby state (ST1705), information is set that permits the parallel execution of anchored measurements of the oceanographic data collection mission. Also, in each of the moving state (ST1701), the deployed state (ST1702), and the return state (ST1707), information is set that permits the parallel execution of measurements during movement of the oceanographic data collection mission. Also, in the search and surveillance state (ST1703), in principle, the parallel execution of measurement operations of the oceanographic data collection mission is not possible, and information is set that permits the parallel execution of measurement operations only when a predetermined condition (before the initial detection of a monitoring target, or during surveillance patrol at a speed slower than a predetermined speed, etc.) is satisfied. Furthermore, in the post-discovery action (ST1706) and the recovery state (ST1708), information is set that prohibits the parallel execution of measurement operations of the oceanographic data collection mission.

[0184] Next, Fig. 18 is a state transition diagram showing the transition of the operation state when an object is found in an ocean search and monitoring mission. In the example shown in Fig. 18, the operation status of the unmanned vessel 1010 includes a monitoring navigation state in which a monitoring measurement operation is performed, a state in which a monitoring target candidate is detected by the data processing unit 1500 of the unmanned vessel 1010, an initial detection judgment state of the monitoring target, a detailed measurement execution state, a detailed detection judgment state, a detailed measurement re-measurement state in which detailed measurement is performed again after detailed detection judgment, a position capture lost state in which the unmanned vessel 1010 has lost the position capture of the monitoring target, a recapture monitoring state for recapturing the position of the monitoring target, a continuous capture navigation state in which measurement is performed and capture is performed after detailed detection judgment, an execution state of another operation different from each of the above operations, and a monitoring measurement end state.

[0185] Note that information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 18. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 18.

[0186] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 18, for example, in the monitoring measurement end state, information is set that permits the parallel performance of anchoring measurement of the oceanographic data collection mission. Also, in the monitoring navigation state, information is set that permits the parallel performance of moving measurement of the oceanographic data collection mission. Also, in each state of the monitoring target candidate detection, position capture lost state, and recapture monitoring state, in principle, the parallel performance of measurement operations of the oceanographic data collection mission is not possible, and information is set that permits the parallel performance of measurement operations only when a predetermined condition (before initial detection of a monitoring target, or during monitoring patrol at a speed slower than a predetermined speed, etc.) is satisfied. Furthermore, in other states, such as the initial detection judgment state, detailed measurement state, detailed detection judgment state, re-detailed measurement state, continuous capture navigation state, and other operation judgment and execution state, information is set that prohibits the parallel performance of measurement operations of the oceanographic data collection mission.

[0187] Next, FIG. 19 is a state transition diagram showing the transition of other operation states when an object is found in a marine search and monitoring mission. FIG. 19 particularly shows an example of the operation state of the unmanned boat 1010 after the detailed detection judgment of the monitoring object based on the measurement data of the unmanned boat 1010 is completed. At this time, the operation judgment is performed according to the type of the monitoring object and the alert level (levels 0, 1, 2, 3, 4, 5, etc.) judged in the detailed detection judgment. Here, the alert level can be judged according to the type, size, detection date and time (time zone), detection position, measured moving speed, acceleration, past moving trajectory, etc. of the object. Also, if the alert level judgment is indefinite, the detailed measurement operation is executed again to perform the alert level judgment again. As a result, the alert level (levels 0, 1, 2, 3, 4, 5, etc.) is judged from the indefinite state of the alert level judgment, and the operation mode transitions according to the level.

[0188] For example, when the determined alert level is a relatively low level (levels 0 to 3), the operation state is transitioned according to the alert level to normal surveillance navigation (surveillance measurement operation), surveillance navigation for alert level 1, surveillance navigation for alert level 2, or surveillance navigation for alert level 3. When surveillance navigation is no longer necessary, surveillance measurement is terminated.

[0189] If the determined alert level is relatively high (level 4-5) or if the monitored object is of a specific type that requires alerting, the system transitions to a continuous acquisition or tracking operation state. If the system is in a position acquisition lost state, it performs reacquisition monitoring, and if tracking or acquisition ends, it performs operation determination again.

[0190] Information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 19. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 19.

[0191] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 19, for example, in the monitoring measurement end state, information is set that permits the parallel performance of anchoring measurement of the ocean data collection mission. Also, in the operation judgment state, monitoring navigation (normal) state, and tracking and capture end state, information is set that permits the parallel performance of moving measurement of the ocean data collection mission. Also, in each state of the recapture monitoring state, monitoring navigation (alert level 1) state, and monitoring navigation (alert level 2) state, the parallel performance of measurement operations of the ocean data collection mission is not possible in principle, and information is set that permits the parallel performance of measurement operations only when a predetermined condition (before initial detection of a monitored object, or during monitoring patrol at a speed slower than a predetermined speed, etc.) is satisfied. Furthermore, in the other states, such as the tracking state, continued capture state, position capture lost state, and monitoring navigation (alert level 3) state, information is set that prohibits the parallel performance of measurement operations of the ocean data collection mission.

[0192] (A-8-2-4. State transition in the mission of providing communication infrastructure) Next, the task of providing a communication infrastructure, which is one of the other tasks, will be described with reference to Fig. 20. Fig. 20 is a state transition diagram showing the transition of the operation state in the task of providing a communication infrastructure. Note that information on whether or not the ocean data collection task can be performed in parallel, which is set in association with each operation state shown in Fig. 20, will also be described.

