Control system, control method, and program

Abstract

According to the present invention, when multiple groups each having multiple mobile objects are used to carry out activities such as exploration, inspection, and investigation, these activities can be carried out more safely or efficiently. [Solution] A control system for controlling the operations of multiple groups including at least a first group having multiple moving bodies and a second group having multiple other moving bodies, the control system comprises an activity condition acquisition unit that acquires information regarding the activity conditions of the multiple moving bodies, a group operation determination unit that makes decisions regarding at least one of the group organization, assigned operations, assigned areas, movement routes, and formations for each of the multiple groups based on the information acquired by the activity condition acquisition unit, and a group operation control unit that controls at least one of the group organization, execution of assigned operations, execution of operations in the assigned areas, movement routes, and formations for the multiple groups depending on the decisions made by the group operation determination unit.

Description

[Technical Field]

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

[0002] For example, in marine areas, manned vessels have traditionally been used for marine surveillance to prevent nuisances and illegal fishing by ships navigating the sea or divers navigating underwater, to inspect offshore infrastructure, and to conduct ecological research on marine life such as whales and dolphins. However, because the range of marine areas subject to surveillance, inspection, or research is extremely vast, there are limits to the areas that can be monitored, inspected, and researched by manned vessels, and there is a need for more efficient monitoring, inspection, and research. In light of this, the use of multiple mobile vehicles such as unmanned vessels has been considered in recent years, and it is expected that they will be used for the above-mentioned surveillance, inspection, and research.

[0003] As a technology for controlling multiple unmanned aerial vehicles, Patent Document 1 discloses a technology for a control device that includes an other-aircraft information acquisition means that acquires information about the status of other aircraft, in order to optimize the behavior of the entire unmanned aerial vehicle group while each aircraft constituting the group autonomously selects its own behavior; an action comparison means that acquires information about the status of other aircraft from the other-aircraft information acquisition means and acquires sensor signals including information about the status of the own aircraft, and calculates comparison values ​​for multiple types of actions that the own aircraft should take using the acquired information about the own aircraft and the other aircraft; an action selection means that selects an action to be taken by the own aircraft based on the comparison values ​​of the multiple types of actions calculated by the action comparison means; an operation amount calculation means that calculates an operation amount of the own aircraft using information about the action selected by the action selection means and information about the status of the other aircraft obtained from the other-aircraft information acquisition means; and an operation setting means that sets operation setting values ​​of actuators that operate the own aircraft using the calculation results of the operation amount calculation means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Re-tabled publication No. 2018-105599 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to achieve a goal more efficiently in an ocean area or other wide target area, it is necessary to deploy many mobile units in the target area. In such cases where the operation decisions and control of many mobile units must be performed using limited resources, the mobile units are divided into multiple groups, and operational roles are assigned to each group and their operations are controlled.

[0006] Although Patent Document 1 discloses a method for controlling the operation of multiple unmanned aerial vehicles, it does not consider dividing the unmanned aerial vehicles into multiple groups and controlling their operation for each group. When controlling the operation of each group, it is necessary to avoid collisions with moving objects in other groups. Furthermore, when the purpose of an activity is to prevent nuisance or illegal fishing by ships navigating the sea or divers navigating underwater, to inspect offshore infrastructure, or to conduct ecological surveys of marine life such as whales and dolphins, it is necessary to improve the efficiency of monitoring, inspection, and surveys across multiple groups. Alternatively, it may be desirable to change the group organization depending on the situation.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objects is to provide a system or control method, etc., that can more safely or efficiently carry out activities such as search, inspection, and investigation using multiple groups each having multiple mobile objects. [Means for solving the problem]

[0008] According to the present invention, there is provided a control system for controlling the operations of multiple groups including at least a first group having multiple moving bodies and a second group having multiple other moving bodies, the control system comprising: an activity condition acquisition unit that acquires information regarding the activity conditions of the multiple moving bodies; a group operation determination unit that makes decisions regarding at least one of the group organization, assigned operation, assigned area, movement route, and formation for each of the multiple groups based on the information acquired by the activity condition acquisition unit; and a group operation control unit that controls at least one of the group organization of the multiple groups, execution of the assigned operation, execution of operation in the assigned area, the movement route, and the formation depending on the decisions made by the group operation determination unit. [Effects of the Invention]

