Communication system, communication processing method, and program

Abstract

According to the present invention, a communication environment with an external communication device or an Internet line is provided to an underwater device existing in an underwater area, and position information or information used for calculating position information is provided to an underwater object. 【Solution means】In a communication system, a general control system includes a system information acquisition unit that acquires information regarding an underwater communication system that provides an environment capable of communicating with an Internet line or the like to an underwater object existing in water, at least one unmanned boat that is capable of navigating on the water and is provided with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, a communication path determination unit that determines a relay communication path of a communication line for relaying the underwater object to the Internet line using the unmanned boat and the underwater communication system based on the information acquired by the system information acquisition unit, and an unmanned boat control command determination unit that determines a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path.

Description

Technical Field

[0001] The present invention relates to a communication system, a communication processing method, and a program.

Background Art

[0002] Unlike a land area within the range where wireless communication is possible with an antenna base station or a land or sea area where wireless communication is possible with an artificial satellite or the like, an underwater device floating or navigating in a sea area cannot receive radio waves from an antenna base station or an artificial satellite, and thus cannot communicate and connect with an Internet line or an external communication device. Further, as described above, an underwater device floating or navigating in the sea cannot receive radio waves from an antenna base station or an artificial satellite, and thus it is difficult to obtain self-position information calculated based on information acquired from an antenna base station or an artificial satellite.

[0003] Patent Document 1 discloses an information communication system in which transmission data generated by a data management server 1 is distributed to an underwater vehicle performing ocean surveys via an artificial satellite ST and a first data transmission / reception terminal 2 including an above-water device 21 and an underwater device 22. In particular, it is disclosed that the above-water device 21 performs wireless communication with the artificial satellite ST, and the underwater device 22 connected to the above-water device 21 via a wire communicates with the underwater vehicle by ultrasonic waves.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The information communication system described in Patent Document 1 can communicate with underwater devices by ultrasonic waves in an underwater area that can communicate with a first data transmission / reception terminal 2 deployed on the sea and in the sea. However, when the underwater device moves outside the underwater area where it can communicate with the first data transmission / reception terminal 2, the communication connection with the underwater device cannot be maintained.

[0006] Also, as described above, when the communication connection between the underwater device and the information communication system cannot be maintained, the position information of the underwater device cannot be calculated based on information obtained from an external system such as an antenna base station or a satellite.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and an object thereof is to provide a communication environment between an underwater object existing in an underwater area and an external communication device or the Internet line, or to provide position information or information used for calculating position information to the underwater object.

Means for Solving the Problems

[0008] According to the present invention, an information acquisition unit that acquires information related to an underwater communication system that provides an environment in which an underwater object or an underwater target area existing in water can communicate with the Internet line or an external device, or provides information regarding the position of the underwater object to the underwater object, at least one unmanned boat that can navigate on the water and is equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, and based on the information acquired by the information acquisition unit, uses the unmanned boat and the underwater communication system to relay-connect the underwater object to the Internet line or the external device, or to provide information regarding the position of the underwater object to the underwater object. A communication system is obtained that includes a communication path determination unit that determines a relay communication path of a communication line, and an unmanned boat command determination unit that determines a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path.

Effects of the Invention

[0009] According to the present invention, it is possible to provide a communication environment between an underwater device existing in an underwater area and an external communication device or an Internet line, or to provide position information or information used for calculating position information to the underwater device.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0011] The contents of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] An information acquisition unit that acquires information related to an underwater communication system that provides an environment capable of communicating with an Internet line or an external device to an underwater object or an underwater target area existing in water, or provides information on the position of the underwater object to the underwater object, At least one unmanned boat that can navigate on the water and is equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, Based on the information acquired by the information acquisition unit, in order to relay-connect the underwater object to the Internet line or the external device using the unmanned boat and the underwater communication system, or to provide information on the position of the underwater object to the underwater object, a communication path determination unit that determines a relay communication path of a communication line, A communication system including an unmanned boat command determination unit that determines a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path. [Item 2] In the communication system according to Item 1, The information acquired by the information acquisition unit includes information related to at least one of the number, position, communication performance, and communication connection destination of communication relay units installed on the water, in the water, or on the bottom of the water of the underwater communication system. [Item 3] In the communication system according to Item 1 or 2, The information obtained by the information acquisition unit includes information related to at least any one of the demand information regarding the underwater object that provides the communication environment, the demand information regarding the underwater target area that provides the communication environment, the time when communication is demanded, the date and time, the time, or the period, and the demand for providing the position coordinate information of the underwater object. A communication system. [Item 4] In the communication system according to any one of Items 1 to 3, The information obtained by the information acquisition unit includes at least any one of the communication quality including the communication intensity, the upload communication speed, the download communication speed, the communication delay time, and the communication capacity of the communication environment provided to the underwater object or the underwater target area, or the demand information regarding the line redundancy of the communication path of the communication environment provided to the underwater object or the underwater target area. A communication system. [Item 5] In the communication system according to any one of Items 1 to 4, The communication path determination unit determines, as the relay communication path, a communication path for relaying communication between the underwater object or the underwater target area and a communication relay unit installed on the water surface, in the water, or on the bottom of the underwater communication system by the unmanned boat. A communication system. [Item 6] In the communication system according to any one of Items 1 to 5, When the communication relay unit is a floating buoy on the water surface, The unmanned boat command determination unit determines a control command for the unmanned boat for relaying communication between the underwater object or the underwater target area and the floating buoy on the water surface by the communication unit of the unmanned boat. A communication system. [Item 7] In the communication system according to any one of Items 1 to 6, When the communication relay unit is a floating buoy in the water or a bottom buoy in contact with the bottom, The unmanned boat command determination unit determines a control command for the unmanned boat for relaying communication between the underwater object or the underwater target area and the floating buoy in the water or the bottom buoy by the communication unit of the unmanned boat. A communication system. [Item 8] In the communication system according to any one of Items 1 to 7, the communication path determination unit determines, as the relay communication path, a communication path for relaying communication between a communication relay unit installed on the water surface, in the water, or on the bottom of the underwater communication system and a communication satellite, a communication aircraft, or a ground base station communicatively connected to the Internet line by the unmanned boat. [Item 9] In the communication system according to any one of Items 1 to 8, when the communication relay unit is a floating buoy on the water surface, the unmanned boat command determination unit determines a control command for the unmanned boat for relaying communication between the communication satellite or the communication aircraft and the floating buoy on the water surface by the communication unit of the unmanned boat. [Item 10] In the communication system according to any one of Items 1 to 9, when the communication relay unit is a floating buoy in the water or a bottom buoy installed on the bottom of the water, the unmanned boat command determination unit determines a control command for the unmanned boat for relaying communication between the communication satellite, the communication aircraft, or the ground base station and the floating buoy in the water or the bottom buoy by the communication unit of the unmanned boat. [Item 11] In the communication system according to any one of Items 1 to 10, when the underwater communication system has a plurality of communication relay units installed on the water surface, in the water, or on the bottom of the water, the communication path determination unit determines, as the relay communication path, a communication path for relaying communication between the plurality of communication relay units by the unmanned boat. [Item 12] In the communication system according to any one of Items 1 to 11, when the plurality of communication relay units include a first floating buoy and a second floating buoy, The communication relay unit determines a control command for relaying communication between the first buoy and the second buoy through the communication unit of the unmanned boat, in the communication system. [Item 13] In the communication system according to any one of Items 1 to 12, When a plurality of the communication relay units include a water buoy and a subaqueous buoy or a bottom buoy, The communication relay unit determines a control command for the unmanned boat for relaying communication between the water buoy and the subaqueous buoy or the bottom buoy through the communication unit of the unmanned boat, in the communication system. [Item 14] In the communication system according to any one of Items 1 to 13, When a plurality of the communication relay units include a first subaqueous buoy or a first bottom buoy and a second subaqueous buoy or a second bottom buoy, The communication relay unit determines a control command for the unmanned boat for relaying communication between the first subaqueous buoy or the first bottom buoy and the second subaqueous buoy or the second bottom buoy through the communication unit of the unmanned boat, in the communication system. [Item 15] In the communication system according to any one of Items 1 to 14, When the underwater communication system has a plurality of communication relay units installed on water, in water or on the bottom, The communication path determination unit determines a communication path for relaying communication between the communication relay unit and the external device by the unmanned boat as the relay communication path, in the communication system. [Item 16] In the communication system according to any one of Items 1 to 15, In the control command for the unmanned boat determined by the unmanned boat command determination unit, Commands related to at least any one of the number of hulls of the unmanned boat, the deployment formation by a plurality of the unmanned boats, the movement path of the unmanned boat, the movement speed, the following pattern of the underwater object, the replacement, towing, recovery, lifting and lowering, and the power supply of the unmanned boat are included, in the communication system. [Item 17] In the communication system according to any one of Items 1 to 16, the control command regarding the unmanned boat determined by the unmanned boat command determination unit includes a control command regarding the detection determination process of the communication partner communicating with the unmanned boat or the authentication process of communication start when starting communication relaying using the relay communication path, the communication system. [Item 18] In the communication system according to any one of Items 1 to 17, the control command regarding the unmanned boat determined by the unmanned boat command determination unit includes a command to disconnect the communication connection with the underwater communication system or end data transmission after the unmanned boat has transmitted the data received from the communication partner to another communication partner when receiving a communication relay end command to end communication relaying using the relay communication path, the communication system. [Item 19] In the communication system according to any one of Items 1 to 18, when the unmanned boat communicates with the underwater object, the unmanned boat command determination unit determines the control command regarding the unmanned boat including at least any one of the positions of the plurality of unmanned boats, the deformation of the deployment shape, the expansion or contraction of the deployment range, and the arrangement interval according to the position, presence or absence of movement, movement speed, and movement acceleration of the underwater object or the underwater target area that is currently or expected in the future, the communication system. [Item 20] In the communication system according to any one of Items 1 to 19, the unmanned boat command determination unit determines the control command to move the plurality of unmanned boats so that the arrangement interval of the plurality of unmanned boats becomes narrower when the position of the underwater object or the position of the underwater target area moves in the descending direction, or determines the control command to move the plurality of unmanned boats so that the arrangement interval of the plurality of unmanned boats becomes wider when the position of the underwater object or the position of the underwater target area moves in the ascending direction, the communication system. [Item 21] In the communication system according to any one of Items 1 to 20, when the underwater object communicating with the unmanned boat executes a predetermined task including searching, investigating, tracking, monitoring, or inspecting a predetermined object, the unmanned boat command decision unit determines a command regarding the unmanned boat including at least any one of the positions, deployment shapes, and arrangement intervals of the plurality of unmanned boats according to the status or alert level regarding the predetermined task of the underwater object. A communication system. [Item 22] In the communication system according to any one of Items 1 to 21, A communication system comprising a communication connection maintenance control unit that updates the relay communication path determined by the communication path determination unit. [Item 23] In the communication system according to any one of Items 1 to 22, when the unmanned boat communicates with the underwater object, the communication connection maintenance control unit updates the relay communication path when it is determined that there is a sign that the underwater object will deviate from the communication range of the unmanned boat according to the position, presence or absence of movement, movement speed, and movement acceleration of the underwater object. A communication system. [Item 24] In the communication system according to any one of Items 1 to 23, the communication connection maintenance control unit updates the relay communication path according to the measurement result or estimation result of the communication quality in the relay communication path determined by the communication path determination unit. A communication system. [Item 25] In the communication system according to any one of Items 1 to 24, comprising a user input reception unit that receives user input information, when the user input reception unit receives user input information regarding the relay communication path, the communication path determination unit determines the relay communication path according to the user input information. A communication system. [Item 26] In the communication system according to any one of Items 1 to 25, It is provided with a user input receiving unit that receives user input information. When the user input receiving unit receives user input information regarding the control command for the unmanned boat, the unmanned boat command determination unit determines the control command according to the user input information. A communication system. [Item 27] In the communication system according to any one of Items 1 to 26, Based on the reception intensity and reception direction of a radio communication signal including at least any one of a radio wave signal, an optical signal, and a sound wave signal received from a water buoy provided in the underwater communication system that performs wireless communication with the unmanned boat, or another unmanned boat that communicates with the unmanned boat, a position estimation unit that estimates the relative position of the unmanned boat with respect to the water buoy or the relative position of the unmanned boat with respect to the other unmanned boat is provided. A communication system. [Item 28] Using an underwater communication system equipped with a communication relay unit installed on water, in water, or on the bottom, and at least one unmanned boat capable of navigating on water, to provide an environment in which communication connection with the Internet line or an external device is possible to an underwater object or an underwater target area existing in water, or to provide information regarding the position of the underwater object to the underwater object. An information processing method, wherein a computer executes an information acquisition step of acquiring information regarding the underwater communication system; Based on the information acquired by the information acquisition unit, a communication path determination step of determining a relay communication path of a communication line for relaying and connecting the underwater object to the Internet line or the external device using the unmanned boat and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object; and an unmanned boat command determination step of determining a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path. A communication processing method. [Item 29] An underwater communication system including a communication relay unit installed on water, in water, or underwater, and using at least one unmanned boat capable of navigating on water to provide an environment capable of communication connection with the Internet line or an external device to an underwater object or an underwater target area existing in water, or a program used in a communication system for providing information regarding the position of the underwater object to the underwater object, to cause a computer to execute an information acquisition command for acquiring information regarding the underwater communication system, and based on the information acquired by the information acquisition unit, execute a communication path determination command for determining a relay communication path of a communication line for relaying and connecting the underwater object to the Internet line or the external device using the unmanned boat and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object, and execute an unmanned boat command determination command for determining a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path.

[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 following embodiments 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. System Configuration) First, with reference to FIGS. 1 to 4, the system configuration of a communication system 1 according to an embodiment of the present invention will be described.

[0014] (A-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of a communication system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the communication system 1 includes an unmanned boat system 1000 composed of a plurality of unmanned boats 1010 (such as a master boat 1001 and slave boats 1002), a general control system 2000, a user terminal device 4000, and an underwater communication system 5000. Further, the communication system 1 has a function of communicating and connecting between the underwater object 9000 and the Internet line 6000 via the access point 3000, or communicating and connecting between the underwater object 9000 and the external device 7000.