[0193] As shown in Fig. 20, the operational status of the communication infrastructure provision is broadly divided into three statuses: preparation status before communication infrastructure provision, communication infrastructure provision status, and communication infrastructure provision mission completion / completion status.

[0194] The preparation state before providing the communications infrastructure includes the operation status of a movement state (ST2001) in which the vehicle moves to the target area for providing communications infrastructure after the start of the mission, and a deployment state (ST2002) in which multiple unmanned craft 1010 are deployed after moving to the target area.

[0195] The communication infrastructure provision state also includes an operating state of a communication connection state (ST2003) in which a wireless communication connection is established within the target area, a recovery charging state (ST2004) using a charging device (such as a solar panel or wave power generation device) mounted on the unmanned boat 1010, a standby state (ST2005) including a period when the provision of the communication infrastructure is interrupted, a communication switching state (ST2006) in which the wireless communication network configuration inside the unmanned boat system 1000 and connections to the external communication satellite 6100 and terrestrial base station 6200 are switched, and a formation deployment position / shape change state (ST2007) in which the formation deployment position and shape of the unmanned boat system 1000 are changed.

[0196] The communications infrastructure provision mission cancellation / end state also includes the operational states of a return state (ST2008) in which the unmanned vehicle 1010 is moved to a position from which it can be recovered, and a recovery state (ST2009) in which the unmanned vehicle 1010 is recovered after returning.

[0197] Information on whether or not measurement operations related to ocean data collection can be performed in parallel is set in association with each operation state shown in Fig. 20. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 20.

[0198] As the information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 20, for example, in the recovery charging state (ST2004) and the standby state (ST2005), information is set that permits the parallel performance of anchoring measurements of the oceanographic data collection mission. Also, in each of the moving state (ST2001), the deployed state (ST2002), and the return state (ST2008), information is set that permits the parallel performance of measurements during movement of the oceanographic data collection mission. Also, in the communication connection state (ST2003), in principle, the parallel performance of measurement operations of the oceanographic data collection mission is not possible, and information is set that permits the parallel performance of measurement operations only when a predetermined condition (e.g., while moving at a speed slower than a predetermined speed, the CPU and memory processing resources have a margin of a predetermined value or more) is satisfied. Furthermore, in the communication switching state (ST2006), the formation deployment position / shape change state (ST2007), and the recovery state (ST1708), information is set that prohibits the parallel performance of measurement operations of the oceanographic data collection mission.

[0199] (A-8-2-5. State transition during offshore equipment inspection mission) Next, the offshore facility inspection mission, which is one of the other missions, will be described with reference to Fig. 21. Fig. 21 is a state transition diagram showing the transition of the operation state in the offshore facility inspection mission. Note that information on whether or not the marine data collection mission can be performed in parallel, which is set in association with each operation state shown in Fig. 21, will also be described.

[0200] As shown in Fig. 21, the operation status of offshore equipment inspection can be broadly divided into three states: pre-inspection preparation state, inspection mission execution state, and inspection mission completion / completion state.

[0201] The pre-inspection preparation state includes the operation status of a movement state (ST2101) in which the vehicle moves to the inspection area where the offshore equipment to be inspected is located after the start of the mission, and a deployment state (ST2102) in which multiple unmanned vehicles 1010 are deployed after moving to the inspection area.

[0202] The inspection mission execution state also includes the operating states of an inspection data acquisition state (ST2103) in which measurement data is acquired for offshore equipment inspection within the inspection target area, a recovery charging state (ST2104) using a charging device (such as a solar panel or wave power generation device) installed on the unmanned vessel 1010, a standby state (ST2105) including when inspection data acquisition is suspended, movement between inspection targets (ST2106) in which movement between multiple offshore equipment that are inspection targets occurs, and an acquired data analysis and transmission state (ST2107) in which acquired data is analyzed and transmitted.

[0203] The inspection mission abort / end state also includes the operational states of a return state (ST2108) in which the unmanned vehicle 1010 is moved to a position from which it can be recovered, and a recovery state (ST2109) in which the unmanned vehicle 1010 is recovered after returning.

[0204] Information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 21. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 21.

[0205] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 21, for example, in the recovery charging state (ST2104), standby state (ST2105), and acquired data analysis and transmission state (ST2107), information is set that permits the parallel execution of anchoring measurements of the oceanographic data collection mission. Also, in each of the moving state (ST2101), deployment state (ST2102), movement between inspection targets (ST2106), and return state (ST2108), information is set that permits the parallel execution of measurements during movement of the oceanographic data collection mission. Also, in the inspection data acquisition state (ST2103), in principle, the parallel execution of measurement operations of the oceanographic data collection mission is not possible, and information is set that permits the parallel execution of measurement operations only when predetermined conditions are met (e.g., while moving at a speed slower than a predetermined speed, there is a margin of a predetermined value or more in the processing resources of the CPU and memory, etc.). Furthermore, in the recovery state (ST2109), information is set that prohibits the parallel execution of measurement operations of the oceanographic data collection mission.

[0206] (A-8-2-6. State transition in the fishery support mission) Next, a fishery support mission, which is one of the other missions, will be described with reference to Fig. 22. Fig. 22 is a state transition diagram showing the transition of the operation state in the fishery support mission. Note that information on whether or not the ocean data collection mission can be performed in parallel, which is set in association with each operation state shown in Fig. 22, will also be described.

[0207] As shown in Figure 22, the operational status of fishery support can be broadly divided into three states: pre-mission preparation state, mission execution state, and mission abort / end state.