[0009] According to the present invention, when multiple groups each having multiple mobile objects are used to carry out activities such as exploration, inspection, and investigation, these activities can be carried out more safely or efficiently. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a control system 1 according to one embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in a real space. [Figure 3] FIG. 1 is a diagram showing stakeholders related to a control system 1. [Figure 4] FIG. 1 is a diagram showing a configuration of a group 1010 formed by unmanned watercraft 1000. [Figure 5] 1 is a conceptual diagram showing how an unmanned boat 1000 deployed in a marine area monitors an object 7000, etc. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. [Figure 7] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 8] FIG. 2 is a hardware configuration diagram of an integrated control system 2000. [Figure 9] FIG. 2 is a flowchart showing the processing flow of the control system 1. [Figure 10] 3 is a sequence diagram showing the exchange of signals between systems in the control system 1. FIG. [Figure 11] FIG. 10 is a diagram showing an example of pre-acquired information acquired by an information import unit 2100. [Figure 12] FIG. 10 is a diagram showing an example of activity condition information received from a user. [Figure 13] FIG. 10 is a flowchart showing an example of the flow of the operation plan determination process performed by the operation plan determination unit 2300. [Figure 14] FIG. 10 is a diagram showing an example of an operation plan determined by the operation plan determination unit 2300. [Figure 15] FIG. 10 is a diagram showing a list of action roles assigned to multiple groups by the action plan determination unit 2300. [Figure 16] FIG. 10 is a flowchart showing an example of the flow of the activity state determination process performed by the state determination unit 2400. [Figure 17] FIG. 10 is a diagram showing a list of processing contents for determining the internal state of a group by the group internal state determination unit 2410. [Figure 18] 10 is a state transition diagram of the internal state of a group determined by the group internal state determination unit 2410. FIG. [Figure 19] 10 is a flowchart showing an example of the flow of the group-by-group action determination process performed by the group action determination section 2500. FIG. [Figure 20] FIG. 10 is a diagram illustrating an example of a collision avoidance operation in which a group's movement path is changed. [Figure 21] FIG. 10 is a diagram illustrating an example of a collision avoidance operation that changes the formation shape of a group. [Figure 22] 10A and 10B are diagrams illustrating an example of a collision avoidance operation when groups pass each other. [Figure 23] 10 is a flowchart showing an example of the operation control process flow for each group by the group operation control unit 2600. FIG. [Figure 24]FIG. 26 is a diagram showing an example of cooperative control of a plurality of groups by a group operation control unit 2600. [Figure 25] 10 is a flowchart of the operation control process flow of the unmanned watercraft 1000 in each group by the intra-group operation control unit 2640. FIG. [Figure 26] FIG. 10 is a diagram showing an example of how the intra-group operation control unit 2640 controls the positions of multiple unmanned watercraft 1000 in a group. [Figure 27] FIG. 10 is a flowchart showing an example of a control process flow of a search operation for each group by a group operation control unit 2600. [Figure 28] 10 is a diagram showing an example of a result of determination of the measurement density distribution by the measurement density adjustment operation control unit 2630. FIG. [Figure 29] FIG. 10 is a flowchart showing an example of a control process flow for the passing operation of a plurality of groups by the group operation control unit 2600. [Figure 30] FIG. 10 is a diagram showing an example of a branch-connect formation, which is an example of a formation pattern for group 1010. [Figure 31] FIG. 10 is a diagram showing an example of a formation pattern of a group 1010, which is an example of a substantially V-shaped formation. [Figure 32] 10A and 10B show several other examples of a generally V-shaped formation of a group 1010. [Figure 33] FIG. 10 is a diagram showing an example of a substantially square formation, which is an example of a formation pattern for a group 1010. [Figure 34] 10A and 10B are diagrams showing two examples of avoidance formations, which are examples of formation patterns for a group 1010. [Figure 35] FIG. 10 is a diagram showing an example of a formation for narrow spaces in the formation pattern of group 1010. [Figure 36] FIG. 10 is a diagram showing another example of a formation for narrow spaces in the formation pattern of group 1010. [Figure 37] FIG. 10 is a diagram showing another example of a formation for narrow spaces in the formation pattern of group 1010. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] A control system for controlling the operation of a plurality of groups including at least a first group having a plurality of moving bodies and a second group having a plurality of other moving bodies, an activity condition acquisition unit that acquires information about activity conditions of the plurality of moving objects; a group action determination unit that determines at least one of a group organization, an assigned action, an assigned area, a movement route, and a formation for each of the plurality of groups based on the information acquired by the activity condition acquisition unit; A control system comprising a group action control unit that controls at least one of the group formation of the multiple groups, the execution of the assigned action, the execution of action in the assigned area, the movement path, and the formation, depending on the decision content of the group action decision unit. [Item 2] In the control system according to item 1, The group formation decision information by the group operation decision unit includes: A control system including decision information on the number of the moving objects included in the first group or the second group, decision information on whether to change the composition of the first group or the second group, decision information on increasing or decreasing the number of the moving objects included in the first group or the second group, or decision information on moving or switching the moving objects between the first group and the second group. [Item 3] In the control system according to item 1 or 2, The information regarding the assigned operation determined by the group operation determination unit includes: A control system including decision information for assigning at least one of the following operations to at least one of the first group and the second group: searching for an object, tracking an object, surrounding an object, getting ahead of the object, taking over tracking of the object, communication relay, data analysis, data transmission, data storage, advance preparation, termination operation, standby, and recovery charging. [Item 4] In the control system according to any one of items 1 to 3, The information determined by the group operation determination unit includes: information for determining whether or not an avoidance operation is necessary to avoid contact between the moving bodies belonging to the first group and the second group; or decision information for detouring at least one of the movement paths of the first group and the second group as the avoidance operation; or decision information for changing the formation of at least one of the first group and the second group to an avoidance formation as the avoidance operation; Or the control system includes decision information to perform an avoidance operation in which the first group and the second group pass each other while at least a portion of the areas deployed by the first group and the second group overlap. [Item 5] In the control system according to any one of items 1 to 4, The information determined by the group operation determination unit includes: A control system that includes information for determining at least one of the representative positions of the first group and the second group, or the movement routes, formations, and reduction or expansion of the distance between the moving bodies within the group to maintain a distance of a predetermined value or more between the moving bodies belonging to the first group and the second group. [Item 6] In the control system according to any one of items 1 to 5, When searching for an object using measurement sensors mounted on the plurality of moving bodies included in the plurality of groups, the determination information by the group operation determination unit includes: A control system that includes decision information regarding at least one of the movement path, formation, and reduction or expansion of the distance between moving bodies within the group of at least one of the first group and the second group, so that the measurement density distribution calculated by the measurement sensor for each