[0015] The general control system 2000 can receive the operation status of the unmanned boat system 1000 and the measurement data collected by the unmanned boat system 1000 deployed at sea via the access point 3000, and can transmit a control command to the unmanned boat system 1000. The general control system 2000 has a function of acquiring weather information, meteorological information, etc. in the deployment area of the unmanned boat system 1000 from an external system 8000, and also acquiring user input information from the user terminal device 4000, and based on each acquired information, has a function of determining a control command for the unmanned boat system 1000.

[0016] The unmanned boat system 1000 is composed of a plurality of unmanned boats 1010 that can navigate on the sea (water surface), and includes a master boat 1001 that can communicate with the access point 3000 and a plurality of slave boats 1002 that can communicate directly or indirectly with the master boat 1001, and constructs a marine communication network (hereinafter also referred to as "marine relay system") between the plurality of slave boats 1002 and the master boat 1001. Further, at least one of the plurality of unmanned boats 1010 included in the unmanned boat system 1000 has a function of communicating with a communication terminal provided on an underwater object (such as an underwater drone, a diver, a marine creature, etc.) existing in the water using acoustic communication, optical communication, etc. that can communicate underwater.

[0017] The underwater communication system 5000 has floating or installed buoys on the sea (on the water) (or marine communication antennas), underwater buoys, underwater bottom buoys, etc., and has an underwater communication function for communicating with the underwater object 9000 with these buoys on the water and a wireless communication function for communicating with the access point 3000 and external devices. Furthermore, it has a function of constructing a communication line in cooperation with the unmanned boat system 1000 and the underwater communication system 5000.

[0018] The access point 3000 has an aerial AP3100 composed of artificial satellites or communication flying objects (such as HAPS) flying in the stratosphere and a ground AP3200 composed of terrestrial wireless communication base stations, etc., and can communicate and connect between the unmanned boat system 1000, the underwater communication system 5000, and the Internet line 6000. Also, the access point 3000 can communicate and connect between the unmanned boat system 1000 and the overall control system 2000.

[0019] The external system 8000 includes a weather information providing system, a marine situation grasping system (MDA: Maritime Domain Awareness), etc., and provides the overall control system 2000 with sea state information (wave height, wave speed, sea current speed, sea current direction, tidal current speed, tidal current direction), weather conditions (wind speed, wind direction, atmospheric pressure, air temperature, humidity), weather states (fog, thunder, rainfall, snowfall, hail, sleet, cloudiness, etc.), seawater states (seawater temperature, seawater density, salinity concentration, Ph value, presence or absence of algal beds, etc.) in the deployment area of the unmanned boat system 1000.

[0020] The external device 7000 includes any device that is communicatively connected to the underwater object 9000 using the unmanned boat system 1000 and the underwater communication system 5000, for example, a device installed on a mother ship sailing on the sea or a device installed on land.

[0021] (A-1-2. Outline of the access point 3000) FIG. 2 is a diagram showing an example of the system configuration of the access point 3000. In FIG. 2, in particular, an example of the aerial access point 3100 and the ground access point 3200 that make up the access point 3000 is shown. The aerial AP 3100 can be used for communication with the unmanned boat system 1000 and the underwater communication system 5000, such as a GEO satellite 3111 located in a high orbit (geosynchronous orbit) at an altitude of about 36,000 km, or a LEO satellite 3112 located in a low earth orbit at an altitude of about 600 km, or a high altitude platform station 3120 (hereinafter also referred to as HAPS) located in the stratosphere at an altitude of about 10 to 50 km. That is, the aerial AP 3100 can wirelessly communicate with a plurality of unmanned boats 1010 or a water buoy that makes up the underwater communication system 5000, etc., and is equipped with an artificial satellite (LEO satellite 3112, LEO satellite 3112) or a stratospheric flying body 3120 (HAPS) flying in the stratosphere that can be directly or indirectly communicatively connected to the overall control system 2000, the Internet line 6000, the external device 7000, etc. Here, the LEO satellite 3112 may communicate and connect with the unmanned boat system 1000, the underwater communication system 5000, and the Internet line 6000, etc. alone, or may communicate and connect by relaying a plurality of LEO satellites 3112. Also, the HAPS 3120 is not limited to an aircraft, and a balloon or a flying ship can be used.

[0022] In addition, FIG. 2 shows an example of wireless communication connection between the unmanned boat system 1000 and the underwater communication system 5000 and the ground AP 3200 located on the ground. Here, the ground AP 3200 can wirelessly communicate with at least any one of the plurality of unmanned boats 1010 or a water buoy 5300 of the underwater communication system 5000, etc., and is equipped with a ground wireless communication base station that can be directly or indirectly communicatively connected to the Internet line 6000 or the external device 7000. Also, the wireless communication base station provided in the ground AP 3200 may be a fixed facility installed on a ground structure, but is not limited to this, and may be a mobile base station mounted on a vehicle, or a removable temporary base station.

[0023] (A-1-3. Detailed Configuration of Communication System 1) Using Fig. 3, an example of the system configuration when Communication System 1 is implemented in a marine area and a terrestrial area will be described. Fig. 3 is a diagram showing an example of the detailed system configuration of Communication System 1.

[0024] In the example shown in Fig. 3, on the terrestrial side shown in the upper right of the drawing, a satellite base station that communicates with the airborne AP 3100, a terrestrial AP 3200, and a centralized control system 2000 are provided. Also, on the terrestrial side, a user terminal device 4000 connected to the centralized control system 2000 via a network, an external system 8000, and a cooperative system control base 5100 are provided.

[0025] On the marine side shown on the left of the drawing, a plurality of unmanned boats 1010 belonging to the unmanned boat system 1000, a marine communication antenna 5200 belonging to the underwater communication system 5000, a floating buoy 5300 on the water surface, a submerged buoy 5400 floating in the sea, a bottom buoy 5500 installed on the seabed, etc. are deployed to form a communication network among the devices, and a communication environment can be provided for the underwater object 9000 existing in the water and a predetermined underwater area where the underwater object 9000 is active.

[0026] Also, Communication System 1 forms a communication network among the devices of the unmanned boat system 1000 and the underwater communication system 5000, and can obtain position information or information necessary for calculating the position information of the underwater object 9000 from an artificial satellite of the airborne AP, the terrestrial AP 3200, an external device 7000 (such as a device on a mother ship deployed at sea), or the marine communication antenna 5200, etc.

[0027] Note that the cooperative system control base 5100 of the underwater communication system 5000 has a function of monitoring the state of the wireless communication network constituted by the underwater communication system 5000, determining changes in the wireless communication network, etc., and issuing commands to each floating buoy 5300, etc.

[0028] (A-1-4. How to Provide a Communication Environment for the Underwater Object 9000) FIG. 4 is a conceptual diagram showing a state in which the unmanned boat system 1000 and the underwater communication system 5000 deployed in the ocean area provide a communication environment for the underwater object 9000. As shown in FIG. 4, a plurality of unmanned boats 1010 are deployed on the sea, and communication is performed with the underwater object 9000 existing within the communicable range in the sea by using acoustic communication technology or the like through the communication unit 1400 mounted on each unmanned boat 1010.

[0029] The marine communication antenna 5200, the surface buoy 5300, the underwater buoy 5400, and the bottom buoy 5500 of the underwater communication system 5000 are also deployed or installed on the sea or in the sea, and communication is performed with the underwater object 9000 existing within the communicable range in the sea by using acoustic communication technology or the like through the communication devices provided on each buoy.

[0030] In addition, the unmanned boat 1010 can be connected to the marine communication antenna 5200, the surface buoy 5300, the underwater buoy 5400, and the bottom buoy 5500 through a network of underwater communication or marine wireless communication. In this way, by configuring a communication network between the unmanned boat system 1000 and the underwater communication system 5000, even when it is difficult for the unmanned boat system 1000 or the underwater communication system 5000 alone to provide a communication environment with the Internet line 6000 or the external device 7000 for the underwater object 9000, or to provide position information to the underwater object 9000, it becomes possible to provide the above-described communication environment and position information.

[0031] (A-2. Unmanned Boat System 1000) Next, the system configuration of the unmanned boat system 1000 according to an embodiment of the present invention will be described with reference to FIGS. 5 to 8.

[0032] (A-2-1. Outline of Unmanned Boat System 1000) FIG. 5 is a configuration diagram showing an unmanned boat system 1000 composed of a plurality of unmanned boats. As shown in FIG. 5, the unmanned boat system 1000 is composed of one or more groups (1000a, 1000b), and each group is composed of a plurality of unmanned boats 1010 that can communicate with each other. In addition, the plurality of unmanned boats 1010 constituting each group are configured to serve as a master unit 1001 capable of wireless communication with an aerial AP 3100 (or a ground AP 3200), or a slave unit 1002 capable of directly or indirectly communicating with the master unit 1001. The master unit 1001 is communicatively connected to the aerial AP 3100 (or the ground AP 3200), aggregates information collected from the plurality of slave units 1002, and transmits it to the aerial AP 3100 (or the ground AP 3200). At the same time, via the aerial AP 3100 (or the ground AP 3200), it has a function of directly or indirectly transmitting information regarding an operation command acquired from the overall control system 2000 or information generated by itself to each slave unit 1002.

[0033] The group 1000a shown in FIG. 5 includes a primary connection slave unit 10021 communicatively connected to the master unit 1001, a secondary connection slave unit 10022 communicatively connected to the primary connection slave unit 10021, and a tertiary connection slave unit 10023 communicatively connected to the secondary connection slave unit 10022. Each slave unit (primary connection slave unit 10021, secondary connection slave unit 10022, tertiary connection slave unit 10023) has a function of relaying information received from other master units 1001 or slave units 1002 to other master units 1001 and slave units 1002, thereby constituting a communication network between the master unit 1001 and the plurality of slave units 1002.

[0034] In FIG. 5, the configuration of a group having a master unit 1001 and slave units 1002 is shown, but it is not limited thereto. The group 1000 of unmanned boats 1010 can be composed of a plurality of unmanned boats 1010 connected by a network capable of directly or indirectly wirelessly communicating with each other.

[0035] (A-2-2. Configuration of the unmanned boat 1010 constituting the group) FIG. 6 is a diagram showing an example of the formation of the unmanned boat system 1000 deployed at sea. In the example shown in FIG. 6, when causing a plurality of unmanned boats 1010 to execute exploration according to an exploration plan, the formation and communication connection relationship of the group composed of the plurality of unmanned boats 1010 are shown.

[0036] Group 1000a shown in FIG. 6 includes one master boat 1001 and a plurality of slave boats 1002. Also, between the master boat 1001 and the plurality of slave boats 1002, a wireless communication network at sea is configured by connecting them by wireless communication shown by a solid line. The slave boat 1002 has a primary connection slave boat 10021 that is wirelessly communication-connected to the master boat 1001, and a secondary connection slave boat 10022 that is wirelessly communication-connected to the primary connection slave boat 10021.

[0037] Note that in the present embodiment, the number of relays by the slave boat 1002 when forming a group is not limited, and a tertiary connection slave boat, a quaternary connection slave boat, or more connection slave boats may be provided. The primary connection slave boat 10021 shown in FIG. 6 has a function of relaying information transmission and reception between the master boat 1001 and the secondary connection slave boat 10022, so that information can be transferred between the master boat 1001 and the plurality of secondary connection slave boats 10022.

[0038] Also, the number of secondary connection slave boats 10022 wirelessly communication-connected to the primary connection slave boat 10021 is not limited to one, and a plurality of secondary connection slave boats 10022 are wirelessly communication-connected to the primary connection slave boat 10021, so that a tree-structured communication network in which a plurality of unmanned boats 1010 branch within the group 1000a can be configured. Also, since there is an upper limit to the communication possible distance at which wireless communication is possible between each unmanned boat 1010, for two unmanned boats 1010 that perform wireless communication with each other, for example, the master boat 1001 and the primary connection slave boat 10021, and the primary connection slave boat 10021 and the secondary connection slave boat 10022, the position of at least one of the unmanned boats 1010 is controlled so that the relative distance between the unmanned boats 1010 is maintained within the range of the communication upper limit relative distance.

[0039] In addition, if the relative distance between the unmanned boats 1010 increases and the communication partner unmanned boat 1010 moves outside the range of the communication distance, mutual wireless communication will become impossible and control commands from the overall control system 2000 cannot be transmitted. Therefore, it is desirable for two unmanned boats 1010 connected to each other by communication to perform self-position control to maintain the relative distance from the communication partner within the range of the communication distance with a higher priority than other controls.

[0040] On the other hand, there is no need to maintain the relative distance between other unmanned boats 1010 that do not communicate wirelessly with each other. On the other hand, in order to more efficiently perform the operation of communicating the underwater object 9000, which is the purpose of the activity of the unmanned boat system 1000, with the Internet line 6000 and the external device 7000, it is more desirable that the communication ranges of the unmanned boats 1010 do not overlap or moderately overlap, rather than the unmanned boats 1010 approaching too closely and performing multiple communication relays at short distances. Therefore, regarding the relative distance between the unmanned boats 1010 that do not communicate with each other, the position of at least one of the unmanned boats 1010 is controlled with a relatively low priority so as to maintain the preset steady-state relative distance. The control for maintaining this steady-state relative distance can apply, for example, control based on the Boids algorithm.

[0041] Furthermore, when there is a possibility that the relative distance between the unmanned boats 1010 is approaching too closely and may cause a collision, in order to avoid the collision and prevent damage to the unmanned boats 1010, position control to increase the relative distance can be executed with a relatively high priority.

[0042] As described above, the control to maintain the relative distance between the unmanned boats 1010 that communicate wirelessly with each other within the range of the communication distance, and the avoidance control to avoid collisions with other unmanned boats approaching at close range, are executed with a relatively high priority. On the other hand, the control to maintain the normal relative distance for the relative distance between the unmanned boats 1010 that do not communicate wirelessly with each other can be executed with a relatively low priority.