[0208] The pre-mission preparation state includes the operational status of a movement state (ST2201) in which the boat moves to the target area where fishing support will be carried out after the start, and a deployment state (ST2202) in which multiple unmanned boats 1010 are deployed after moving to the target area.

[0209] In addition, the mission execution state includes the operating states of a fisheries-related data acquisition state (ST2203) in which measurement data is acquired for fisheries support within the target area, a fishing ground monitoring state (ST2204) in which theft and poaching are monitored in aquaculture farms and fishing grounds, a feeding state (ST2205) in which feeding is performed in aquaculture farms and the like, a recovery charging state (ST2206) using a charging device (such as a solar panel or wave power generation device) installed in the unmanned vessel 1010, a standby state (ST2207) that includes a state in which fisheries support operations are suspended, inter-target movement (ST2208) in which movement between multiple aquaculture farms and fishing grounds is performed, and an acquired data analysis and transmission state (ST2209) in which acquired data is analyzed and transmitted.

[0210] The mission abort / end state also includes the operational states of a return state (ST2210) in which the unmanned vehicle 1010 is moved to a position from which it can be recovered, and a recovery state (ST2211) in which the unmanned vehicle 1010 is recovered after returning.

[0211] Information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 22. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 22.

[0212] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 22, for example, in the recovery charging state (ST2206), standby state (ST2207), and acquired data analysis and transmission state (ST2209), information is set that permits the parallel execution of anchoring measurements of the oceanographic data collection mission. Also, in each of the moving state (ST2201), deployment state (ST2202), inter-target moving state (ST2208), and return state (ST2110), information is set that permits the parallel execution of measurements during movement of the oceanographic data collection mission. Also, in the fishery-related data acquisition state (ST2203), fishing ground monitoring state (ST2204), and feeding state (ST2205), in principle, the measurement operations of the oceanographic data collection mission cannot be performed in parallel, and information is set that permits the parallel execution of measurement operations only when predetermined conditions (such as moving at a speed slower than a predetermined speed, or having a certain amount of spare CPU or memory processing resources) are met. Furthermore, in the recovery state (ST2109), information is set that disables the parallel execution of measurement operations of the oceanographic data collection mission.

[0213] (A-8-2-7. State transition during biological and ecological survey missions) Next, the biological ecology survey mission, which is one of the other missions, will be described with reference to Fig. 23. Fig. 23 is a state transition diagram showing the transition of the operation state in the biological ecology survey mission. Note that information on whether or not the marine data collection mission can be performed in parallel, which is set in association with each operation state shown in Fig. 23, will also be described.

[0214] As shown in Figure 23, the operational status of the biological ecological survey is broadly divided into three states: pre-survey preparation state, survey mission execution state, and survey mission aborted / ended state.

[0215] The pre-survey preparation state includes the operational status of a movement state (ST2301) in which the vehicle moves to the survey target area where a biological and ecological survey will be conducted after operation starts, and a deployment state (ST2302) in which multiple unmanned vehicles 1010 are deployed after moving to the target area.

[0216] In addition, the survey mission execution state includes operating states such as a survey data acquisition state (ST2303) in which measurement data for biological and ecological surveys is acquired within the target area, a recovery charging state (ST2304) using a charging device (such as a solar panel or wave power generation device) installed on the unmanned vessel 1010, a standby state (ST2305) that includes a state in which the operation of the biological and ecological survey is suspended, inter-target movement (ST2306) in which movement between multiple survey target locations is performed, and an acquired data analysis and transmission state (ST2207) in which the acquired data is analyzed and transmitted.

[0217] The mission abort / end state also includes the operational states of a return state (ST2308) in which the unmanned vehicle 1010 is moved to a position from which it can be recovered, and a recovery state (ST2309) in which the unmanned vehicle 1010 is recovered after returning.

[0218] Information on whether or not parallel execution of measurement operations related to ocean data collection can be performed is set in association with each operation state shown in Fig. 23. The multiple mission execution feasibility decision unit 2510 can decide to perform multiple missions in parallel based on the multiple mission parallel execution request state shown in Fig. 15 and the multiple mission parallel execution feasibility information set in association with each operation state in Fig. 23.

[0219] As information on whether or not multiple missions can be performed in parallel, which is set corresponding to each operation state in FIG. 23, for example, in the recovery charging state (ST2304), standby state (ST2305), and acquired data analysis and transmission state (ST2307), information is set that permits the parallel execution of anchoring measurements of the oceanographic data collection mission. Also, in each of the moving state (ST2301), deployment state (ST2302), inter-target movement (ST2306), and return state (ST2308), information is set that permits the parallel execution of measurements during movement of the oceanographic data collection mission. Also, in the survey data acquisition state (ST2303), in principle, the parallel execution of measurement operations of the oceanographic data collection mission is not possible, and information is set that permits the parallel execution of measurement operations only when predetermined conditions are met (e.g., while moving at a speed slower than a predetermined speed, there is a margin of processing resources for the CPU and memory of a predetermined value or more, etc.). Furthermore, in the recovery state (ST2309), information is set that prohibits the parallel execution of measurement operations of the oceanographic data collection mission.

[0220] (A-9. Processing flow for determining operation plan) Next, a description will be given of the processing flow for determining an operation plan for the unmanned boat system 1000. Fig. 24 is a flowchart showing the operation plan determination processing flow by the operation plan determination unit 2520. In particular, Fig. 24 shows detailed processing of step 106 in the flowchart of Fig. 9.