area meets a predetermined target value. [Item 7] In the control system according to any one of items 1 to 6, The information on the activity conditions acquired by the activity condition acquisition unit includes: A control system that includes information regarding at least one of the activity areas of multiple mobile bodies, the date and time of activity, information about objects detected by measurement sensors mounted on the mobile bodies, the alert level of the activity, and the measurement density distribution calculated for each area by the measurement sensors. [Item 8] In the control system according to any one of items 1 to 7, an operation plan determination unit that generates an operation plan for the plurality of groups including at least the first group and the second group, or a state determination unit that determines information about states of the plurality of groups; The group operation determination unit makes decisions regarding at least one of the group organization, assigned operation, assigned area, movement route, and formation of the first group and the second group based on the operation plan or state of the multiple groups. [Item 9] In the control system according to any one of items 1 to 8, The information about the states of the plurality of groups determined by the state determination unit includes: A control system including a group internal state including at least one of an abnormal state, a fault state, and a charging state of the mobile units belonging to the first group and the second group. [Item 10] In the control system according to any one of items 1 to 9, The information about the states of the plurality of groups determined by the state determination unit includes: A control system including an operating state of the mobile body including at least one of searching for an object by the first group and the second group, tracking the object, surrounding the object, getting ahead of the object, taking over tracking of the object, communication relay, data analysis, data transmission, data storage, advance preparation, termination operation, standby, and recovery charging. [Item 11] In the control system according to any one of items 1 to 10, The information about the states of the plurality of groups determined by the state determination unit includes: A control system including a measurement density distribution for each area measured by measurement sensors mounted on the mobile bodies belonging to the first group and the second group. [Item 12] In the control system according to any one of items 1 to 11, The group operation determination unit determines a priority for each group based on the operation plan for the multiple groups generated by the operation plan determination unit, or the current state of the multiple groups determined by the state determination unit, or the information acquired by the activity condition acquisition unit. [Item 13] In the control system according to any one of items 1 to 12, When the priority of the second group is higher than the priority of the first group, the group operation determination unit: A control system that determines the number of moving objects belonging to the second group to be greater than the number of moving objects belonging to the first group, or that increases the number of moving objects belonging to the second group, or that moves at least some of the moving objects belonging to the first group to the second group. [Item 14] In the control system according to any one of items 1 to 13, When the priority of the second group is higher than the priority of the first group, the group operation determination unit: A control system that determines to replace a mobile object belonging to the second group in which an abnormal state, a failure state, or an insufficient charge state has been detected with a mobile object belonging to the first group. [Item 15] In the control system according to any one of items 1 to 14, The group operation determination unit determines the number of the moving bodies belonging to the first group or the second group, determines whether or not to change the composition of the first group or the second group, determines whether to increase or decrease the number of the moving bodies included in the first group or the second group, or determines whether to move or swap the moving bodies between the first group and the second group, depending on the determination result of the allocation operation of the first group and the second group. [Item 16] In the control system according to any one of items 1 to 15, When performing an avoidance operation to avoid contact between the moving bodies belonging to the first group and the second group, and the priority of the second group is higher than the priority of the first group, The group operation determination unit determines to perform at least one of the following as the avoidance operation: changing the movement path of the first group; changing the formation of the first group; or reducing or increasing the distance between moving bodies in the group. [Item 17] In the control system according to any one of items 1 to 16, When searching for an object using measurement sensors mounted on the plurality of moving bodies belonging to the plurality of groups and an external measurement sensor mounted on an external cooperative system, A control system in which the group operation determination unit generates the movement route that can measure the boundary area between the external search area and the activity area at a frequency greater than or equal to a predetermined frequency, based on information regarding the external search area of ​​the collaborative system and the activity area of ​​the multiple moving bodies. [Item 18] In the control system according to any one of items 1 to 17, The group operation determination unit When changing the formation of at least one of the first group and the second group as an avoidance operation to avoid contact between the moving bodies belonging to the first group and the second group, A control system that determines the formation to be changed to one of a partially transformed formation that transforms a portion of at least one of the formations of the first group and the second group, a compressed transformation that compresses the deployment area of ​​the formation, or a split formation that divides the formation into two or more. [Item 19] In the control system according to any one of items 1 to 18, When a passing operation is performed to avoid contact between the moving bodies belonging to the first group and the second group in a state where at least a part of the areas of the first group and the second group overlap, The group operation determination unit performs the passing operation so as to pass through a gap between at least some of the moving bodies belonging to the first group and the second group. [Item 20] In the control system according to any one of items 1 to 19, The group operation determination unit, as an avoidance operation to avoid contact between the moving bodies belonging to the first group and the second group, switches the moving bodies belonging to the first group with the moving bodies belonging to the second group when the first group and the second group approach each other within a predetermined distance. [Item 21] A control method for controlling the operation of a plurality of groups including at least a first group having a plurality of moving objects and a second group having a plurality of other moving objects, The computer an activity condition acquisition step of acquiring information about activity conditions of the plurality of moving objects; a group action determination step of determining at least one of a group organization, an assigned action, an assigned area, a movement route, and a formation for each of the plurality of groups based on the information acquired in the activity condition acquisition step; a group action control step of controlling at least one of the group organization of the plurality of groups, the execution of the assigned action, the execution of action in the assigned area, the movement path, and the formation according to the content determined in the group action determination step; A control method for execution. [Item 22] A program for controlling the operations of a plurality of groups including at least a first group having a plurality of moving bodies and a second group having a plurality of other moving bodies, causing a computer to acquire information regarding the activity conditions of the plurality of moving bodies, an activity condition acquisition command, based on the information acquired by the activity condition acquisition command, make a decision regarding at least one of the group composition, assigned operations, assigned area, movement route, and formation for each group of the plurality of groups, a group operation decision command, according to the decision content by the group operation decision command, control at least one of the group composition, the assigned operations, the operations in the assigned area, the movement route, and the formation of the plurality of groups, a group operation control command, and execute the program.