[0043] (A-2-3. Configuration of Unmanned Boat 1010) FIG. 7 is a functional block diagram showing the functional configuration of the unmanned boat 1010. In FIG. 7, the functional block diagram of the unmanned boat 1010 is described, but the master boat 1001 and the slave boats 1002 of the unmanned boat 1010 can all implement functions similar to the configuration shown in FIG. 7. The unmanned boat 1010 includes a measurement unit 1100, a self-state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0044] The measurement unit 1100 is a functional unit that detects the underwater object 9000 existing in the measurable range in the sea by the measurement sensor 1110 and acquires measurement information regarding the underwater object 9000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0045] The measurement sensor 1110 may include one (monocular) or a plurality of electro-optical sensors (Electro-Optical sensors), optical cameras, infrared sensors (IR sensors) that acquire image data in the sea, laser sensors such as bathymetric LiDAR that acquires point cloud data (for example, green laser sensors, blue laser sensors, etc.), underwater optical communication sensors, and acoustic sensors (also referred to as acoustic measurement units) that utilize sound waves such as sonars that utilize ultrasonic waves. The measurement sensor 1110 can acquire measurement data of the underwater object 9000 existing within the measurable range of the three-dimensional space in the water. It may also have a function of acquiring measurement data of the underwater object 9000 not only in the water but also in the air above the water.

[0046] Also, when the acoustic sensor is used in the water, the acoustic sensor may be either an active sonar that generates sound waves and measures the sound waves echoed by 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 composed of, for example, a side scan sonar, a multi-beam sonar, or a single-beam sonar.

[0047] Further, the measurement control unit 1120 operates a sensor attitude change 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 with respect to the unmanned boat 1010. Also, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. When the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. When the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. When the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

[0048] Next, the own-ship 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, internal and external states of the unmanned boat 1010. The navigation state determination unit 1210 determines state quantities related to the position (two-dimensional or three-dimensional), moving speed, bow azimuth, moving direction, moving acceleration / deceleration, turning speed, and other navigation states of the own-ship. The internal state determination unit 1220 determines the remaining energy amount and remaining fuel amount of the battery mounted on the own-ship, the movable distance that can be calculated based on the remaining energy amount and remaining fuel amount, temporary abnormal states (such as temperature abnormality, communication abnormality, etc.) of the devices mounted on the own-ship, and the failure states of the devices.

[0049] In addition, the external state determination unit 1230 can determine the communication quality status such as the communication strength (dB value, etc.), communication speed, and communication delay of wireless communication with other unmanned boats 1010 within the unmanned boat system 1000 or wireless communication with the overall control system 2000 via the access point 3000, or the sea state around the own boat (wave height, wave speed, sea current speed, sea current direction, tidal current speed, tidal current direction), weather state (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather condition (fog, thunder, rainfall, snowfall, hail, sleet, cloudiness, etc.), sea water state (sea water temperature, sea water density, salinity concentration, Ph value, presence or absence of seaweed beds, etc., underwater noise level), sun-related information (sun position (altitude, azimuth, trajectory), backlight, front light, solar radiation amount), and other states (moon position (altitude, azimuth, trajectory, moon age), ionospheric disturbance (solar flare, etc.)).

[0050] The method for determining the position, moving speed, moving direction, and acceleration / deceleration of the own boat by the navigation state determination unit 1210 is not particularly limited. For example, information obtained from artificial satellites such as GNSS (Global Navigation Satellite System), GPS (Global Positioning System), and RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System) can be used to determine the position, moving speed, and moving direction of the own boat at the current time. In addition, not limited to the information obtained from artificial satellites, the position, moving speed, and moving direction of the own boat at the current time can also be determined based on the information obtained from the ground AP 3200 or the marine communication antenna 5200.

[0051] As another example of the method for determining the position, moving speed, moving direction, and acceleration / deceleration of the own boat by the navigation state determination unit 1210, for example, when the seabed shape can be detected by the measurement sensor 1110, based on the pre-recorded seabed shape and the seabed shape detected by the measurement sensor 1110, the SLAM (Simultaneous Localization And Mapping) technology can be used to determine the position, moving speed, and moving direction of the own boat at the current time.

[0052] Furthermore, based on the reception intensity and reception direction of radio waves received from a communication partner (such as the surface buoy 5300 of the underwater communication system, another unmanned boat 1010, etc.) acquired by the communication unit 1400 described later, the relative position, moving speed, moving direction, etc. of the own craft with respect to the communication partner (such as the surface buoy 5300 of the underwater communication system, another unmanned boat 1010, etc.) can be estimated.

[0053] Here, the own position information includes at least two-dimensional coordinate information (e.g., latitude, longitude) in a plan view, and preferably includes three-dimensional coordinate information including altitude information. Also, the acceleration and deceleration can be calculated based on the amount of change in time of the determined moving speed.

[0054] Also, as a method for measuring the heading direction of the own craft, for example, using a geomagnetic sensor, a GNSS compass, a SLAM technology using the seabed shape, etc., the heading direction of the own craft at the current time is determined. The heading direction includes at least the attitude angle (azimuth) in a plan view around the Z axis, and preferably may be attitude information around the three axes of the X axis, Y axis, and Z axis. Also, the turning speed can be calculated based on the amount of change in time of the determined heading direction information.

[0055] Next, the navigation unit 1300 includes a thrust generation unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the own craft in an arbitrary direction according to an operation command received via the communication unit 1400. The thrust generation unit 1310 can apply any means capable of generating thrust, and as an example, it can be configured by a propeller driven by using the power of an engine or an electric motor. Also, the thrust generation unit 1310 can be configured by a sail that generates thrust by receiving wind, or can be configured by a wave glider that generates thrust by receiving wave power.

[0056] The attitude control mechanism 1320 is composed of a rudder plate provided on the hull, a propeller attitude change mechanism capable of changing the attitude angle of the propeller (mainly the yaw angle around the Z axis), etc. By changing these angles, the heading direction (yaw angle) of the own craft can be controlled. Also, with a center-of-gravity position change mechanism that changes the position of a weight object in the hull by an actuator, the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the hull can also be controlled.

[0057] Also, the navigation control unit 1330 is a functional unit that controls the navigation operation of the own craft by controlling the thrust generation unit 1310 and the attitude control mechanism 1320. The navigation control unit 1330 has one or more processors such as a programmable processor (for example, a central processing unit (CPU), MPU, or DSP), and is provided with a processing unit capable of accessing a memory (storage unit). The memory stores logic, code, and / or program instructions that are executable by the processing unit to perform one or more processing steps.

[0058] The processing unit includes a control module configured to control the navigation state of the own craft. For example, the control module adjusts the position of the own craft on the sea surface, the moving speed, the moving acceleration and deceleration, the heading direction, the turning speed, and the attitude angles around the three axes. That is, the navigation control unit 1330 controls the navigation operation of the own craft by causing the own craft to perform operations such as moving forward, backward, accelerating, decelerating, and turning.

[0059] Next, the communication unit 1400 is a functional unit that communicates with other unmanned boats 1010, underwater objects 9000, underwater communication systems 5000, external devices 7000, access points 3000, etc. within the unmanned boat system 1000. It includes an inter-unmanned-boat communication unit 1410, a general control communication unit 1420, a relay communication unit 1430, and an object communication unit 1440.

[0060] The inter-unmanned-boat communication unit 1410 is equipped with a communication antenna used for a wireless communication network on the sea and communicates with other unmanned boats 1010 within the unmanned boat system 1000.

[0061] The overall control communication unit 1420 is equipped with a communication antenna capable of communicating with the access point 3000, and communicates with the overall control system 2000 via the aerial AP 3100 or the ground AP 3200.

[0062] The relay communication unit 1430 is equipped with a communication antenna capable of communicating with the underwater communication system 5000, the external device 7000, and the access point 3000, and relays the communication connection between the underwater object 9000 and the Internet line 6000 or the external device 7000. When the communication partner device is a device existing in water such as the underwater buoy 5400 or the bottom buoy 5500 of the underwater communication system 5000, the relay communication unit 1430 is equipped with a USBL transceiver capable of underwater communication or a modem for acoustic communication.

[0063] The object communication unit 1440 is equipped with a USBL transceiver, a modem for acoustic communication, etc. capable of communicating with the underwater object 9000 existing in water, and communicates with the underwater object 9000. In addition to the above-described communication units, the communication unit 1400 may be equipped with an antenna for AIS, an antenna for VHF, and communication equipment for communicating with an external monitoring ship or an AIS base station.

[0064] Next, the determination unit 1500 is a functional unit that performs data processing such as primary processing and data compression of the measurement data acquired by the measurement sensor 1110. The determination unit 1500 can perform, for example, primary processing of the raw data (measurement data) after measurement acquired by the measurement sensor 1110 to generate transmission data to be wirelessly transmitted from the unmanned boat system 1000 to the overall control system 2000. Further, the determination unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement to generate transmission data so that the transmission load when wirelessly transmitting the transmission data from the unmanned boat system 1000 to the overall control system 2000 is reduced.

[0065] Furthermore, the determination unit 1500 can interpret the state of the underwater object 9000 by performing primary processing on the measurement data, and can interpret the presence or absence of the detected object, the size of the detected object, and the like. Further, according to the interpretation result, it may have a function of determining whether to transmit the measurement data and the transmission data from the unmanned boat system 1000 to the overall control system 2000, or selecting the data to be transmitted.

[0066] Next, the recording unit 1600 includes a measurement data recording unit 1610, a own-ship state recording unit 1620, and a determination information recording unit 1630. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The own-ship state recording unit 1620 records various state information regarding the own ship determined by the own-ship state determination unit 1200. Further, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0067] (A-2-4. Object Detection by Sound Wave Sensor) FIG. 8 is a conceptual diagram showing a state of performing underwater communication with the underwater object 9000 by the object communication unit 1440. In the example shown in FIG. 8, the states of performing acoustic communication with the underwater object 9000 (such as a diver) using a USBL transceiver and an acoustic communication modem are respectively shown.

[0068] When calculating the position coordinates of an underwater object 9000 (such as a diver) using a USBL transceiver or an acoustic communication modem, an acoustic signal (call) is transmitted from the USBL transceiver, and the acoustic signal (response) transmitted in response from the acoustic positioning transponder mounted on the diver side is received by the USBL transceiver, thereby determining the relative position of the underwater object 9000 with respect to the unmanned boat 1010. Further, based on the Global coordinates of the self-position coordinates calculated by the navigation state determination unit 1210 in the unmanned boat 1010 and the relative position of the underwater object 9000 with respect to the unmanned boat 1010, the Global coordinates of the underwater object 9000 are calculated, and data including the position coordinates of the underwater object 9000 can be transmitted from the acoustic communication modem to the underwater object 9000. As an example, the acoustic signal (call) transmitted by the USBL transceiver is set to a relatively wide directivity angle, and the acoustic signal (response) transmitted in response by the acoustic positioning transponder can be transmitted in response at a relatively narrow directivity angle of about several tens of degrees toward the reception direction of the acoustic signal (call).

[0069] (A-3. Description of the overall control system 2000) Next, with reference to FIG. 9, the functions and contents of the overall control system 2000 will be described. FIG. 9 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in FIG. 9, the overall control system 2000 includes an information import unit 2100, a communication path determination unit 2200, an unmanned boat control command determination unit 2300, a communication connection maintenance control unit 2400, a user input reception unit 2500, and an information output unit 2600.

[0070] (A-3-1. Information import unit 2100) The information import unit 2100 is a functional unit that imports information processed or used in each functional unit within the overall control system 2000 from the unmanned boat 1010, the user terminal device 4000, the underwater communication system 5000, the external system 8000, etc. The information import unit 2100 includes a desired information acquisition unit 2110, a system information acquisition unit 2120, a system state information acquisition unit 2130, and a disturbance information acquisition unit 2140.

[0071] The requirement information acquisition unit 2110 is a functional unit that acquires information regarding requirements when performing communication compensation for an underwater object 9000 or an underwater target area. FIG. 10 is a diagram showing an example of the requirement information acquired by the requirement information acquisition unit 2110. The requirement information shown in FIG. 10 can be acquired via the user terminal device 4000 or the user input reception unit 2500 described later.

[0072] As shown in FIG. 10, the requirement information acquired by the requirement information acquisition unit 2110 includes, for example, requirement information regarding various items such as communication target devices or areas, a request for providing position coordinate information, communication time, communication quality, and communication redundancy. The communication target device or area includes requirement information regarding the underwater object 9000 that provides the communication environment (for example, information that can identify the underwater object), or requirement information regarding the underwater target area that provides the communication environment (for example, information that can identify the underwater target area). The request for providing position coordinate information includes information indicating whether there is a request to provide the position coordinate information of the underwater object 9000 to the underwater object 9000. The communication time includes, for example, information on the communication required time such as the date, time, or period for performing communication compensation.

[0073] In addition, the communication quality includes requirement information regarding communication quality including at least any one of the communication strength, upload communication speed, download communication speed, communication delay time, and communication capacity of the communication environment provided to the underwater object 9000 or the underwater target area. Note that the user can set a desired value of the communication capacity to a large value when, for example, the user desires to transmit information with a large data volume.

[0074] In addition, the communication redundancy includes demand information regarding a redundant line of a communication path in a communication environment provided for the underwater object 9000 or the underwater target area. The demand information regarding the redundant line of the communication path includes, for example, designation information such as the presence or absence of redundancy on the communication path, the location where redundancy is desired, the number of redundancies, and the type of redundant communication. Note that when the user wants to avoid interruption of the communication connection (for example, for applications such as remote control), when the user wants to avoid interruption of communication between devices such as the underwater object 9000, the unmanned boat 1010, the surface buoy, the underwater buoy, the bottom buoy, the aerial AP, and the ground AP, the user can request to specify an arbitrary section for redundancy.

[0075] The system information acquisition unit 2120 is a functional unit that acquires information regarding the system configurations of the unmanned boat system 1000 and the underwater communication system 5000. FIG. 11 is a diagram showing an example of the information regarding the system configuration acquired by the system information acquisition unit 2120.

[0076] As shown in FIG. 11, the information acquired by the system information acquisition unit 2120 includes information regarding the unmanned boat system and information regarding the underwater communication system. The information regarding the unmanned boat system includes information regarding the system configuration including the number of aircraft, the identification information, location, communication performance, and communication connection destination of each of the unmanned boats (parent aircraft) and unmanned boats (child aircraft) constituting the unmanned boat system. Here, the information regarding the location of the unmanned boat includes the relative distance, relative position, and Global position coordinates of the unmanned boat from other unmanned boats and other devices.