[0221] First, the motion plan determination unit 2520 determines the number and positions of unmanned boats 1010 of the unmanned boat system 1000 to be deployed in the target area (step 401). In this step, for example, the motion plan determination unit 2520 can determine the number and positions of unmanned boats 1010 required to execute a mission based on the size of the target area, the mission completion deadline date and time, the measurement request information, and the like contained in the request information acquired by the data collection request acquisition unit 2100, as well as the feasibility of executing multiple missions in parallel as determined by the multiple mission execution feasibility determination unit 2510.

[0222] Next, the operation plan determination unit 2520 determines a wireless communication route to be established by the unmanned boat system 1000 (step 402). In this step, for example, the communication route of the marine wireless network established by the multiple unmanned boats 1010 in the unmanned boat system 1000, and the route of the wireless communication line established between the unmanned boat system 1000 and the overall control system 2000 via the communication satellite 6100 and the ground base station 6200 are determined.

[0223] Next, the location of unmanned boat 1010 that will act as a communication relay to establish a wireless communication network or wireless communication line inside and outside unmanned boat system 1000 determined in step 402 is determined (step 403).

[0224] Next, based on the result of the decision as to whether or not the multiple missions can be performed in parallel determined by the multiple mission execution feasibility deciding unit 2510, an operation plan for performing multiple missions in parallel is generated (step 404). In this step, for example, if ocean data collection can be performed in parallel with other missions (if parallel execution is possible), an operation plan is generated for performing ocean data collection in parallel while performing other missions, whereas, if ocean data collection cannot be performed in parallel with other missions (if parallel execution is not possible), an operation plan for dedicated measurement of ocean data is generated.

[0225] Next, a plan for the movement path of the unmanned watercraft 1010 is generated based on the results determined in each of the above steps (step 405).

[0226] (A-10. Processing flow for determining operation plan) Next, a description will be given of the real-time control of unmanned boat system 1000 by unmanned boat operation execution unit 2600 after unmanned boat system 1000 has been deployed on the sea. Figure 25 is a flowchart showing the process flow for determining whether or not to continue multiple missions by multiple mission continuation decision unit 2610. In particular, Figure 25 shows detailed processing of step 107 in the flowchart of Figure 9.

[0227] First, the current operation status of the oceanographic data collection mission is identified (step 501). In this step, it is identified which operation status in the oceanographic data collection mission the current operation status of the unmanned watercraft 1010 corresponds to, for example, as shown in Fig. 16 .

[0228] Next, the process step to transition to is determined depending on whether the information on whether multiple missions can be performed in parallel, recorded in association with the operational status of the oceanographic data collection mission, allows the parallel execution of other missions or not (step 502). If the parallel execution of other missions is not allowed in this step, the process transitions to step 508. On the other hand, if the parallel execution of other missions is allowed, the process transitions to step 503.

[0229] Next, if parallel execution of other missions is permitted in step 502, the current operation status of the other missions is determined (step 503). In this step, it is determined which operation status in the other missions corresponds to the current operation status of the unmanned watercraft 1010, for example, as shown in Figures 17 to 23.

[0230] Next, the next processing step to transition to is determined depending on whether the information on whether or not parallel execution of multiple missions recorded in association with the operation status of the other missions permits parallel execution of oceanographic data collection (step 504). If parallel execution of oceanographic data collection is not permitted in this step, the processing transitions to step 508. On the other hand, if parallel execution of oceanographic data collection is permitted, the processing transitions to step 505.

[0231] Next, the next processing step to transition to is determined depending on whether the resource margin within unmanned boat system 1000 is equal to or greater than a predetermined value (step 505). In this step, if the resource margin is equal to or greater than the predetermined value, processing transitions to step 505, whereas if the resource margin is not equal to or greater than the predetermined value, processing transitions to step 508. Note that the resources in this step include the CPU processing resources of unmanned boat 1010 performing an oceanographic data collection mission or other mission, memory device resources, recording capacity resources of measurement data recording unit 1610 that records measurement data, communication quality resources, and the like.

[0232] Next, if it is determined in step 505 that the resource margin is equal to or greater than a predetermined value, the next processing step to transition to is determined depending on whether the goal achievement of the other mission is equal to or greater than a predetermined value (step 506). If it is determined in this step that the goal achievement of the other mission is equal to or greater than a predetermined value, the processing transitions to step 507, whereas if it is determined that the goal achievement of the other mission is not equal to or greater than a predetermined value, the processing transitions to step 508. The goal achievement includes, for example, a search rate (coverage rate) in an ocean search and surveillance mission, an inspection implementation rate in an offshore facility inspection mission, and a communications coverage area rate in a communications infrastructure provision mission.

[0233] Next, if it is determined in step 506 that the goal achievement level of the other mission is equal to or greater than a predetermined value, the next processing step to transition to is determined depending on whether the urgency of the other mission has risen to or above a predetermined value (step 507). If it is determined in this step that the urgency of the other mission has risen to or above a predetermined value, the processing transitions to step 508, whereas if it is determined that the urgency of the other mission has not risen to or above the predetermined value, the processing transitions to step 509. In this step, the urgency of the other mission may rise to or above a predetermined value if, for example, there is an increase in urgency due to a sudden change in sea conditions or the occurrence of a marine accident.