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

[0013] [A-1. Configuration] (A-1-1. System Configuration) First, the system configuration of a control system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

[0014] (A-1-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an unmanned craft 1000 and a general control system 2000. The general control system 2000 is also configured to be able to communicate with an external collaborative system 5000 and an external system 6000 via an internet line or the like, and is capable of inputting and outputting information. The general control system 2000 can send control commands to the unmanned craft 1000 deployed on the sea via a terrestrial base station 4000 and a communication satellite 3000, and can also receive the operating status and measurement data of the unmanned craft 1000.

[0015] Unmanned watercraft 1000 is equipped with parent device 1001 capable of communicating with communication satellite 3000 and child devices 1002 capable of communicating directly or indirectly with parent device 1001, and a communication network is established between the plurality of child devices 1002 and parent device 1001. In addition, the plurality of child devices 1002 and parent device 1001 have the function of measuring targets 7000, including ships, divers, drifting objects, castaways, marine life such as whales, breakwaters, harbor areas, offshore infrastructure facilities (wind power generation facilities, wave power generation facilities, offshore plants, offshore runways, etc.), floating buoys, fish pens, and other objects, using measurement sensors (optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter wave sensors and microwave sensors, sonar and other acoustic sensors) mounted on the devices.

[0016] The detection determination results and measurement data of the object 7000 detected by the unmanned vessel 1000, as well as various information on the operational status of the unmanned vessel 1000, are transmitted to the overall control system 2000 via the communications satellite 3000 and the terrestrial base station 4000. The overall control system 2000 determines operational commands for the unmanned vessel 1000 based on information acquired from the unmanned vessel 1000, pre-registered information, user-entered information, and the like. The generated information such as the operational commands is transmitted to the cooperative system 5000, and intervention commands can also be obtained from the cooperative system.

[0017] (A-1-1-2. Example of Control System 1 Implementation in Real Space) 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Fig. 2, a terrestrial base station 4000 and an integrated control system 2000 are provided on the ground side shown in the upper right of the drawing. Also provided on the ground side is a cooperative system 5000 including related facilities of external cooperative organizations such as private organization-related facilities (including private security organizations, marine research organizations, infrastructure inspection organizations, private rescue organizations, etc.), and further provided is an external system 6000 such as an AIS (Automatic Identification System) control center or AIS base station that acquires information about ships navigating the ocean via wireless communication and manages this ship information.