[0077] In addition, information on the underwater communication system includes information on the system configuration including the number of aircraft, the identification information of each of the multiple aircraft, and the position, communication performance, communication connection destination, etc. for each of the surface buoy, underwater buoy, bottom buoy, and marine communication antenna that make up the underwater communication system. Note that the communication performance includes communication performance information under normal conditions such as the communication range, upload communication speed, download communication speed, communication capacity, and delay time. Note that the system information acquisition unit 2120 can acquire information on the system configuration as shown in FIG. 11 in advance from the user terminal device 4000, the underwater communication system 5000, the external system 8000, or other systems.

[0078] The system state information acquisition unit 2130 is a functional unit that acquires the current communication state of wireless communication and underwater communication among the unmanned boat system 1000, the underwater communication system 5000, and the underwater object 9000, or the power state and abnormal state of the unmanned boat system 1000 and the underwater communication system 5000. FIG. 12 is a diagram showing an example of information on the system state acquired by the system state information acquisition unit 2130.

[0079] As shown in FIG. 12, the information acquired by the system state information acquisition unit 2130 includes information on the state of the unmanned boat system and information on the state of the underwater communication system. The information on the state of the unmanned boat system includes information on the system state including the number of aircraft, the identification information of each of the multiple aircraft, the current communication state, the power state, the abnormal state, etc. for each of the unmanned boat (parent aircraft) and the unmanned boat (child aircraft) that make up the unmanned boat system 1000. In addition, the information on the state of the underwater communication system includes information on the system state including the number of aircraft, the identification information of each of the multiple aircraft, the current communication state, the power state, the abnormal state, etc. for each of the surface buoy, underwater buoy, bottom buoy, and marine communication antenna that make up the underwater communication system.

[0080] Note that the communication status includes current communication quality information such as the communication range, upload communication speed, download communication speed, communication capacity, and latency. Also, the power status includes information on the charge status of the power source such as the battery installed in each device. Further, the abnormal status includes information regarding the presence or absence of abnormalities or malfunctions in each device.

[0081] The disturbance information acquisition unit 2140 is a functional unit that acquires environmental disturbance information in the sea or underwater area where the unmanned boat system 1000 or the underwater communication system 5000 is deployed. The disturbance information acquisition unit 2140 can collect environmental disturbance information, for example, by acquiring the information determined by the external state determination unit 1230 of the unmanned boat 1010. Also, the disturbance information acquisition unit 2140 can collect environmental disturbance information from the external system 8000.

[0082] The disturbance information acquired by the disturbance information acquisition unit 2140 includes, for example, sea state information (wave height, wave speed, sea current speed, sea current direction, tidal current speed, tidal current direction), weather conditions (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather states (fog, thunder, rainfall, snowfall, hail, sleet, cloudiness, etc.), seawater conditions (seawater temperature, seawater density, salinity concentration, Ph value, presence or absence of algal beds, underwater noise level, etc.) in the deployment area of the unmanned boat system 1000. In particular, the disturbance information acquired by the disturbance information acquisition unit 2140 includes disturbance information that affects the performance of wireless communication and underwater communication among the unmanned boat system 1000, the underwater communication system 5000, and the underwater object 9000.

[0083] (A-3-2. Communication Route Determination Unit 2200) The communication route determination unit 2200 is a functional unit that determines the relay communication route of the communication line for relaying and connecting the underwater object 9000 to the Internet line 6000 or the external device 7000 using the unmanned boat system 1000 and the underwater communication system 5000, or for providing information regarding the position of the underwater object 9000 to the underwater object 9000, based on the information acquired by the system information acquisition unit 2120. The communication route determination unit 2200 includes a communication route candidate determination unit 2210 and a connection route determination unit 2220.

[0084] The communication path candidate determination unit 2210 is a functional unit that determines candidates for the relay communication path of the communication line for relaying and connecting the underwater object 9000 to the Internet line 6000 or the external device 7000, or for providing information regarding the position of the underwater object 9000 to the underwater object 9000. The communication path candidate determination unit 2210 determines candidates for the relay communication path based on, for example, the desired information acquired by the desired information acquisition unit 2110 and the system information of the unmanned boat system 1000 and the underwater communication system 5000 acquired by the system information acquisition unit 2120.

[0085] FIG. 13 is a diagram showing a first example of candidates for the relay communication path generated by the communication path candidate determination unit 2210. Further, FIG. 14 is a diagram showing a second example of candidates for the relay communication path generated by the communication path candidate determination unit 2210.

[0086] The example shown in FIG. 13 shows, among the variations of a plurality of candidates for the relay communication path, in particular, candidates for the communication path via the sky AP 3100. Further, these candidates include patterns that do not utilize the floating buoy 5300 on the water, patterns that utilize the floating buoy 5300 on the water, patterns that utilize the underwater buoy 5500, and patterns that utilize both the underwater buoy 5500 and the floating buoy 5300 on the water.

[0087] The pattern shown in FIG. 13 that does not utilize the floating buoy 5300 on the water includes, for example, the following two candidate patterns for the relay communication path. · Underwater object → Unmanned boat → Sky AP → Internet line · Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat → Sky AP → Internet line

[0088] The pattern shown in FIG. 13 that utilizes the floating buoy 5300 on the water includes, for example, the following five candidate patterns for the relay communication path. · Underwater object → Marine buoy → Unmanned boat → Sky AP → Internet line · Underwater object → Unmanned boat → Floating buoy on water → Sky AP → Internet line ·Underwater object → Unmanned boat → Buoy on water → Unmanned boat → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Buoy on water → Unmanned boat → Buoy on water → Aerial AP → Internet connection ·Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat → Buoy on water → Aerial AP → Internet connection

[0089] The patterns using the underwater buoy 5500 shown in FIG. 13 include, for example, the following five candidate patterns of relay communication paths. ·Underwater object → Underwater buoy → Unmanned boat → Aerial AP → Internet connection ·Underwater object 9001 → Underwater buoy → Underwater object 9002 → Unmanned boat → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Underwater buoy → Unmanned boat → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Underwater buoy → Unmanned boat → Underwater buoy → Unmanned boat → Aerial AP → Internet connection ·Underwater object 9001 → Unmanned boat → Underwater buoy → Underwater object 9002 → Unmanned boat → Aerial AP → Internet connection

[0090] The patterns using both the underwater buoy 5500 and the buoy on water 5300 shown in FIG. 13 include, for example, the following six candidate patterns of relay communication paths. ·Underwater object → Underwater buoy → Unmanned boat → Buoy on water → Aerial AP → Internet connection ·Underwater object 9001 → Underwater buoy → Underwater object 9002 → Unmanned boat → Buoy on water → Aerial AP → Internet connection ·Underwater object 9001 → Underwater buoy → Underwater object 9002 → Buoy on water → Unmanned boat → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Underwater buoy → Unmanned boat → Buoy on water → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Underwater buoy → Unmanned boat → Buoy on water → Unmanned boat → Aerial AP → Internet connection ·Underwater object → Unmanned boat → Buoy on water → Unmanned boat → Underwater buoy → Unmanned boat → Aerial AP → Internet connection

[0091] Next, the example shown in FIG. 14 shows candidates for communication paths via the terrestrial AP 3200 among variations of multiple candidates for relay communication paths. These candidates include patterns that do not utilize the water buoy 5300, patterns that utilize the water buoy 5300, patterns that utilize the underwater buoy 5500, and patterns that utilize both the underwater buoy 5500 and the water buoy 5300.

[0092] The pattern shown in FIG. 14 that does not utilize the water buoy 5300 includes, for example, the following two candidate patterns for relay communication paths. · Underwater object → Unmanned boat → Unmanned boat ··· → Terrestrial AP → Internet line · Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat ··· → Terrestrial AP → Internet line As described above, a plurality of unmanned boats 1010 are connected to form a relay communication path with the terrestrial AP 3200. However, it is not always necessary to connect a plurality of unmanned boats 1010, and a relay communication path connecting a single unmanned boat 1010 to the terrestrial AP may also be used.

[0093] The pattern shown in FIG. 14 that utilizes the water buoy 5300 includes, for example, the following three candidate patterns for relay communication paths. · Underwater object → Water buoy → Unmanned boat → Unmanned boat ··· → Terrestrial AP → Internet line · Underwater object → Unmanned boat → Water buoy → Unmanned boat ··· → Terrestrial AP → Internet line · Underwater object → Unmanned boat → Water buoy → Unmanned boat → Water buoy → Unmanned boat ··· → Terrestrial AP → Internet line

[0094] The pattern shown in FIG. 14 that utilizes the underwater buoy 5500 includes, for example, the following six candidate patterns for relay communication paths. · Underwater object → Underwater buoy → Unmanned boat → Terrestrial AP → Internet line · Underwater object 9001 → Underwater buoy → Underwater object 9002 → Unmanned boat → Terrestrial AP → Internet line · Underwater object 9001 → Submarine buoy → Underwater object 9002 → Submarine buoy → Unmanned boat → Ground AP → Internet line · Underwater object → Unmanned boat → Submarine buoy → Unmanned boat → Ground AP → Internet line · Underwater object → Unmanned boat → Submarine buoy → Unmanned boat → Submarine buoy → Unmanned boat → Ground AP → Internet line · Underwater object 9001 → Unmanned boat → Submarine buoy → Underwater object 9002 → Unmanned boat → Ground AP → Internet line

[0095] The patterns that utilize both the submarine buoy 5500 and the surface buoy 5300 shown in FIG. 14 include, for example, the following three candidate patterns for the relay communication path. · Underwater object 9001 → Submarine buoy → Underwater object 9002 → Surface buoy → Unmanned boat → Ground AP → Internet line · Underwater object → Unmanned boat → Submarine buoy → Unmanned boat → Surface buoy → Unmanned boat → Ground AP → Internet line · Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Submarine buoy → Unmanned boat → Ground AP → Internet line

[0096] In addition, as a plurality of candidates for the relay communication path shown in FIGS. 13 and 14, an example of connecting an underwater object and an Internet line has been described. However, when obtaining, as the request information for communication compensation, the provision of a communication environment with a predetermined external device instead of the Internet line, candidates for the relay communication path that perform communication relay from the unmanned boat or the surface buoy to the external device without passing through the sky AP or the ground AP can be included. Further, the plurality of candidates for the relay communication path may include a relay communication path that uses only the underwater communication system without using the unmanned boat system 1000.

[0097] The connection path determination unit 2220 is a functional unit that determines a relay communication path using the unmanned boat system 1000 and the underwater communication system 5000 based on the information acquired by the system information acquisition unit 2120 and the like from among a plurality of candidates for the relay communication path generated by the communication path candidate determination unit 2210. Further, the connection path determination unit 2220 can also determine the relay communication path based on the information acquired by the request information acquisition unit 2110. As an example in this case, when the delay time of the communication quality included in the request information is relatively short, a path via the ground AP 3200 instead of the aerial AP 3100 with a relatively long delay time can be determined as the relay communication path.

[0098] Hereinafter, with reference to FIGS. 15 to 22, specific examples of the relay communication path determined by the connection path determination unit 2220 will be described.

[0099] FIG. 15 shows an example of a relay communication path when configuring a relay communication path using only the unmanned boat system 1000 without using the underwater communication system 5000. In the example shown in FIG. 15, an example is shown in which the underwater object 9001 is connected to the aerial AP 3100 or the ground AP 3200 via the unmanned boat 1013 and the unmanned boat 1001, and the path is determined as the relay communication path. Further, an example is shown in which the underwater object 9002 is connected to the aerial AP 3100 or the ground AP 3200 via the unmanned boat 1012, the underwater object 9003, the unmanned boat 1012, and the unmanned boat 1001, and the path is determined as the relay communication path. The connection path determination unit 2220 can determine a path as shown in FIG. 15 as the relay communication path when there is an abnormality in the system of the underwater communication system 5000, or when the underwater object 9000 is far from the communication range of the underwater communication system and the relay communication path can be configured by the unmanned boat system 1000 without passing through the underwater communication system 5000.

[0100] Next, FIG. 16 shows an example of a relay communication path when configuring a relay communication path using only the underwater communication system 5000 without using the unmanned boat system 1000. In the example shown in FIG. 16, an example is shown in which the underwater object 9001 determines a path connected to the overhead AP 3100 via the water surface buoys 5301 and 5302 as a relay communication path. Also, in the example shown in FIG. 16, an example is shown in which the underwater object 9002 is connected to the water surface buoys 5301 and 5302 via the underwater buoy 5400 or the bottom buoy 5501, and further connected to the overhead AP 3100, and the determined path is used as a relay communication path. The connection path determination unit 2220 can determine, as a relay communication path, a path as shown in FIG. 16 that is composed only of the underwater communication system without passing through the unmanned boat system 1000 when there is an abnormality in the unmanned boat system 1000 or when the underwater object 9000 exists within the communication range of the underwater communication system and communication compensation by the unmanned boat system 1000 is unnecessary.

[0101] Next, FIG. 17 shows a first example of a relay communication path when configuring a relay communication path using the unmanned boat system 1000 and the water surface buoy 5300 of the underwater communication system 5000. In the example shown in FIG. 17, the unmanned boat 1011 has a function of relaying communication between the underwater object 9001 and the water surface buoy 5301. Also, the unmanned boat 1012 relays communication between the underwater objects 9002 and 9003, and the unmanned boat 1013 is responsible for relaying communication between the underwater object 9003 and the water surface buoy 5301. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path in which the communication between the underwater object or the underwater object area and the water surface buoy of the underwater communication system is relayed by the unmanned boat 1010.

[0102] In addition, as a relay communication path between the floating buoy 5301 and the Internet line 6000, there are a path connected from the floating buoy 5301 to the Internet line 6000 via the aerial AP 3100, or a path connected from the floating buoy 5301 to the Internet line 6000 via the unmanned boat 1001 and the aerial AP 3100, or a path connected from the floating buoy 5301 to the Internet line 6000 via the unmanned boat 1001, the floating buoy 5302, and the aerial AP 3100, or a path connected from the floating buoy 5301 to the Internet line 6000 via the unmanned boat 1001, the unmanned boat 1014, and the ground AP 3200, etc. are determined. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path for relaying communication between the floating buoy of the underwater communication system and the aerial AP 3100 or the ground AP 3200 communicatively connected to the Internet line by the unmanned boat 1010.