[0234] Next, if the parallel execution of other missions is not permitted in step 502, or if the parallel execution of oceanographic data collection is not permitted in step 504, or if the resource margin is not equal to or greater than a predetermined value in step 505, or if it is determined in step 506 that the goal achievement degree of the other mission is not equal to or greater than a predetermined value, or if it is determined in step 507 that the urgency of the other mission has risen to a predetermined value or greater, the parallel execution of multiple missions is prohibited (step 508). In other words, the parallel execution of multiple missions is not performed, and unmanned boat system 1000 is dedicated to performing the other mission. Note that in addition to the above cases, for example, if an abnormality or failure occurs in the measurement sensor of the unmanned boat, the external environment changes to a state inappropriate for performing a mission, or a discrepancy occurs due to a change in the area or date and time of the multiple missions, the parallel execution of multiple missions may be prohibited in step 508.

[0235] Next, if it is determined in step 507 that the urgency of the other tasks has not increased by a predetermined value or more, the parallel execution of the multiple tasks is continued (step 509).

[0236] Next, the result of the determination as to whether or not the parallel execution can be continued is displayed to the user, and an instruction from the user is accepted (step 510). In this step, for example, the result of the determination as to whether or not the parallel execution can be continued is displayed and output on the display unit 2710 of the user interface unit 2700, and user input is accepted via the user input accepting unit 2720.

[0237] The process flow for deciding whether or not to continue multiple missions shown in Figure 25 makes it possible to determine whether or not to simultaneously carry out an oceanographic data acquisition mission while the unmanned boat system 1000 is executing one of the other missions, and also makes it possible to decide to allow the acquisition of oceanographic data during an operating status such as recovery charging, waiting, or moving during another mission.

[0238] (A-11. Operation control process flow of the unmanned boat system 1000) 26 is a flowchart showing the flow of operation control of the unmanned boat system 1000 by the unmanned boat operation management unit 2620. In particular, FIG. 26 shows detailed processing of step 108 in the flowchart of FIG.

[0239] First, the unmanned watercraft operation management unit 2620 grasps the internal state and operating conditions of the unmanned watercraft 1010 during the oceanographic data collection mission (step 601). Here, the internal state includes the remaining battery level, the temperature of the battery and other devices, and the abnormal or faulty state of other devices, while the operating state includes the track record of the movement performance of the unmanned watercraft 1010.

[0240] Next, the unmanned watercraft operation management unit 2620 grasps the external environmental conditions in the activity area of ​​the unmanned watercraft 1010 (step 602). The external environmental information grasped in this step includes the weather conditions, sea conditions, and communication environment in the activity area.

[0241] Next, the unmanned boat operation management unit 2620 generates a proposed change to the operation plan including the formation, movement routes, deployment positions, movement speeds, and communication routes of the multiple unmanned boats 1010 that make up the unmanned boat system 1000 (step 603). In addition to the above, this step may also determine the selection of equipment such as the unmanned boats 1010 and the measurement sensors to be mounted on the unmanned boats 1010, the need for collaboration with an external marine survey system, and the necessary resources of the external marine survey system to be collaborated with.

[0242] Next, the unmanned watercraft operation management unit 2620 calculates other constraint conditions for continuing the oceanographic data collection mission, taking into consideration the operation status of the unmanned watercraft 1010, the weather conditions, sea conditions, or communication environment in the activity area (step 604). The constraint conditions calculated in this step include, for example, a restriction on the desired area for oceanographic data collection, a restriction on the type of oceanographic data to be collected, a restriction on the movement speed of the unmanned watercraft 1010, a restriction on the date and time for oceanographic data collection, and a postponement of the completion date and time for oceanographic data collection. In addition to the above-mentioned constraint conditions, this step may also include recommended conditions such as a movement speed and a movement location recommended when the user directly manually controls the operation of the unmanned watercraft 1010. In this way, by calculating the constraint conditions and recommended conditions, it is possible to restrict the desired area or postpone the completion date and time when the amount of energy required for movement is increased due to disturbances such as wind and waves, and a shortage of the amount of energy is predicted.

[0243] Next, the unmanned watercraft operation management unit 2620 displays on the display unit 2710 the proposed changes to the operation plan generated in step 603, the constraint conditions and recommended conditions calculated in step 604, or the operation status of the unmanned watercraft 1010 grasped in step 601 (including the state of the wireless communication path and communication quality), and receives designated input information for the displayed proposed changes etc. from the user via the user input receiving unit 2720 (step 605). In this step, the unmanned watercraft operation management unit 2620 can further determine an operation control command based on the received user input information.

[0244] In addition, the user input information received in step 605 can include user instructions regarding the timing of ocean data transmission, for example, when an ocean data collection mission and another mission (such as an ocean search and surveillance mission) are carried out in parallel, in which the ocean data acquired by the ocean data collection mission is stored in the unmanned craft 1010, and the stored ocean data is transmitted to the overall control system 2000 at a time when the communication load used for the other mission becomes smaller.

[0245] Next, the control command output unit 2630 transmits the determined operation control command to the unmanned boat system 1000, and controls the unmanned boat 1010 (step 606).

[0246] (A-12. Measurement data analysis processing flow) Fig. 27 is a flowchart showing the data analysis processing flow by unmanned boat system 1000 and data analysis system 3000. In particular, Fig. 27 shows detailed processing of step 109 in the flowchart of Fig. 9. Steps 701 and 702 shown in Fig. 27 show processing performed in unmanned boat system 1000, and steps 703 to 706 show processing performed in data analysis system 3000.

[0247] First, the data processing unit 1500 of the unmanned watercraft 1010 performs primary processing and data compression on the measurement data acquired by the measurement unit 1100 of the unmanned watercraft 1010. Alternatively, the measurement data is stored by the measurement data recording unit 1610 (step 701).