[0018] On the other hand, on the ocean side shown on the left side of the drawing, there are deployed parts of a cooperative system 5000, such as an unmanned vessel 1000, an object 7000 to be monitored, inspected, or surveyed, and a research vessel operated by an external cooperative organization. The unmanned vessel 1000 also has multiple groups (1010a, 1010b, 1010c) consisting of a master vessel and multiple slave vessels, and each group can communicate directly or via a communication satellite 3000. The unmanned vessel 1000 can also communicate with the research vessel directly or via the communication satellite 3000. For example, the unmanned vessel 1000 can notify the research vessel of detection information regarding the object 7000. The unmanned vessel 1000 may also be communicably connected to an AIS base station to acquire AIS information.

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

[0020] (A-1-2. Stakeholders regarding Control System 1) Fig. 3 is a diagram showing stakeholders related to the control system 1. As shown in Fig. 3, the control system 1 has an operator who operates the unmanned watercraft 1000 by inputting and outputting information via an information input / output unit 2700 of the overall control system 2000. If all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in a coastal field base on land or a manned mother ship at sea (not shown), the operator can manage the operation of the unmanned watercraft 1000 at the coastal field base or the manned mother ship.

[0021] The cooperative system 5000 also includes systems of, for example, private security organizations, marine research organizations, infrastructure inspection organizations, private rescue organizations, and other external cooperative organizations. Private security organization-related facilities have monitoring managers, and surveillance boats have observers, who work together to monitor suspicious ships and nuisance activities in the marine area. Marine research organization-related facilities have investigation managers, and investigation boats have investigators, who work together to investigate marine life and other issues in the marine area. Infrastructure inspection organization-related facilities have infrastructure inspection managers, and inspection boats have inspectors, who work together to inspect the facilities they inspect. The AIS control center of the external system 6000 has personnel who generate, operate, and manage AIS information.

[0022] Furthermore, the objects 7000 that are the targets of monitoring and investigation by the control system 1 and the collaboration system 5000 include ships, divers, marine life (such as whales), marine buoys, wind power generation facilities, fish pens, and other offshore facilities. The control system 1 can communicate and cooperate with the collaboration system 5000 and the external system 6000 to more efficiently monitor, inspect, or investigate the objects 7000.

[0023] (A-1-3. Configuration of Unmanned Boat 1000) Figure 4 is a configuration diagram showing a group 1010 made up of unmanned watercraft 1000. As shown in Figure 4, one or more groups 1010 (1010a, 1010b) are made up of unmanned watercraft 1000. Each group 1010 has at least one master unit 1001 and multiple slave units 1002. The master unit 1001 has a communication connection with an external communication system such as a communication satellite 3000, and has the function of aggregating information collected from the multiple slave units 1002 and transmitting it to the communication satellite 3000, as well as transmitting information related to operational commands obtained from the communication satellite 3000 and information generated by the master unit 1001 directly or indirectly to each slave unit 1002. In addition, the communication path between the ground-side overall control system 2000 and the group 1010 is not limited to the communication path via the communication satellite 3000 and the parent unit 1001, and can be replaced with, for example, another communication path, such as a communication configuration in which the terrestrial base station 4000 and each unmanned watercraft (parent unit and child unit) are directly connected via wireless communication, or a communication configuration in which another communication satellite (such as a VDES satellite) connected to the terrestrial base station 4000 is directly connected via wireless communication to each unmanned watercraft (parent unit and child unit), or these communication paths can be combined to make the communication path redundant.

[0024] 4 includes a primary connected slave device 10021 that is communicatively connected to the master device 1001, a secondary connected slave device 10022 that is communicatively connected to the primary connected slave device 10021, and a tertiary connected slave device 1023 that is communicatively connected to the secondary connected slave device 10022. Each slave device (primary connected slave device 10021, secondary connected slave device 10022, tertiary connected slave device 1023) has a function of relaying information received from another master device 1001 or slave device 1002 to the other master device 1001 or slave device 1002, thereby forming a communication network between the master device 1001 and the multiple slave devices 1002.

[0025] 1 to 4 illustrate a system configuration in which multiple unmanned watercraft 1000 are used to perform activities such as monitoring, inspection, and investigation in a target area such as an ocean area. However, the present invention can utilize a mobile object other than the unmanned watercraft 1000, which is an unmanned vessel that navigates on water. That is, the present invention can be applied to vehicles that can travel on land, aircraft that can fly in the sky, underwater vehicles that can move underwater, and other mobile objects. Furthermore, the present invention can be applied to autonomously moving or remotely controlled unmanned aircraft as mobile objects, but is not limited to this, and manned mobile objects can also be applied.