[0103] Furthermore, as shown in FIG. 17, the unmanned boat 1001 has a function of relaying between the floating buoy 5301 and the floating buoy 5302. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path for relaying communication between the plurality of floating buoys 5301 and 5302 by the unmanned boat 1010.

[0104] Next, FIG. 18 shows a second example of the relay communication path when configuring the relay communication path using the floating buoy 5300 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 18, the underwater object 9001 communicates with the floating buoy 5301, and the unmanned boat 1001 has a function of relaying between the floating buoy 5301 and the Internet line 6000. That is, the connection path determination unit 2220 can determine, as a relay communication path, a path connected from the floating buoy 5301 to the Internet line 6000 via the unmanned boat 1001 and the aerial AP 3100, and a path connected from the floating buoy 5301 to the Internet line 6000 via the unmanned boat 1001, the unmanned boat 1014, and the ground AP 3200.

[0105] Next, FIG. 19 shows a first example of a relay communication path when configuring a relay communication path using the underwater buoy 5400 or the subsea buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 19, an example is shown in which the underwater object 9001 determines a path connected to the sky AP 3100 via the unmanned boat 1012, the unmanned boat 1103, the subsea buoy 5501 (or the underwater buoy 5401), and the unmanned boat 1001 as the relay communication path. Alternatively, an example is shown in which the underwater object 9001 determines a path connected to the ground AP 3200 via the unmanned boat 1012, the unmanned boat 1103, the subsea buoy 5501 (or the underwater buoy 5401), the unmanned boat 1001, and the unmanned boat 1014 as the relay communication path.

[0106] Thus, in the example shown in FIG. 19, the unmanned boats 1012 and 1103 are responsible for relaying communication between the underwater object 9001 and the subsea buoy 5501 (or the underwater buoy 5401). That is, the connection path determination unit 2220 can determine a communication path in which the communication between the underwater object or the underwater object area and the subsea buoy 5501 (or the underwater buoy 5401) of the underwater communication system is relayed by the unmanned boat 1010 as the relay communication path.

[0107] Also, in the example shown in FIG. 19, the unmanned boats 1011 and 1001 have a function of relaying the subsea buoy 5501 (or the underwater buoy 5401) and the Internet line via the sky AP 3100, or the unmanned boats 1011, 1001, and 1014 have a function of relaying the subsea buoy 5501 (or the underwater buoy 5401) and the Internet line via the ground AP 3200. That is, the connection path determination unit 2220 can determine a communication path in which the communication between the subsea buoy 5501 (or the underwater buoy 5401) of the underwater communication system and the sky AP 3100 or the ground AP 3200 communicatively connected to the Internet line is relayed by the unmanned boat 1010 as the relay communication path.

[0108] Next, FIG. 20 shows a second example of a relay communication path when configuring a relay communication path using the underwater buoy 5400 or the subsea buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 20, an example is shown in which an underwater object 9001 determines a path connected to the sky AP 3100 via the subsea buoy 5501 (or the underwater buoy 5401), the unmanned boat 1011, and the unmanned boat 1001 as a relay communication path. Further, an example is shown in which an underwater object 9002 determines a path connected to the sky AP 3100 via the subsea buoy 5502 (or the underwater buoy 5402), the underwater object 9003, the unmanned boat 1012, and the unmanned boat 1001 as a relay communication path. Note that the communication path from the unmanned boat 1001 to the Internet line 6000 may be a path connected to the Internet line 6000 via the unmanned boat 1001, the unmanned boat 1014, and the ground AP 3200.

[0109] Thus, in the example shown in FIG. 20, the unmanned boat 1011 and the unmanned boat 1001 have a function of relaying between the subsea buoy 5501 (or the underwater buoy 5401) and the Internet line via the sky AP 3100 or the ground AP 3200, or the unmanned boat 1012 and the unmanned boat 1001 have a function of relaying between the subsea buoy 5502 (or the underwater buoy 5402) and the Internet line via the sky AP 3100 or the ground AP 3200. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path for relaying communication between the subsea buoy 5500 (or the underwater buoy 5400) of the underwater communication system and the sky AP 3100 or the ground AP 3200 communicatively connected to the Internet line by the unmanned boat 1010.

[0110] Next, FIG. 21 shows a third example of a relay communication path when configuring a relay communication path using the underwater buoy 5400 or the bottom-mounted buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 21, an example is shown in which the underwater object 9001 determines a path connected to the sky AP 3100 via the bottom-mounted buoy 5501 (or the underwater buoy 5401), the unmanned boat 1012, the bottom-mounted buoy 5502 (or the underwater buoy 5402), the unmanned boat 1011, and the unmanned boat 1001 as a relay communication path. Further, an example is shown in which the underwater object 9001 determines a path connected to the ground AP 3200 via the bottom-mounted buoy 5501 (or the underwater buoy 5401), the unmanned boat 1012, the bottom-mounted buoy 5502 (or the underwater buoy 5402), the unmanned boat 1011, the unmanned boat 1001, and the unmanned boat 1014 as a relay communication path.

[0111] As described above, in the example shown in FIG. 21, the unmanned boat 1012 has a function of relaying between the bottom-mounted buoy 5501 (or the underwater buoy 5401) and the bottom-mounted buoy 5502 (or the underwater buoy 5402). That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path in which the communication between the plurality of bottom-mounted buoys 5500 (or underwater buoys 5400) of the underwater communication system is relayed by the unmanned boat 1010.

[0112] Next, FIG. 22 shows a first example of a relay communication path when configuring a relay communication path using the surface buoy 5300 and the underwater buoy 5400 or the bottom-mounted buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 22, an example is shown in which the underwater object 9001 determines a path connected to the sky AP 3100 via the bottom-mounted buoy 5501 (or the underwater buoy 5401), the unmanned boat 1012, the unmanned boat 1001, and the surface buoy 5301 as a relay communication path. Further, an example is shown in which the underwater object 9002 determines a path connected to the sky AP 3100 via the bottom-mounted buoy 5502 (or the underwater buoy 5402), the underwater object 9003, the unmanned boat 1011, the unmanned boat 1001, and the surface buoy 5301 as a relay communication path.

[0113] Thus, in the example shown in FIG. 22, the unmanned boat 1012 and the unmanned boat 1001 have the function of relaying between the underwater buoy 5501 (or the submersible buoy 5401) and the surface buoy 5301, and the unmanned boat 1011 and the unmanned boat 1001 have the function of relaying between the underwater buoy 5502 (or the submersible buoy 5402) and the surface buoy 5301. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path in which the unmanned boat 1010 relays the communication between the surface buoy 5300 of the underwater communication system and the underwater buoy 5500 (or the submersible buoy 5400).

[0114] Next, FIG. 23 shows a second example of the relay communication path when configuring the relay communication path using the surface buoy 5300 and the submersible buoy 5400 or the underwater buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 23, an example is shown in which the underwater object 9001 determines, as a relay communication path, a path connected to the sky AP 3100 via the underwater buoy 5501 (or the submersible buoy 5401), the surface buoy 5301, and the unmanned boat 1001. Further, an example is shown in which the underwater object 9002 determines, as a relay communication path, a path connected to the sky AP 3100 via the underwater buoy 5502 (or the submersible buoy 5402), the unmanned boat 1012, the surface buoy 5301, and the unmanned boat 1001. Note that the communication path from the unmanned boat 1001 to the Internet line 6000 may be a path connected to the Internet line 6000 via the unmanned boat 1001, the unmanned boat 1014, and the ground AP 3200.

[0115] Thus, as shown in FIG. 23, when the unmanned boat 1010 determines the relay communication path in cooperation with the underwater communication system 5000 using the surface buoy 5301 and the underwater buoys 5501 and 5502 (or the submersible buoys 5401 and 5402), the communication between the surface buoy 5301 and the underwater buoy 5502 (or the submersible buoy 5402) can be relayed by the unmanned boat 1012, and the communication between the surface buoy 5301 and the Internet line 6000 can be relayed by the unmanned boat 1001.

[0116] Next, FIG. 24 shows an example of a relay communication path when configuring a relay communication path to an external device 7000 using the unmanned boat system 1000 and the underwater communication system 5000. In the example shown in FIG. 24, an example is shown in which an underwater object 9001 determines a path connected to the external device 7000 via a bottom buoy 5501 (or an underwater buoy 5401), a surface buoy 5301, and an unmanned boat 1001 as a relay communication path. Further, an example is shown in which an underwater object 9002 determines a path connected to the external device 7000 via a bottom buoy 5502 (or an underwater buoy 5402), an unmanned boat 1012, and an unmanned boat 1001 as a relay communication path.

[0117] As described above, as shown in FIG. 24, the unmanned boats 1012 and 1001 have a function of relaying between the bottom buoy 5502 (or the underwater buoy 5402) and the external device 7000, and the unmanned boat 1001 has a function of relaying between the surface buoy 5301 and the external device 7000. That is, the connection path determination unit 2220 can determine, as a relay communication path, a communication path in which the unmanned boat 1010 relays communication between the surface buoy 5300 or the bottom buoy 5500 (or the underwater buoy 5400) of the underwater communication system and the external device 7000.

[0118] In FIG. 24, an example in which a device provided on a manned ship (mother ship) at sea is used as an external device is described. However, the external device is not limited to this, and can be configured by an unmanned ship at sea, a manned submarine in the sea, an unmanned underwater vehicle, an aircraft, an unmanned aerial vehicle, a terrestrial radio base station on the ground, a ground base, a mobile terminal device such as a mobile phone, and the like. Note that the external device may be connected to another system via a communication network.

[0119] Note that the connection path determination unit 2220 can automatically determine various relay communication paths as described above. However, when receiving user input information regarding the relay communication path from the user input reception unit 2500 or the user terminal device 4000 described later, it may have a function of determining the relay communication path according to the user input information.

[0120] (A-3-3. Unmanned Boat Control Command Determination Unit 2300) The unmanned boat control command determination unit 2300 is a functional unit that determines a control command for the unmanned boat for configuring the relay communication path based on the relay communication path determined by the communication path determination unit 2200. The communication path determination unit 2200 includes a connection position determination unit 2310, an available unmanned boat determination unit 2320, and a control command determination unit 2330.

[0121] The connection position determination unit 2310 is a functional unit that determines the position coordinates for relaying by the unmanned boat 1010, the number of hulls of the plurality of unmanned boats 1010, and the deployment formation based on the determined relay communication path.

[0122] The available unmanned boat determination unit 2320 is a functional unit that determines the hull of the unmanned boat to be used for communication relay based on the determined relay communication path and the status information acquired by the system status information acquisition unit 2130. For example, the available unmanned boat determination unit 2320 can determine the hull of the unmanned boat to be used for communication relay according to the battery charge level, communication status, abnormal status, or the current position of the unmanned boat 1010.

[0123] The control command determination unit 2330 has a function of determining control commands including the movement path of the unmanned boat 1010, the movement speed, the tracking pattern of the underwater object 9000, the replacement, towing, recovery, lifting and lowering of the unmanned boat 1010 with a non-good state, and the power supply to the unmanned boat 1010 with a low charge amount, etc., based on the determined relay communication path and the determination results by the connection position determination unit 2310 and the available unmanned boat determination unit 2320.

[0124] In addition, the control command determination unit 2330 may have a function of determining a control command regarding the detection and determination process of the communication partner with the unmanned boat 1010 or the authentication process for starting communication when starting communication relay by the determined relay communication path using the unmanned boat 1010. Also, the control commands determined by the control command determination unit 2330 may include communication control commands regarding the selection and switching of communication types, the change of signal transmission intensity, the transmission direction (beamforming), the communication speed, and the transmission and reception retry.

[0125] In addition, when the control command determination unit 2330 receives a communication relay termination command to terminate the communication relay using the relay communication path, it may have a function of determining a control command to disconnect the communication connection with the underwater communication system 5000 or terminate the data transmission after transmitting the data received by the unmanned boat 1010 from the communication partner to another communication partner.

[0126] Note that the control command determination unit 2330 can automatically determine various control commands of the unmanned boat 1010 as described above. However, when receiving user input information regarding the control command from the user input reception unit 2500 or the user terminal device 4000 described later, it may have a function of determining the control command according to the user input information.

[0127] (A-3-4. Communication Connection Maintenance Control Unit 2400) The communication connection maintenance control unit 2400 is a functional unit that updates the relay communication path or updates the control command for the unmanned boat 1010 in order to maintain the communication connection according to the real-time situation. The communication connection maintenance control unit 2400 includes a disturbance influence estimation unit 2410, a system state determination unit 2420, an object state determination unit 2430, a connection path update unit 2440, and an unmanned boat operation update unit 2450.

[0128] The disturbance influence estimation unit 2410 is a functional unit that estimates the influence of the environmental disturbance on the communication regarding the relay communication path according to the current environmental disturbance information in the sea area or underwater area where the unmanned boat system 1000 and the underwater communication system 5000 are deployed, which is obtained by the disturbance information acquisition unit 2140.

[0129] The external disturbance impact estimation unit 2410 can estimate, for example, the impact of external disturbances on underwater communication using sound waves in the relay communication path. As an example, it can estimate the transmission distance of the sound wave signal according to the sea noise level. Also, as the water depth increases, the pressure increases, and as the pressure increases, the propagation speed of the sound wave tends to increase and the attenuation of the sound wave tends to decrease. Also, it is known that the propagation characteristics of sound waves change according to the temperature and salinity concentration of seawater. Also, in the deep sea where the water depth is deep, there is a sound speed minimum layer where the sound speed is the minimum, and sound waves passing through this layer are characterized by less attenuation and long-distance propagation. In the deep sea, furthermore, since sound waves are reflected by the seabed and energy loss due to reflection occurs, it is necessary to consider the attenuation caused by this reflection.