[0248] Next, data is transmitted from the unmanned watercraft 1010 to the data analysis system 3000 (step 702).

[0249] Next, the measurement data management unit 3200 of the data analysis system 3000 acquires the measurement data and records the associated data (step 703). In this step, for example, the acquired measurement data is recorded in association with at least one of the following information: the measurement position of the measurement data, the identification information of the unmanned boat 1010 that acquired the measurement data, and the measurement date and time of the measurement data.

[0250] Next, the measurement data analysis processing unit 3300 analyzes the measurement data and interprets the ocean-related information that is desired to be acquired (step 704).

[0251] Next, the measurement data analysis processing unit 3300 analyzes the measurement data and predicts future information that will be required to be acquired regarding the ocean (step 705).

[0252] Next, the measurement data analysis processing unit 3300 creates image data for distribution using the processed data generated in steps 704 or 705, or the measurement data acquired by the unmanned boat system 1000, or a combination of these (step 706).

[0253] (A-13. Export process flow for oceanographic data, etc.) 28 is a flowchart showing the output processing flow of oceanographic data by the data analysis system 3000. In particular, FIG. 28 shows detailed processing of step 110 in the flowchart of FIG.

[0254] First, the information output unit 3400 displays and outputs various data on the display device in the data analysis system 3000 (step 801). In this step, the information displayed and output on the display device may display the degree of achievement of ocean data collection relative to the ocean data acquisition requirements. Also, the display device may have a function that can display not only the latest ocean data but also past accumulated data. Also, the display information may include the scheduled time when the ocean data will be updated in the future and notification information that the latest ocean data collection has been completed. Also, the information displayed in this step may be determined based on display priority information (time priority, detailed image priority, area designation priority, etc.) acquired in advance as priority information.

[0255] Next, the information output unit 3400 transmits various data to the external ocean data collection system 4000 (step 802). In this step, the method of transmitting various data to the external ocean data collection system 4000 can be, for example, a method of transmitting measurement data acquired within the unmanned boat system 1000 in real time, or a method of temporarily recording the measurement data in the recording unit 1600 of one of the unmanned boats 1010 within the unmanned boat system 1000 and transmitting the measurement data when the communication load decreases or when movement to a communication available area is completed.

[0256] Next, the information output unit 3400 transmits various data to the user terminal 5000 (step 803).

[0257] Next, the external information acquisition unit 3500 acquires request information regarding ocean data collection from the external ocean data collection system 4000 or the user terminal 5000 (step 804).

[0258] Next, the data acquisition management unit 3100 determines the desired conditions for ocean data collection (step 805). In this step, in addition to the desired conditions for ocean data collection, an ocean data collection plan may be generated. Also, in this step, the data acquisition management unit 3100 can determine the degree of achievement of ocean data collection with respect to the desired conditions for ocean data acquisition, and can generate an ocean data collection plan for improving the degree of achievement.

[0259] Next, the data acquisition management unit 3100 transmits the oceanographic data acquisition requirements or the data collection plan to the overall control system 2000 (step 806).

[0260] (A-14. Hardware configuration) 29 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.

[0261] The input device 100 can constitute the user input receiving unit 2720, 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.

[0262] 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. Specifically, the output device 200 can constitute the display unit 2710, etc., using a display device for eyewear, AR, or VR, or can be a printer or a speaker.

[0263] 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.

[0264] 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.

[0265] The communication device 600 is a device for performing wireless or wired information communication with the outside, and can constitute the information communication unit 2800 described above.

[0266] In the above embodiment, an example has been described in which the execution of multiple different missions can be achieved by determining whether or not multiple missions, including an oceanographic data collection mission and other missions, can be performed in parallel, but even if any of the other missions is being performed, data measurement for the oceanographic data collection mission can be performed at any time, oceanographic data can be collected, and the collected oceanographic data can be stored in the unmanned boat system 1000 or the data analysis system 3000. In this case, oceanographic data that matches the conditions requested by the external oceanographic data collection system 4000 or the user terminal 5000 can be selected from the stored oceanographic data, and transmitted or analyzed.

[0267] 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.

[0268] [A-2. Effects of this embodiment] According to the above-described embodiment, it is possible to use the unmanned vehicle to perform multiple missions. For example, it is possible to use a single or multiple unmanned vehicles to perform multiple missions including a mission of collecting various marine data and other missions (marine search and monitoring, provision of communication infrastructure, inspection of marine facilities, fishery support, biological and ecological research, etc.). [Explanation of symbols]

[0269] 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 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 Department 1400…Communication section 1410…Unmanned vessel communication section 1420…General Control and Communications Department 1500: Data processing unit 1600: Recording section 1610: Measurement data recording section 1620…Unit status recorder 2000…Comprehensive control system 2100: Data collection request acquisition unit 2110: Measurement request type determination unit 2120: Measurement condition determination unit 2130: Measurement data type determination unit 2200... Advance information acquisition unit 2210... Peripheral information acquisition unit 2220: Measurement target information acquisition unit 2230: Measurement history information acquisition unit 2300: Measurement method determination unit 2310: Measurement type determination unit 2320: Measurement plan determination unit 2330: Data processing plan determination unit 2340…Group Formation Decision Department 2400…Other Mission Request Acquisition Department 2500: Unmanned Vehicle Operation Planning Division 2510: Multiple Mission Execution Decision Division 2520: Operation plan determination unit 2530: Communication path determination unit 2600: Unmanned boat operation execution unit 2610: Multiple mission continuation decision unit 2620: Unmanned boat operation management unit 2630: Control command output unit 2700...User interface section 2710: Display unit 2720: User input reception unit 3000…Data analysis system 3100: Data acquisition management unit 3110: Data request determination unit 3120: Data collection planning section 3130: Data acquisition request section 3200: Measurement data management unit 3210: Measurement data acquisition unit 3220: Measurement data storage unit 3300: Measurement data analysis processing section 3310: Data processing section 3320...Distribution information generation unit 3400: Information output unit 3500: External information acquisition unit 4000…External Ocean Data Acquisition System 4100…Ocean situation awareness system 4200…Meteorological information transmission and processing system 5000: User terminal 5100: Marine monitoring personnel terminal 5200: Communication infrastructure provider terminals 5300: Terminals for marine equipment inspection personnel 5400: Terminals for fishery personnel 5500: Terminal for those involved in the biological and ecological survey 6100: Communications satellite 6200: Ground base station 7000…Measurement target