[0026] 5 is a conceptual diagram showing how an unmanned vessel 1000 deployed in an ocean area monitors an object 7000. As shown in FIG. 5, multiple unmanned vessels (parent vessel 1001, child vessels 10021, 10022, 10023) are deployed on the sea, and the measurement sensors 1110 mounted on each unmanned vessel 1000 can measure the object 7000 present within its measurable range. Measurement data and detection determination results of the object 7000 detected by the measurement sensors 1110 are collected in the parent vessel 1001 via a wireless communication network between the unmanned vessels 1000, transmitted from the parent vessel 1001 to a communication satellite 3000, and then transmitted to the overall control system 2000 via a terrestrial base station 4000 and an internet line. In addition, each unmanned boat 1000 is equipped with a navigation unit 1300 that can navigate the unmanned boat in any direction, and can perform detailed measurement operations on the target object 7000 based on operation commands generated by the overall control system 2000 or the parent unit 1001.

[0027] In the configuration of the present embodiment described with reference to FIGS. 1 to 5, a non-terrestrial network using a communication satellite 3000 or other communication satellites placed in a geosynchronous orbit (Geosynchronous Orbit), a medium Earth orbit (MEO), a low Earth orbit (LEO), or other orbits is used as the communication network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft 1000. However, the present invention is not limited to this. A non-terrestrial network using an unmanned air vehicle (HAPS) called a High Altitude Platform Station (HAPS) can also be used. In this case, for example, an unmanned air vehicle that circles at an altitude of approximately 8 to 50 km can be used. Furthermore, a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft 1000 can also be used, which directly connects the terrestrial base station 4000 to the unmanned watercraft 1000 via wireless communication, without going through the communication satellite 3000 or HAPS. The terrestrial base station 4000 is not limited to a fixed base station, and may be a mobile base station.

[0028] Furthermore, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1000, any of the above-mentioned multiple communication networks (non-terrestrial network using a communication satellite, non-terrestrial network using an unmanned aerial vehicle, or communication network directly connecting the terrestrial base station 4000 to the unmanned boat 1000 via wireless communication) can be applied, but this is not limited to this, and it is also possible to combine the above-mentioned multiple communication networks to make the communication path redundant using multiple communication networks.

[0029] (A-1-4. Configuration of Unmanned Boat 1000) Next, the functions and details implemented in unmanned watercraft 1000 will be described using Figure 6. In the present invention, unmanned watercraft 1000 is a mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and can also be configured as a mobile buoy equipped with a thrust generating unit.

[0030] Figure 6 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. Note that Figure 6 illustrates the functional block diagram of the unmanned watercraft 1000, but the parent unit 1001 and child unit 1002 of the unmanned watercraft 1000 can implement functions similar to those shown in Figure 6. The unmanned watercraft 1000 includes a measurement unit 1100, a vessel state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0031] The measurement unit 1100 is a functional unit that detects an object 7000 present within a measurable range around the unmanned watercraft 1000 using a measurement sensor 1110, and acquires measurement information about the object 7000. The measurement unit 1100 includes the measurement sensor 1110 and a measurement control unit 1120.

[0032] #A011002# The measurement sensor 1110 may include one (monocular) or multiple electro-optical sensors that acquire image data of the sea, optical sensors such as optical cameras, infrared sensors (IR sensors), and stereo cameras, laser sensors such as LiDAR that acquire point cloud data, optical distance measuring sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. The measurement sensor 1110 acquires measurement data of an object 7000 that exists within a measurable range on the sea by measuring the periphery of the unmanned boat 1000. Furthermore, each of the above sensors can be used as a distance measuring sensor that measures the distance to an object based on the measurement data.

[0033] In addition to the above-described sensors, the measurement sensor 1110 may also include an acoustic sensor (also referred to as an acoustic measurement unit) that includes a sonar that uses sound waves such as ultrasonic waves. The acoustic sensor can be used not only underwater but also in the air above the water. When used in the air, the acoustic sensor can be used as a distance sensor that measures the distance to an object by measuring the sound waves that are generated and reflected off the object. When used underwater, the acoustic sensor may be either an active sonar that generates sound waves and measures the sound waves that resonate with underwater objects, or a passive sonar that measures the sound generated by underwater objects. The active sonar may be, for example, a side-scan sonar, a multi-beam sonar, or a single-beam sonar. The acoustic sensor may also be configured with a USBL transceiver, an acoustic communication modem, or the like.

[0034] The measurement control unit 1120 also operates a sensor attitude changing device that can change the attitude of the measurement sensor 1110 to control at least one of the attitude angles of the measurement sensor 1110 around three axes relative to the unmanned watercraft 1000. For example, if the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. If the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. If the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. The measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to any control amount. If the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount or resolution of the optical sensor to any control amount.