[0130] Also, when sound waves propagate, the sound waves spread spherically, and the energy spreads, causing the sound waves to attenuate. For example, when sound waves spread spherically, when the distance doubles, the energy attenuates to 1 / 4. Also, it is known that molecules in seawater absorb the energy of sound waves and convert it into thermal energy, causing the sound waves to attenuate, and particularly high-frequency sound waves are easily absorbed. Here, due to the viscosity of seawater, the degree to which the energy of sound waves is converted into heat and attenuates changes. In this way, the external disturbance impact estimation unit 2410 can predict the attenuation of sound waves and estimate the impact on the communication quality of underwater communication using sound waves, considering the influences such as sea noise level, water depth, water temperature, salinity concentration, seabed reflection, and viscosity.

[0131] The system state determination unit 2420 has a function of determining the current communication state of wireless communication and underwater communication, or the power state and abnormal state of the unmanned boat system 1000 and the underwater communication system 5000, etc. between the unmanned boat system 1000, the underwater communication system 5000, and the underwater object 9000 according to the information acquired by the system state information acquisition unit 2130.

[0132] For example, the system state determination unit 2420 can measure or estimate, as the current communication state, the communication strength, upload speed, download speed, communication capacity, communication delay time, etc. in wireless communication and underwater communication.

[0133] In addition, the system state determination unit 2420 may have a function of determining the current position of the unmanned boat 1010. At this time, the system state determination unit 2420 can determine the current position of the unmanned boat 1010 by obtaining information regarding the self-position determined by the navigation state determination unit 1210 of the unmanned boat 1010. However, it is not limited to this. The unmanned boat 1010 may have a position estimation function of estimating the relative position of the unmanned boat 1010 with respect to the water buoy provided in the underwater communication system 5000 that performs wireless communication with the unmanned boat 1010, or the relative position of the unmanned boat 1010 with respect to another unmanned boat 1010 that communicates with the unmanned boat 1010, based on the reception intensity and reception direction of a wireless communication signal including at least any one of a radio wave signal (including radio waves of any frequency such as long waves, millimeter waves, and microwaves), an optical signal (including signals of a ToF sensor, an IR sensor, etc.), and a sound wave signal (including ultrasonic waves) received from the water buoy or another unmanned boat 1010 that communicates with the unmanned boat 1010.

[0134] The object state determination unit 2430 is a functional unit that determines the operating state of the underwater object 9000 based on the measurement data acquired by the measurement unit 1100 of the unmanned boat 1010 and the information of the communication signal with the underwater object 9000 acquired by the object communication unit 1440. For example, the object state determination unit 2430 can determine, as the operating state of the underwater object 9000, the Global coordinates of the underwater object 9000, the relative position coordinates of the underwater object 9000 with respect to the unmanned boat 1010, the relative distance, the relative direction, or the presence or absence of movement of the underwater object 9000, the movement direction, and the movement speed in the three-dimensional space in water.

[0135] The connection path update unit 2440 is a functional unit that updates the relay communication path determined by the communication path determination unit 2200. For example, the connection path update unit 2440 can update the determined relay communication path according to the measured or estimated result of the communication quality in the relay communication path determined by the communication path determination unit 2200. That is, when the communication quality (communication strength, communication speed (UL / DL), delay time, communication capacity, etc.) measured or estimated by the system state determination unit 2420 is worse than a predetermined standard, the connection path update unit 2440 can change the relay communication path by changing the location with poor communication quality to another path.

[0136] In addition, when the unmanned boat 1010 communicates with the underwater object 9000, according to the position of the underwater object 9000 determined by the object state determination unit 2430 (including at least any one of Global coordinates, relative position coordinates of the underwater object 9000 with respect to the unmanned boat 1010, relative distance, and relative direction), presence or absence of movement, movement speed, and movement acceleration, the connection path update unit 2440 determines a sign that the underwater object 9000 is about to deviate from the communication range of the unmanned boat 1010. When it is determined that there is such a sign, the relay communication path is updated. That is, when it is determined that there is a sign that the underwater object 9000 is about to deviate from the communication range of the unmanned boat 1010, the relay communication path is updated to a relay communication path via other unmanned boats 1010 or various buoys of the underwater communication system 5000 where the underwater object 9000 is within the communication range.

[0137] In addition, when the user sends a remote control command to the underwater object 9000 via the relay communication path and it is detected that the user causes the underwater object 9000 to perform a sharp turn or high-speed behavior, the relay communication path can be updated to the path with the least communication delay.

[0138] Note that the connection path update unit 2440 can automatically update the relay communication path as described above. However, when receiving user input information regarding the relay communication path from the user input reception unit 2500 or the user terminal device 4000 described later, it may have a function of updating the relay communication path according to the user input information.

[0139] The unmanned boat operation update unit 2450 is a functional unit that updates the control command for the unmanned boat 1010 determined by the unmanned boat control command determination unit 2300. For example, when the unmanned boat 1010 communicates with the underwater object 9000, according to the position, presence or absence of movement, moving speed, and moving acceleration of the current or future predicted underwater object 9000 or underwater target area, the control command regarding the unmanned boat 1010 including at least any one of the positions, deformation of the deployment shape, expansion or contraction of the deployment range, and arrangement interval of the plurality of unmanned boats 1010 can be determined or updated. As an example, according to the presence or absence of movement of the underwater object 9000 (stationary state in the sea), the expansion or contraction of the deployment range of the plurality of unmanned boats 1010 can be determined. For example, if the underwater object 9000 is in a stationary state, the deployment range of the plurality of unmanned boats 1010 is reduced, and conversely, if the underwater object 9000 is in a moving state, the deployment range of the plurality of unmanned boats 1010 is expanded.

[0140] In addition, when the underwater object 9000 that communicates with the unmanned boat 1010 executes a predetermined task including searching, investigating, tracking, monitoring, or inspecting a predetermined object, the unmanned boat operation update unit 2450 determines or updates a command regarding the unmanned boat 1010 including at least any one of the position, deployment shape, and arrangement interval of the plurality of unmanned boats 1010 according to the status or alert level regarding the predetermined task of the underwater object 9000.

[0141] In addition, when the object state determination unit 2430 determines that the charge level of the underwater object 9000 is low, the unmanned boat operation update unit 2450 may have a function of generating an operation command for the unmanned boat 1010 to supply power to the underwater object 9000 and generating an operation command to tow the floating buoy to the position of the underwater object 9000 to supply power to the underwater object 9000 from the floating buoy.

[0142] In addition, when the object state determination unit 2430 detects a failure or abnormality of the underwater object 9000, or when a request regarding the recovery or towing movement of the underwater object 9000 is received from the user, the unmanned boat operation update unit 2450 can generate an operation command for the unmanned boat 1010 to tow the underwater object 9000.

[0143] In addition, when the unmanned boat operation update unit 2450 receives a request from the user regarding power supply to the floating buoy on water, it may move the unmanned boat 1010 to the position of the floating buoy on water and generate an operation command to supply power from the unmanned boat 1010 to the floating buoy on water. Also, when receiving a request from the user regarding power supply to the underwater buoy, it may move the unmanned boat 1010 to the position of the water surface above the underwater buoy, lower a power supply cable from the unmanned boat 1010, and generate an operation command to supply power to the underwater buoy.

[0144] In addition, when the disturbance influence estimation unit 2410 estimates that the measurable range by the measurement unit 1100 of the unmanned boat 1010 becomes narrow due to the influence of environmental disturbances such as heavy rain, the unmanned boat operation update unit 2450 can determine to narrow the relative distance between a plurality of unmanned boats 1010 or increase the number of the unmanned boats 1010 to increase the aircraft density. Also, when the flow of the ocean current or tidal current is strong and the unmanned boat 1010 is being carried away from the target position, it can determine an operation of moving against the flow as a control command.

[0145] Next, a method for determining the arrangement of the unmanned boat 1010 according to the water depth of the underwater object and the underwater target area when the unmanned boat 1010 communicates with the underwater object 9000 will be described with reference to FIGS. 25 and 26. FIG. 25 is a diagram showing a first state in which the unmanned boat 1010 and the floating buoy on water provide a communication environment for the underwater object or the underwater target area. FIG. 26 is a diagram showing a second state in which the unmanned boat 1010 and the floating buoy on water provide a communication environment for the underwater object or the underwater target area.

[0146] The figure shown above Fig. 25 shows the arrangement relationship when the unmanned boat 1010, the floating buoy, and the underwater object (underwater target area) are viewed from the side, and the ranges within which the unmanned boat 1010 and the floating buoy can communicate with the underwater object 9000 in the sea. Also, the figure shown below Fig. 25 shows the arrangement relationship in plan view when the unmanned boat 1010, the floating buoy, and the underwater object (underwater target area) are viewed from above. As shown in Fig. 25, the sea communication possible ranges of the unmanned boat 1010 and the floating buoy are spherical ranges with the communication possible distance of underwater communication using sound waves etc. as the radius. At the lowest part of the underwater target area shown in the upper figure of Fig. 25 where the water depth is the deepest, there is an area that is not included in the sea communication possible range of either the unmanned boat 1010 or the floating buoy. Therefore, as shown in the lower figure of Fig. 25, the communication possible ranges at the lowest part of the above-mentioned underwater target area do not overlap with each other and there is a gap. Therefore, when an underwater object is located in this gap, neither the unmanned boat 1010 nor the floating buoy can communicate with the underwater object 9000.

[0147] FIG. 26 shows a state in which the relative distance between the unmanned boat 1010 and the floating buoy is made narrower than in the example shown in FIG. 25 and they are arranged at a narrow interval. Therefore, the overlapping range of the underwater communication possible range between the unmanned boat 1010 and the floating buoy expands, and even at the lowest part of the underwater target area shown in the upper diagram of FIG. 26 where the water depth is the deepest, there is no gap in the underwater communication possible range. Therefore, it is desirable to control the relative distance between the unmanned boat 1010 and the floating buoy so that no gap or a narrow gap occurs in the underwater communication possible range according to the vertical position of the underwater object or the underwater target area. The range in which the unmanned boat 1010 and the floating buoy 5300 shown in FIGS. 25 and 26 above can communicate underwater with the underwater object 9000 is determined not only by the performance of the communication unit of the unmanned boat 1010 and the floating buoy 5300, but also taking into account the performance of the communication unit of the underwater object 9000. That is, based on the shorter of the transmission possible distance of the acoustic signal (call) transmitted from the communication unit (such as a USBL transceiver) of the unmanned boat 1010 or the floating buoy 5300 to the underwater object 9000 and the transmission possible distance of the acoustic signal (response) transmitted from the communication unit (such as a transponder) of the underwater object 9000 to the unmanned boat 1010 or the floating buoy 5300, the range in which the unmanned boat 1010 or the floating buoy 5300 can communicate underwater with the underwater object 9000 can be calculated.

[0148] Therefore, when the position of the underwater object 9000 determined by the object state determination unit 2430 or the position of the underwater target area moves in the downward direction, the unmanned boat operation update unit 2450 can determine a control command to move the plurality of unmanned boats 1010 so that the arrangement interval of the plurality of unmanned boats becomes narrower, or when the position of the underwater object 9000 or the position of the underwater target area moves in the upward direction, a control command to move the plurality of unmanned boats 1010 so that the arrangement interval of the plurality of unmanned boats becomes wider can be determined.

[0149] Note that the unmanned boat operation update unit 2450 can automatically update various control commands of the unmanned boat 1010 as described above. However, when receiving user input information regarding control commands from the user input reception unit 2500 or the user terminal device 4000, which will be described later, it may have a function of updating control commands according to the user input information.

[0150] (A-3-5. User Input Reception Unit 2500) The user input reception unit 2500 is a functional unit that receives user input information regarding various information input from the user of the overall control system 2000. For example, the user input reception unit 2500 can receive user input information regarding the relay communication path and the control commands of the unmanned boat.

[0151] (A-3-6. Information Output Unit 2600) The information output unit 2600 is a functional unit that performs display output, command output, or transmission output of information such as that generated by each functional unit within the overall control system 2000. The information output unit 2600 includes a display output unit 2610, a command transmission unit 2620, and an information transmission unit 2630.

[0152] The display output unit 2610 is a functional unit that performs display output of acquisition information, determination information, decision information, etc. by each functional unit within the overall control system 2000. For example, the display output unit 2610 can display output information regarding the relay communication path determined by the communication path determination unit 2200, information regarding the control commands for the unmanned boat 1010 determined by the unmanned boat control command determination unit 2300, information regarding the relay communication path updated by the communication connection maintenance control unit 2400, or control commands.

[0153] The instruction transmission unit 2620 can transmit information regarding the relay communication path determined by the communication path determination unit 2200, information regarding the control command for the unmanned boat 1010 determined by the unmanned boat control command determination unit 2300, information regarding the relay communication path updated by the communication connection maintenance control unit 2400, or a control command, etc. to the unmanned boat 1010 as an instruction signal. Note that the instruction transmission unit 2620 may transmit this instruction signal not only to the unmanned boat 1010 but also to the cooperative system control base 5100 of the underwater communication system 5000.

[0154] The information transmission unit 2630 can transmit information regarding the relay communication path determined by the communication path determination unit 2200, information regarding the control command for the unmanned boat 1010 determined by the unmanned boat control command determination unit 2300, information regarding the relay communication path updated by the communication connection maintenance control unit 2400, or a control command, etc. to the user terminal device 4000, the underwater communication system 5000, or the external system 8000.

[0155] (A-4. Operation Flow of the Overall Control System 2000) Next, the operation flow in the overall control system 2000 will be described. FIG. 27 is a flowchart showing the operation processing flow of the overall control system 2000.

[0156] Next, the demand information acquisition unit 2110 acquires information regarding the demand when performing communication compensation for the underwater object 9000 or the underwater target area (step 101).

[0157] Next, the system information acquisition unit 2120 acquires information regarding the system configuration of the unmanned boat system 1000 and the underwater communication system 5000 (step 102).

[0158] Next, the communication path determination unit 2200 determines a relay communication path for a communication line for relaying the underwater object 9000 to the Internet line 6000 or the external device 7000, or for providing information regarding the position of the underwater object 9000 to the underwater object 9000 (step 103). The detailed processing of this step will be described later.

[0159] Next, based on the relay communication path determined by the communication path determination unit 2200, the unmanned boat control command determination unit 2300 determines a control command for the unmanned boat for configuring the relay communication path (step 104). The detailed processing of this step will be described later.