Claims

1. A control system for controlling an operation of a single or multiple unmanned watercraft equipped with a first measurement sensor, a data collection request acquisition unit that acquires request information or plan information for an oceanographic data collection mission that collects oceanographic data of an ocean area in which the unmanned watercraft is deployed by the first measurement sensor; An other mission request acquisition unit that acquires request information or plan information of other missions different from the oceanographic data collection mission; a multiple mission execution decision unit that decides whether or not to execute multiple missions including the oceanographic data collection mission and the other missions simultaneously or at different times; a control system including an unmanned vessel operation execution unit that controls an operation for executing the multiple missions when it is determined that the multiple missions can be executed.

2. 2. The control system of claim 1, The ocean data collection mission includes a mission of collecting ocean data in the ocean area using the first measurement sensor, the ocean data including at least one of the speed and direction of ocean currents or tidal currents, wave height, wave period, seawater temperature, oxygen concentration, salinity concentration, Ph, wind speed at the sea surface, air temperature, air pressure, and weather. A control system.

3. 2. The control system of claim 1, The oceanographic data collection mission includes a mission of collecting oceanographic data in the ocean area using the first measurement sensor, the oceanographic data including at least any of the following: area or density of plankton growth, area or density of algae growth, position or shape of reefs, height of low tide line, position or shape of coastline, and position or shape of seabed, a control system.

4. 2. The control system of claim 1, The other mission request acquisition unit acquires the request information or plan information for a search mission in which a search for a specific object on the sea, underwater, or in the air of the marine area is conducted using the first measurement sensor or a second measurement sensor mounted on the unmanned vessel, a control system.

5. 2. The control system of claim 1, The other mission request acquisition unit acquires the request information or plan information for a wireless communication environment providing mission to provide a connection environment to a wireless communication network on the sea, underwater, or in the air of the marine area using a communication device installed on the unmanned craft, a control system.

6. 2. The control system of claim 1, The other mission request acquisition unit is a control system that acquires the request information or plan information for an inspection mission to inspect equipment installed on or underwater in the marine area or monitor intruders to the equipment using the first measurement sensor or the second measurement sensor mounted on the unmanned boat.

7. 2. The control system of claim 1, The other mission request acquisition unit acquires the request information or plan information for a fishing support mission in which the unmanned boat performs at least one of monitoring aquaculture or fishing grounds in the marine area, fish detection, and feeding. This is a control system.

8. 2. The control system of claim 1, The other mission request acquisition unit acquires the request information or plan information for a marine biological research mission in which information on the ecology of living organisms in the marine area is obtained using the first measurement sensor or the second measurement sensor mounted on the unmanned boat, a control system.

9. 2. The control system of claim 1, The multiple mission execution feasibility determination unit determines whether or not to execute the multiple missions by comparing at least one of the area and date and time of mission execution contained in the request information or plan information of the ocean data collection mission and the other missions.

10. 2. The control system of claim 1, The multiple mission execution determination unit determines whether or not to execute the multiple missions based on at least one of the following conditions: whether or not the unmanned craft deployed in the marine area is equipped with equipment used for the marine data collection mission and the other missions, and whether or not it has the power performance required for the marine data collection mission and the other missions. This is a control system.

11. 2. The control system of claim 1, The multiple mission execution determination unit determines whether or not to execute the multiple missions based on setting information regarding whether or not to execute the multiple missions, the oceanographic data collection mission and the other missions.

12. 2. The control system of claim 1, The multiple mission execution feasibility determination unit, when determining that execution of the multiple missions is possible, determines whether to execute the multiple missions in parallel, that is, by executing the ocean data collection mission and the other missions simultaneously, or by executing them at different times, a control system.

13. 2. The control system of claim 1, The multiple mission execution feasibility determination unit determines whether or not to execute the multiple missions based on setting information regarding whether or not to execute the multiple missions that is preset in correspondence with the operation status of the oceanographic data collection mission, a control system.

14. 2. The control system of claim 1, The multiple mission execution feasibility determination unit determines whether or not the multiple missions can be executed based on setting information regarding whether or not the multiple missions can be executed that is preset in association with the operation statuses of the other missions.

15. 2. The control system of claim 1, The multiple mission execution feasibility decision unit determines whether or not to execute the multiple missions based on at least one of the states of the CPU processing resources, memory device resources, recording capacity resources of the ocean data recording device, communication quality, and the degree of goal achievement of the other missions of the unmanned vessel executing the other missions, a control system.