[0035] Next, the unmanned watercraft state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state and internal and external states of the unmanned watercraft 1000. The navigation state determination unit 1210 determines the position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state of the unmanned watercraft. The internal state determination unit 1220 determines the remaining energy of the battery and fuel installed in the unmanned watercraft, the travelable distance that can be calculated based on the remaining energy, temporary abnormal states of equipment installed in the unmanned watercraft (temperature abnormality, communication abnormality, etc.), and equipment failure states. In addition, the external condition determination unit 1230 determines the communication conditions such as communication strength (dB value, etc.) and communication speed with other unmanned boats 1000 in the communicating group 1010, or the ocean currents and tidal currents (flow speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the boat.

[0036] The method by which the navigation state determination unit 1210 determines the position, moving speed, moving direction, and acceleration / deceleration of the aircraft itself is not particularly limited, but for example, the current position, moving speed, and moving direction of the aircraft itself can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Furthermore, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0037] The method for measuring the aircraft's heading is to determine the aircraft's heading at the current time using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the seabed shape. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and preferably may be attitude information around three axes: the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0038] Next, the navigation unit 1300 is a functional unit that includes a thrust generating unit, an attitude control mechanism, and a navigation control unit, and that navigates the parent unit 1001 in any direction according to operational commands received via the communication unit 1400. The thrust generating unit is configured, for example, with a propeller, and can generate thrust by driving the propeller using the power of an engine or an electric motor. The thrust generating unit 1310 can also be configured with a sail that receives wind to generate thrust, or with a wave glider that receives wave power to generate thrust.

[0039] The attitude control mechanism is composed of a rudder mounted on the aircraft body, a propeller attitude change mechanism that can change the propeller attitude angle (mainly the yaw angle around the Z axis), and so on, and by changing these angles it is possible to control the nose direction (yaw angle) of the unmanned watercraft 1000. In addition, a center of gravity position change mechanism that changes the position of a heavy object inside the aircraft body using an actuator can also control the attitude angles of the aircraft body, namely the roll angle around the X axis and the pitch angle around the Y axis.

[0040] The navigation control unit is a functional unit that controls the output from the thrust generation unit and the attitude control mechanism to control the navigation operation of the aircraft. The navigation control unit has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP), and is equipped with a processing unit that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0041] The processing unit includes a control module configured to control the navigation status of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, movement speed, movement acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by causing the aircraft to perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0042] Next, the communication unit 1400 includes an unmanned craft-to-unmanned craft communication unit 1410, a satellite communication unit 1420, and an external communication unit 1430, and is a functional unit that communicates with other unmanned crafts 1000 in the group 1010, the communication satellite 3000, external flying bodies 8100, submersible craft 8200, patrol craft, and AIS base stations. The unmanned craft-to-unmanned craft communication unit 1410 includes a communication antenna for unmanned craft-to-unmanned craft communication, and communicates with other unmanned crafts 1000 in the group 1010. The satellite communication unit 1420 includes a satellite communication antenna, and communicates with the communication satellite 3000. The external communication unit 1430 includes an AIS antenna and a VHF antenna, and communicates with external patrol craft and AIS base stations.

[0043] Next, the determination unit 1500 is a functional unit that makes a determination regarding the target object 7000. The determination unit 1500 interprets the measurement data acquired by the measurement sensor 1110 and determines the presence or absence of an object, the size of the object, and the like.

[0044] The determination unit 1500 determines whether to transmit the measurement data to the overall control system 2000 and perform object analysis based on the measurement data interpretation information. For example, even if the determination unit 1500 detects an object, if the estimated size of the object is smaller than a predetermined value and it is determined that the object is likely to be an object other than the object 7000, or if it is determined that the object does not correspond to an object with which the unmanned watercraft 1000 needs to avoid collision, it can determine that it is not necessary to transmit the measurement data to the overall control system 2000. On the other hand, if the estimated size of the object detected by the determination unit 1500 is larger than a predetermined standard, it is likely to be the object 7000, such as a ship or marine life, and it can determine that it is necessary to transmit the measurement data to the overall control system 2000. Alternatively, it can also determine that it is necessary to transmit the measurement data to the overall control system 2000 if it is highly likely that the unmanned watercraft 1000 corresponds to an object with which collision should be avoided.

[0045] Next, the recording unit 1600 includes a measurement data recording unit 1610, a host device state recording unit 1620, and a determination information recording unit 1630. The measurement data recording unit 1610 records measurement data measured by the measurement unit 1100. The host device state recording unit 1620 records various state information related to the host device determined by the host device state determination unit 1200. Furthermore, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0046] (A-1-5. Configuration of the integrated control system 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 7. Fig. 7 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 7, the overall control system 2000 includes an information import unit 2100, an activity condition acquisition unit 2200, an action plan determination unit 2300, a state determination unit 2400, a group action determination unit 2500, a group action control unit 2600, and an information input / output unit 2700.