[0160] Next, according to the real-time situation, the communication connection maintenance control unit 2400 updates the relay communication path or updates the control command for the unmanned boat 1010 to maintain the communication connection (step 105). The detailed processing of this step will be described later.

[0161] (A-5. Determination of Relay Communication Path) Next, with reference to FIGS. 28 and 29, the determination processing flow and determination result of the relay communication path by the communication path determination unit 2200 will be described.

[0162] (A-5-1. Determination Processing Flow of Relay Communication Path) FIG. 28 is a flowchart showing the determination processing flow of the relay communication path by the communication path determination unit 2200. Note that FIG. 28 shows the detailed processing of step 103 particularly shown in FIG. 27.

[0163] First, the communication path candidate determination unit 2210 determines candidates for the relay communication path of the communication line for relaying the underwater object 9000 to the Internet line 6000 or the external device 7000, or for providing information regarding the position of the underwater object 9000 to the underwater object 9000 (step 201). In this step, for example, based on the desired information acquired by the desired information acquisition unit 2110 and the system information of the unmanned boat system 1000 and the underwater communication system 5000 acquired by the system information acquisition unit 2120, candidates for the relay communication path as shown in FIGS. 13 and 14 are determined.

[0164] Next, the connection path determination unit 2220 determines a relay communication path using the unmanned boat system 1000 and the underwater communication system 5000 based on the information acquired by the system information acquisition unit 2120 from among the plurality of candidates for the relay communication path generated by the communication path candidate determination unit 2210 (step 202).

[0165] Next, the display output unit 2610 displays and outputs information regarding the relay communication path determined by the connection path determination unit 2220 (step 203).

[0166] Next, the user input reception unit 2500 receives user input information regarding the relay communication path (step 204).

[0167] Next, the connection path determination unit 2220 determines the relay communication path according to the user input information (step 205).

[0168] (A-5-2. Example of Displaying the Determination Result of the Relay Communication Path) FIG. 29 is a diagram showing an example of a display example of the relay communication path determined by the communication path determination unit 2200. Note that FIG. 29 shows an example of a display screen that is displayed and output particularly in the process of step 203 shown in FIG. 28.

[0169] In the example shown in FIG. 29, as the determination result of the relay communication path for communication-connecting the underwater object 9000 existing in the underwater communication supplement request area (underwater target area) specified by the user to the Internet line 6000, two redundant paths (Path 1, Path 2) are displayed. Path 1 is a relay communication line connected in the order of the underwater object 9000, unmanned boat USV002, water buoy SB001, communication satellite, satellite base station, and Internet line 6000, and Path 2 is a relay communication line connected in the order of the underwater object 9000, unmanned boat USV002, unmanned boat USV001, communication satellite, satellite base station, and Internet line 6000.

[0170] Also, above the display screen shown in FIG. 29, these relay communication paths are displayed in a map format, and the positions and connection relationships of the unmanned boats, water buoys, and satellite base stations used for the relay communication paths are displayed. Also, below the display screen shown in FIG. 29, the identification information of the unmanned boats and water buoys used for these relay communication paths and information regarding the communication quality of two paths (Path 1, Path 2) are displayed.

[0171] Furthermore, below the display screen shown in FIG. 29, operation buttons for approving or modifying the determination result of the displayed relay communication path are displayed. The overall control system 2000 can receive user input information regarding the relay communication path via these operation buttons.

[0172] (A-6. Determination of Unmanned Boat Control Command) Next, with reference to FIGS. 30 and 31, the determination processing flow and determination result of the control command for the unmanned boat 1010 by the unmanned boat control command determination unit 2300 will be described.

[0173] (A-6-1. Determination Processing Flow of Unmanned Boat Control Command) FIG. 30 is a flowchart showing the determination processing flow of the control command for the unmanned boat 1010 by the unmanned boat control command determination unit 2300. Note that FIG. 30 shows the detailed processing of step 104 particularly shown in FIG. 27.

[0174] First, the connection position determination unit 2310 determines the position coordinates for relaying by the unmanned boat 1010, the number of airframes of the plurality of unmanned boats 1010, and the deployment formation based on the relay communication path (step 301).

[0175] Next, the used unmanned boat determination unit 2320 determines the airframe of the unmanned boat to be used for communication relay based on the relay communication path and the state information acquired by the system state information acquisition unit 2130 (step 302).

[0176] Next, based on the relay communication path and the determination results by the connection determination unit 2310 and the unmanned boat determination unit 2320, the control command determination unit 2330 determines control commands for the unmanned boat 1010, including the movement path, movement speed of the unmanned boat 1010, the tracking pattern of the underwater object 9000, replacement of the unmanned boat 1010 with a poor state, towing, recovery, lifting and lowering, power supply to the unmanned boat 1010 with a low charge amount, etc. (Step 303).

[0177] Next, the display output unit 2610 displays and outputs information regarding the control command for the unmanned boat 1010 determined by the control command determination unit 2330 (Step 304).

[0178] Next, the user input reception unit 2500 receives user input information regarding the control command for the unmanned boat 1010 (Step 305).

[0179] Next, the control command determination unit 2330 determines the control command for the unmanned boat 1010 according to the user input information (Step 306).

[0180] (A-6-2. Example of Display of Determination Result of Control Command for Unmanned Boat) FIG. 31 is a diagram showing an example of a display example of a control command for an unmanned boat determined by the unmanned boat control command determination unit 2300. Note that FIG. 31 shows an example of a display screen that is displayed and output particularly in the process of Step 304 shown in FIG. 30.

[0181] In the example shown in FIG. 31, as the determination result of the control command for the unmanned boat 1010 to establish a communication connection with the underwater object 9000 existing in the underwater communication compensation required area (underwater target area) specified by the user, the movement paths of a plurality of unmanned boats 1010 are displayed.

[0182] Also, above the display screen shown in FIG. 31, the current positions of a plurality of unmanned boats 1010 and the moving directions (or moving routes, or moving target positions) determined by control commands are displayed in a map format, and the positions and connection relationships of the unmanned boats and buoys used for the relay communication path are displayed. Also, below the display screen shown in FIG. 31, the identification information, current positions, remaining battery levels, communication ranges, and moving target positions of these plurality of unmanned boats 1010 are displayed.

[0183] Furthermore, below the display screen shown in FIG. 31, operation buttons for approving or modifying the determination results of control commands for the displayed unmanned boats 1010 are displayed. The overall control system 2000 can receive user input information regarding control commands for the unmanned boats 1010 via these operation buttons.

[0184] (A-7. Determination of Control Commands for Maintaining Communication Connection) Next, with reference to FIGS. 32 to 34, the determination processing flow and determination results of control commands for maintaining communication connection by the communication connection maintenance control unit 2400 will be described.

[0185] (A-7-1. Determination Processing Flow of Control Commands for Maintaining Communication Connection) FIG. 32 is a flowchart showing the determination processing flow of control commands for maintaining communication connection by the communication connection maintenance control unit 2400. Note that FIG. 32 shows the detailed processing of step 105 particularly shown in FIG. 27.

[0186] First, based on the current environmental disturbance information in the sea or underwater area where the unmanned boat system 1000 and the underwater communication system 5000 are deployed, the disturbance impact estimation unit 2410 estimates the impact of environmental disturbances on communication regarding the relay communication path (step 401).

[0187] Next, the system state determination unit 2420 determines the current communication state of wireless communication and underwater communication between the current unmanned boat system 1000, the underwater communication system 5000, and the underwater object 9000, or the power supply state and abnormal state of the unmanned boat system 1000 and the underwater communication system 5000 (step 402).

[0188] Next, the object state determination unit 2430 determines the operation state of the underwater object 9000 based on the measurement data acquired by the measurement unit 1100 of the unmanned boat 1010 and the information of the communication signal with the underwater object 9000 acquired by the object communication unit 1440 (step 403).

[0189] Next, the connection path update unit 2440 determines whether to update the relay communication path (step 404).

[0190] Next, the unmanned boat operation update unit 2450 updates the control command for the unmanned boat 1010 (step 405).

[0191] Next, the display output unit 2610 displays and outputs information regarding various determination results and determination results determined or decided by the communication connection maintenance control unit 2400 (step 406).

[0192] Next, the user input reception unit 2500 receives user input information regarding the relay communication path or the control command for the unmanned boat 1010 (step 407).

[0193] Next, the communication connection maintenance control unit 2400 determines the relay communication path or the control command for the unmanned boat 1010 according to the user input information (step 408).

[0194] (A-7-2. Display Example of State Determination Result) FIG. 33 is a diagram showing an example of a display example of determination results by the system state determination unit 2420 and the object state determination unit 2430. Note that FIG. 33 shows an example of a display screen that is particularly displayed and output in the process of step 406 shown in FIG. 32.

[0195] In the example shown in FIG. 33, the current communication states of wireless communication and underwater communication among the unmanned boat system 1000, the underwater communication system 5000, and the underwater object 9000 determined by the system state determination unit 2420, and the operation state of the underwater object 9000 determined by the object state determination unit 2430, namely the current position and moving direction, are displayed.

[0196] Also, on the upper side of the display screen shown in FIG. 33, for each of the plurality of unmanned boats 1010, the current position and moving direction (or moving route, or moving target position), and the underwater communication available range (such as the display of the communication limit distance line) expanded by the plurality of unmanned boats 1010 etc. are displayed in map form, and as the current relay communication path, two redundant paths (Path 1, Path 2) are displayed. Further, the positions of the communication sections where the communication quality deteriorates in the relay communication path are displayed in warning in map form.

[0197] Also, on the lower side of the display screen shown in FIG. 33, as the current operation state of the underwater object 9000, information such as position, moving direction, moving speed, and communication data volume is displayed. Also, for the two redundant paths (Path 1, Path 2) as the relay communication path, the path information and the current communication quality are displayed. Further, the locations of the communication sections where the communication quality deteriorates in the relay communication path are displayed in warning. Further, warning information on communication quality (decrease in upload communication speed) is displayed on the lower side of the display screen.

[0198] Note that in the example shown in FIG. 33, an example where the current communication quality is displayed for each of the two paths is shown, but it is also possible to display the communication quality for each section within the path instead of for each path.

[0199] As shown in FIG. 33, the current positions, underwater communication ranges, and communication states of the plurality of unmanned boats 1010 determined by the system state determination unit 2420, and the current operating state of the underwater object 9000 determined by the object state determination unit 2430 are displayed on the display screen in a map format and other tabular formats. Therefore, the relay communication path and its communication state, and the operating state of the underwater object 9000 can be grasped more accurately by the user.

[0200] (A-7-3. Display Example of Relay Communication Path and Update Result of Control Command) FIG. 34 is a diagram showing an example of a display example of the update determination result by the connection path update unit 2440 and the unmanned boat operation update unit 2450. Note that FIG. 34 shows an example of the display screen that is displayed and output particularly in the process of step 406 shown in FIG. 32.

[0201] In the example shown in FIG. 34, information regarding the updated relay communication path determined by the connection path update unit 2440 and information regarding the updated control command of the unmanned boat determined by the unmanned boat operation update unit 2450 are displayed.

[0202] Also, on the upper side of the display screen shown in FIG. 34, the current positions of the plurality of unmanned boats 1010 and the moving direction (or moving path, or moving target position) determined by the updated control command are displayed in a map format, and the positions and connection relationships of the unmanned boats and water buoys used for the relay communication path are displayed. Also, on the lower side of the display screen shown in FIG. 34, the path and communication quality of the updated relay communication path, the identification information of the plurality of unmanned boats 1010, and the current position, charge amount, communication range, and moving target position are displayed.

[0203] Furthermore, on the lower side of the display screen shown in FIG. 34, operation buttons for approving or modifying the updated relay communication path and the determination result of the updated control command for the unmanned boat 1010 are displayed. The communication connection maintenance control unit 2400 can receive user input information regarding the updated relay communication path and the updated control command for the unmanned boat 1010 via these operation buttons.

[0204] (A-8. Providing Position Information to the Underwater Object 9000) Next, with reference to FIG. 35, a method for providing position information from the unmanned boat 1010 to the underwater object 9000 will be described. FIG. 35 is a conceptual diagram when providing position information from the unmanned boat 1010 to the underwater object 9000.

[0205] As shown in FIG. 35, the unmanned boat 1001 that communicates with the over-air AP 3100 (e.g., communication satellite 3110) can receive information on the Global position coordinates of the communication satellite 3110 from the communication satellite 3110 and calculate the Global position coordinates of its own vehicle (unmanned boat 1001) based on this received information. Similarly, the unmanned boat 1001 that communicates with the ground AP 3200 (e.g., ground base station) can receive information on the Global position coordinates of the ground base station from the ground base station and calculate the Global position coordinates of its own vehicle (unmanned boat 1001) based on this received information.

[0206] Also, the floating buoy 5300 that communicates with the marine communication antenna 5200 can receive information on the Global position coordinates of the marine communication antenna 5200 from the marine communication antenna 5200 and calculate the Global position coordinates of its own vehicle (floating buoy 5300) based on this received information. Further, the underwater buoy 5500 can record in advance information on the Global position coordinates of its own vehicle.

[0207] Here, the unmanned boat 1011 that performs wireless communication with the above-described unmanned boat 1001, floating buoy 5300, or underwater buoy 5500 using radio signals, optical signals, or acoustic signals can receive information on the Global position coordinates of the unmanned boat 1001, floating buoy 5300, or underwater buoy 5500. Also, the unmanned boat 1011 can calculate the relative position of its own vehicle (unmanned boat 1011) with respect to the unmanned boat 1001, floating buoy 5300, or underwater buoy 5500 based on the detection information of the reception intensity and reception direction of the wireless communication signals received from the unmanned boat 1001, floating buoy 5300, or underwater buoy 5500.

[0208] Furthermore, the unmanned boat 1011 can calculate its own Global position coordinates based on the received information on the Global position coordinates of the unmanned boats 1001, the floating buoys 5300, and the underwater buoys 5500, and the information on the relative position of its own craft (unmanned boat 1011) with respect to the unmanned boats 1001, the floating buoys 5300, and the underwater buoys 5500 that has been calculated.