16. 2. The control system of claim 1, When the multiple missions including the oceanographic data collection mission and the other mission are being executed in parallel, and the urgency of the other mission increases, The multiple mission execution decision unit decides to interrupt the parallel execution of the multiple missions and cause the unmanned craft to execute the other mission.

17. 17. The control system of claim 16, When the multiple mission execution determination unit interrupts the parallel execution of the multiple missions and the urgency of the other missions decreases, The multiple mission execution feasibility decision unit decides to resume the parallel execution of the multiple missions.

18. 2. The control system of claim 1, When it is determined to carry out the multiple missions including the oceanographic data collection mission and the other missions, A control system in which the multiple mission execution determination unit determines which one or more of the unmanned craft will carry out the multiple missions, or the number of the unmanned craft, or an operation plan for the unmanned craft.

19. 2. The control system of claim 1, The unmanned vehicle operation execution unit controls the execution operation of the multiple missions by either simultaneous parallel execution, in which the ocean data collection mission and the other missions are executed simultaneously, or different-time parallel execution, in which the missions are executed at different times, depending on the judgment result of the multiple mission execution feasibility decision unit.

20. 2. The control system of claim 1, a display unit that displays to a user status information indicating whether the mission currently being performed by the unmanned vessel is the oceanographic data collection mission, the other mission, or the multiple mission execution, a control system comprising: a display unit that displays to a user status information indicating whether the mission currently being performed by the unmanned vessel is the oceanographic data collection mission, the other mission, or the multiple mission execution.

21. 2. The control system of claim 1, a user input receiving unit that receives a request from a user to specify one of the oceanographic data collection mission, the other mission, and the execution of the multiple missions; The multiple mission execution determination unit determines whether or not the multiple missions can be executed in response to the designation request.

22. 2. The control system of claim 1, A control system comprising a data management unit that records the oceanographic data collected by the oceanographic data collection mission in association with at least one of the following information: the measurement location of the oceanographic data, the unmanned vessel that acquired the oceanographic data, and the measurement date and time of the oceanographic data.

23. 2. The control system of claim 1, When the oceanographic data is image data, point cloud data, radar measurement data, or acoustic data, the oceanographic data is analyzed to seawater conditions including at least one of salinity, hydrogen ion exponent, water temperature, seawater components, and seawater density of the seawater at the collection location of the oceanographic data; Oceanographic conditions including at least one of ocean currents, tides, wave heights, wave periods, and wave speeds at the collection location of the oceanographic data; Meteorological conditions including at least one of temperature, humidity, wind speed, wind direction, solar radiation, rainfall, air pressure, air components, and weather at the collection location of the marine data; Bio-ecological conditions including at least one of seaweed beds, plankton, and marine organisms; The state of the seabed land including at least one of the shape of rock reefs, coastline, and seabed; Marine noise level conditions, including conditions relating to noise above or below the sea; A control system comprising a status reading unit that reads at least one of the above.

24. 2. The control system of claim 1, When the oceanographic data is image data, point cloud data, radar measurement data, or acoustic data, the oceanographic data is analyzed to a static seawater state including at least one of a salinity, a hydrogen ion exponent, a water temperature, a seawater composition, and a seawater density of the seawater at the collection position of the oceanographic data; Oceanographic conditions including at least one of ocean currents, tides, wave heights, wave periods, and wave speeds at the collection location of the oceanographic data; Meteorological conditions including at least one of temperature, humidity, wind speed, wind direction, solar radiation, air pressure, rainfall, air components, and weather at the collection location of the marine data; Bio-ecological conditions including at least one of seaweed beds, plankton, and marine organisms; The state of the seabed land including at least one of the shape of rock reefs, coastline, and seabed; Marine noise level conditions, including conditions relating to noise above or below the sea; A control system comprising a state prediction unit that predicts a future state of at least one of the above.

25. 2. The control system of claim 1, The unmanned vessel, A control system comprising at least one of a data processing unit that performs at least one of primary processing and data compression processing of the oceanographic data, and a recording unit that stores the oceanographic data or processed data processed by the data processing unit.

26. 2. The control system of claim 1, A control system comprising an information output unit that displays the oceanographic data collected by the oceanographic data collection mission, or processed data generated by data analysis processing of the oceanographic data, or processed image data created using the oceanographic data or the processed data on a display device or transmits it to an external system.

27. A method for controlling an operation of a single unmanned watercraft or a plurality of unmanned watercraft equipped with a first measurement sensor, comprising the steps of: The computer acquiring request information or plan information for an oceanographic data collection mission for collecting oceanographic data of an ocean area in which the unmanned vehicle is deployed by the first measurement sensor; acquiring request information or plan information for a mission other than the oceanographic data collection mission; A step of determining whether or not to execute multiple missions including the oceanographic data collection mission and the other missions simultaneously or at different times; a step of controlling an operation for carrying out the multiple missions when it is determined that the multiple missions can be carried out; A control method for performing the above.

28. A program for controlling an operation of a single or multiple unmanned watercraft equipped with a first measurement sensor, On the computer, a data collection request acquisition command for acquiring request information or plan information for an oceanographic data collection mission for collecting oceanographic data of the ocean area in which the unmanned vehicle is deployed by the first measurement sensor; An other mission request acquisition command for acquiring request information or plan information of another mission different from the oceanographic data collection mission; A multiple mission execution determination command for determining whether or not to execute multiple missions including the oceanographic data collection mission and the other missions simultaneously or at different times; an unmanned vehicle operate execution command for controlling an operation of executing the multiple missions when it is determined that the multiple missions can be executed; A program to execute.

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