[0209] As described with reference to FIG. 8, the unmanned boat 1011 can calculate the relative position of the underwater object 9000 with respect to the unmanned boat 1011, for example, by transmitting an acoustic signal (call) from a USBL transceiver or the like and receiving, by the USBL transceiver, an acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver side. Furthermore, the unmanned boat 1011 can calculate the Global position coordinates of the underwater object 9000 based on its own Global position coordinates (of the unmanned boat 1011) and the calculated relative position of the underwater object 9000 with respect to the unmanned boat 1011, and can transmit the information on the Global position coordinates of the underwater object 9000 to the underwater object 9000 by underwater communication means such as a USBL transceiver.

[0210] As shown in FIG. 35, by the surface unmanned boat 1010 grasping its own Global position coordinates, it becomes possible to provide the underwater object 9000 performing communication with the information on the Global position coordinates of the underwater object 9000.

[0211] (A-9. Hardware Configuration) FIG. 36 is a hardware configuration diagram of the overall control system 2000. Here, the overall 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 overall control system 2000 includes an input device 100, an output device 200, a processing device 300, a main storage device 400, an auxiliary storage device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0212] The input device 100 can constitute the user input reception unit 2500 and is a device for a user to input information and instructions into the overall 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.

[0213] The output device 200 is a device that outputs various types of information generated by the overall control system 2000 and can constitute the display output unit 2610. Specifically, the output device 200 can be composed of the display output unit 2610 with devices such as eyewear, AR, and VR display devices, and can also be a printer or a speaker.

[0214] 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 arithmetic operations.

[0215] The main memory device 400 is a memory device such as a RAM that temporarily stores various read information, a program executed by the processing device 300, an application program, and various other types of information, and a ROM that stores them. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that can store digital information.

[0216] The communication device 600 is a device that performs information communication wirelessly or by wire with the outside and can constitute the information transmission unit 2630 described above.

[0217] In the above-described embodiment, the communication system 1 using the unmanned boat system 1000 composed of a plurality of unmanned boats 1010 operating on the sea or water has been described. However, the present invention is not limited to the unmanned boat 1010, and a ship system composed of manned ships or a ship system in which unmanned boats and manned ships coexist can be applied as a marine relay system.

[0218] The above-described embodiment is merely an exemplification for facilitating the understanding of the present invention and is not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein.

[0219] [A-2. Effects of the present embodiment] According to the above-described embodiment, a communication environment with an external communication device or the Internet line is provided for an underwater object existing in an underwater area, or information used for providing position information or calculating position information is provided to the underwater object.

Explanation of reference numerals

[0220] 1…Communication 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…Master unit 1002…Slave unit 1010, 1011, 1012, 1013, 1014…Unmanned boat 1100…Measurement unit 1110…Measurement sensor 1120…Measurement control unit 1200…Self-ship state determination unit 1210…Navigation state determination unit 1220…Internal state determination unit 1230…External state determination unit 1300…Navigation unit 1400…Communication unit 1410…Inter-unmanned-boat communication unit 1420…Overall control communication unit 1430…Relay communication unit 1440…Object Communication Unit 1500…Judgment Unit 1600…Recording Unit 1610…Measurement Data Recording Unit 1620…Own State Recording Unit 1630…Judgment Information Recording Unit 2000…Overall Control System 2100…Information Import Unit 2110…Request Information Acquisition Unit 2120…System Information Acquisition Unit 2130…System State Information Acquisition Unit 2140…Disturbance Information Acquisition Unit 2200…Communication Route Determination Unit 2210…Communication Route Candidate Judgment Unit 2220…Connection Route Determination Unit 2300…Unmanned Boat Control Command Determination Unit 2310…Connection Position Determination Unit 2320…Usable Unmanned Boat Determination Unit 2330…Control Command Determination Unit 2400…Communication Connection Maintenance Control Unit 2410…Disturbance Influence Estimation Unit 2420…System State Judgment Unit 2430…Object State Judgment Unit 2440…Connection Route Update Unit 2450…Unmanned Boat Operation Update Unit 2500…User Input Reception Unit 2600…Information Output Unit 2610…Display Output Unit 2620…Command Transmission Unit 2630…Information Transmission Unit 3000…Access Point 3100…Aerial Access Point 3110…Communication Satellite 3111…GEO Satellite 3112…LEO Satellite 3120…Stratosphere Flying Body (HAPS) 3200…Ground Access Point 4000…User Terminal Device 5000…Underwater Communication System 5100…Cooperative System Control Base 5200…Marine Communication Antenna 5300, 5301, 5302…Floating Buoys 5400, 5401, 5402…Submarine Buoys 5500, 5501, 5502…Bottom Buoys 6000…Internet Line 7000…External Device 8000…External System 9000, 9001, 9002... underwater objects

Claims

1. an information acquisition unit that acquires information regarding an underwater communication system that provides an underwater object or an underwater object area that exists underwater with an environment that enables communication connection with an Internet line or an external device, or that provides information regarding the position of the underwater object to the underwater object; At least one unmanned vessel capable of navigating on water and equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system; a communication path determination unit that determines a relay communication path of a communication line for relay-connecting the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object, based on the information acquired by the information acquisition unit; and and an unmanned vessel command determination unit that determines a control command for the unmanned vessel to configure the relay communication path based on the determined relay communication path.

2. 2. The communication system according to claim 1, A communication system, wherein the information acquired by the information acquisition unit includes information regarding at least the number, location, communication performance, and communication connection destinations of communication relay units installed on the surface, underwater, or on the bottom of the water of the underwater communication system.

3. 2. The communication system according to claim 1, A communication system in which the information acquired by the information acquisition unit includes at least one of requested information regarding the underwater object for which a communication environment is to be provided, requested information regarding the underwater object area for which a communication environment is to be provided, information regarding the time, date, time or period for which communication is requested, and a request for provision of position coordinate information of the underwater object.

4. 2. The communication system according to claim 1, A communication system, wherein the information acquired by the information acquisition unit includes communication quality including at least one of communication strength, upload communication speed, download communication speed, communication delay time, and communication capacity of the communication environment provided to the underwater object or the underwater target area, or desired information regarding line redundancy of the communication path of the communication environment provided to the underwater object or the underwater target area.

5. 2. The communication system according to claim 1, A communication system in which the communication path determination unit determines, as the relay communication path, a communication path that relays communication between the underwater object or the underwater target area and a communication relay unit installed on the surface, underwater or on the bottom of the water that is owned by the underwater communication system, using the unmanned boat.

6. 6. The communication system according to claim 5, When the communication relay unit is a surface buoy floating on the water, A communication system in which the unmanned vessel command determination unit determines, via the communication unit of the unmanned vessel, a control command for the unmanned vessel to relay communications between the underwater object or the underwater target area and the surface buoy.

7. 6. The communication system according to claim 5, When the communication relay unit is an underwater buoy floating in the water or a bottom buoy in contact with the bottom of the water, A communication system in which the unmanned vessel command determination unit determines, via the communication unit of the unmanned vessel, a control command for the unmanned vessel to relay communications between the underwater object or the underwater target area and the underwater buoy or the bottom buoy.

8. 2. The communication system according to claim 1, A communication system in which the communication path determination unit determines, as the relay communication path, a communication path that relays communication between a communication relay unit installed on the water, underwater, or on the bottom of the water of the underwater communication system and a communication satellite, communication aircraft, or ground base station that is communicatively connected to the Internet line, using the unmanned boat.

9. 9. The communication system according to claim 8, When the communication relay unit is a surface buoy floating on the water, A communication system in which the unmanned vessel command determination unit determines, via the communication unit of the unmanned vessel, a control command for the unmanned vessel to relay communications between the communication satellite or the communication aircraft and the surface buoy.

10. 9. The communication system according to claim 8, When the communication relay unit is an underwater buoy floating in the water or a bottom buoy installed on the bottom of the water, A communication system in which the unmanned vessel command determination unit determines, via the communication unit of the unmanned vessel, a control command for the unmanned vessel to relay communications between the communication satellite or the communication aircraft or the ground base station and the underwater buoy or the bottom buoy.

11. 2. The communication system according to claim 1, In the case where the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or on the water bottom, The communication path determination unit determines, as the relay communication path, a communication path in which communications between the plurality of communication relay units are relayed by the unmanned boat.

12. 12. The communication system according to claim 11, When the plurality of communication relay units include a first surface buoy and a second surface buoy, A communication system in which the unmanned vessel command determination unit determines a control command to relay communication between the first surface buoy and the second surface buoy using the communication unit of the unmanned vessel.

13. 12. The communication system according to claim 11, When the plurality of communication relay units include a surface buoy and an underwater buoy or a bottom buoy, A communication system in which the unmanned vessel command determination unit determines a control command for the unmanned vessel to relay communications between the surface buoy and the underwater buoy or the bottom buoy using the communication unit of the unmanned vessel.

14. 12. The communication system according to claim 11, When the plurality of communication relay units include a first underwater buoy or a first bottom buoy and a second underwater buoy or a second bottom buoy, A communication system in which the unmanned vessel command determination unit determines a control command for the unmanned vessel to relay communications between the first underwater buoy or first bottom buoy and the second underwater buoy or second bottom buoy using the communication unit of the unmanned vessel.

15. 2. The communication system according to claim 1, In the case where the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or on the water bottom, The communication path determination unit determines, as the relay communication path, a communication path through which communication between the communication relay unit and the external device is relayed by the unmanned boat.

16. 2. The communication system according to claim 1, The control command for the unmanned vessel determined by the unmanned vessel command determination unit includes: A communication system including commands regarding at least one of the number of unmanned craft, the deployment formation of multiple unmanned craft, the movement path and movement speed of the unmanned craft, the tracking pattern of the underwater object, and replacement, towing, recovery, and lifting of the unmanned craft, and power supply to the unmanned craft.

17. 2. The communication system according to claim 1, The control command for the unmanned vessel determined by the unmanned vessel command determination unit includes: The communication system includes a control command related to a process of detecting and determining a communication partner communicating with the unmanned vessel or a process of authenticating the start of communication when starting communication relay using the relay communication path.

18. 2. The communication system according to claim 1, The control command for the unmanned vessel determined by the unmanned vessel command determination unit includes: A communication system including a command to terminate communication connection with the underwater communication system or terminate data transmission after the unmanned vessel has completed transmitting data received from a communication partner to another communication partner when a communication relay end command is received to end communication relay using the relay communication path.

19. 2. The communication system according to claim 1, When the unmanned vessel communicates with the underwater object, The unmanned vessel command determination unit determines the control commands for the unmanned vessels, including at least one of the positions of the multiple unmanned vessels, deformation of the deployed shape, expansion or reduction of the deployment range, and placement spacing, depending on the current or future predicted position, presence or absence of movement, movement speed, and movement acceleration of the underwater object or the underwater target area.

20. 20. The communication system of claim 19, The unmanned vessel command determination unit determining the control command to move the plurality of unmanned crafts so that the spacing between the plurality of unmanned crafts becomes narrower when the position of the underwater object or the position of the underwater target area moves in a downward direction; Or, a communication system that determines the control command to move the multiple unmanned vessels so that the spacing between the multiple unmanned vessels is increased when the position of the underwater object or the position of the underwater target area moves in an upward direction.

21. 2. The communication system according to claim 1, When the underwater object communicating with the unmanned craft is performing a predetermined mission, including searching, investigating, tracking, monitoring, or inspecting a predetermined object, A communication system in which the unmanned vessel command determination unit determines commands for the unmanned vessels, including at least one of the positions, deployment shapes, and spacing of the multiple unmanned vessels, in accordance with the status or alert level of the underwater object regarding the specified mission.

22. 2. The communication system according to claim 1, A communication system comprising a communication connection maintenance control unit that updates the relay communication path determined by the communication path determination unit.

23. 23. The communication system of claim 22, When the unmanned vessel communicates with the underwater object, The communication connection maintenance control unit updates the relay communication path when it is determined that there are signs that the underwater object is about to depart from the communication range of the unmanned boat based on the position, movement, movement speed, and movement acceleration of the underwater object.

24. 23. The communication system of claim 22, The communication connection maintenance control unit updates the relay communication path in accordance with a measurement result or an estimation result of communication quality on the relay communication path determined by the communication path determination unit.

25. 2. The communication system according to claim 1, A user input receiving unit that receives user input information, When the user input receiving unit receives user input information regarding the relay communication path, the communication path determination unit determines the relay communication path in accordance with the user input information.

26. 2. The communication system according to claim 1, A user input receiving unit that receives user input information, When the user input receiving unit receives user input information related to the control command for the unmanned craft, the unmanned craft command determination unit determines the control command in accordance with the user input information.

27. 2. The communication system according to claim 1, A communication system comprising a position estimation unit that estimates the relative position of the unmanned vessel with respect to a surface buoy, or the relative position of the unmanned vessel with respect to another unmanned vessel, based on the reception strength and reception direction of a wireless communication signal, including at least one of a radio wave signal, an optical signal, and a sound wave signal, received from a surface buoy equipped in the underwater communication system that wirelessly communicates with the unmanned vessel, or from another unmanned vessel that communicates with the unmanned vessel.

28. An information processing method for providing an underwater object or an underwater object area that exists underwater with an environment that allows communication connection with an Internet line or an external device, or for providing information regarding the position of the underwater object to the underwater object, using an underwater communication system having a communication relay unit installed on the water surface, underwater, or on the water bottom, and at least one unmanned watercraft that can navigate on the water surface, comprising: The computer An information acquisition step of acquiring information about the underwater communication system; a communication path determination step of determining a relay communication path of a communication line for relay-connecting the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object, based on the information acquired by the information acquisition step; an unmanned vessel command determination step of determining a control command for the unmanned vessel to configure the relay communication path based on the determined relay communication path.

29. A program used in an underwater communication system including a communication relay unit installed on the water surface, underwater, or on the water bottom, and at least one unmanned watercraft capable of navigating on the water surface, to provide an underwater object or an underwater object area that exists underwater with an environment capable of communication connection with an Internet line or an external device, or to provide information regarding the position of the underwater object to the underwater object, On the computer, An information acquisition command for acquiring information about the underwater communication system; a communication path determination command for determining a relay communication path of a communication line for relay-connecting the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object, based on the information acquired by the information acquisition command; and and an unmanned vessel command determination command for determining a control command for the unmanned vessel to configure the relay communication path based on the determined relay communication path.

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