[0047] (A-1-5-1. Information import unit 2100) The information import unit 2100 is a functional unit that imports information to be processed or used in each functional unit within the overall control system 2000 from the unmanned boat 1000, the cooperative system 5000, or the external system 6000. The information import unit 2100 includes an external information acquisition unit 2110, a formation pattern acquisition unit 2120, a priority group determination condition acquisition unit 2130, and an unmanned boat information acquisition unit 2140.

[0048] The external information acquisition unit 2110 is a functional unit that acquires, from the AIS control center of the external system 6000, navigation information about ships in the area of ​​operation where the unmanned watercraft 1000 is deployed or its surrounding area. Here, the activity area refers to an area where various activities, such as monitoring, investigation, or inspection, are carried out by a mobile object such as the unmanned watercraft 1000. This area includes airspace areas when an aerial vehicle is used as the mobile object, terrestrial areas when a vehicle is used, and underwater areas when an underwater vehicle is used. The navigation information about the ship may include not only real-time navigation information about the ship but also information about the location and traffic volume of navigation routes. The navigation information about the ship may also be acquired from another VHF data exchange system included in the external system 6000. The external information acquisition unit 2110 may also acquire weather information about the ocean area where the unmanned watercraft 1000 is deployed or its surrounding area from the Japan Meteorological Agency, a private weather information system, or other external system 6000. Furthermore, the external information acquisition unit 2110 may acquire information such as the installation location and communication area of ​​the terrestrial base station 4000 from a communication infrastructure system that is the external system 6000.

[0049] The external information acquisition unit 2110 can also acquire information about the activity area from an external geographic information providing system. Here, the activity area is an area where various activities such as monitoring, investigation, or inspection are carried out by a mobile body such as the unmanned watercraft 1000, and can include an airspace area when an aerial vehicle is used as the mobile body, a ground area when a vehicle is used, and an underwater area when an underwater mobile body is used. The external information acquisition unit 2110 can also acquire information about the activity area of ​​the unmanned watercraft 1000. The information about the activity area can include information about the location, area, and shape of the activity area, geographic information within the activity area (islands, shallows, embankments, offshore infrastructure such as wind power generation facilities, and fishing-related facilities such as aquaculture farms and fish pens), the width of the sea area that passes through the activity area, the width between the navigation lanes that pass through, and navigation lane information (location, traffic volume by time of day, whether or not passage is possible by time of day).

[0050] The formation pattern acquisition unit 2120 is a functional unit that acquires information related to the formation pattern of the group 1010 of multiple unmanned boats. The formation pattern acquisition unit 2120 can acquire information related to multiple formation patterns, such as branching, approximately V-shaped, approximately rectangular, separation, compression, partial extension, narrow space passage, and multiple rows. The formation pattern acquisition unit 2120 can acquire information related to the formation pattern from a user of the integrated control system 2000 or an external collaboration system 5000 via the activity condition acquisition unit 2200, which will be described later. Specific examples of the above formation patterns will be described later.

[0051] The formation pattern acquisition unit 2120 can also acquire information on formation patterns when multiple groups 1010 pass each other so that their deployment areas overlap, and on group composition change patterns due to unmanned boat swaps. It can also acquire information on formation patterns when multiple groups 1010 avoid each other so that their deployment areas do not overlap.

[0052] Furthermore, the formation pattern acquisition unit 2120 is not limited to acquiring information about the formation patterns described above, but can also acquire information about the formation pattern change process. Information about the formation pattern change process can include, for example, a formation change process that sequentially increases or decreases the distance between unmanned craft 1000 starting from near the center of the group or near the parent craft 1001, or conversely, a formation change process that sequentially increases or decreases the distance between unmanned craft 1000 starting from near the outside of the group.

[0053] Another example of the information related to the formation pattern change process may include information related to the process of switching the wireless communication network between unmanned vessels 1000 in a group, which is changed in conjunction with the change in the formation pattern. The wireless communication network switching process may be, for example, a process of changing the communication configuration to switch an unmanned vessel connected to a first unmanned vessel via a wireless communication network from a second unmanned vessel to a third unmanned vessel so that communication between the unmanned vessels 1000 is not interrupted during the wireless communication network switch. The process may involve connecting wireless communication between the first unmanned vessel and the third unmanned vessel when both the second unmanned vessel and the third unmanned vessel are located within a distance range where wireless communication with the first unmanned vessel is possible, and then disconnecting the wireless communication between the first unmanned vessel and the second unmanned vessel. In other words, the communication switch may be performed while the first unmanned vessel overlaps the communication ranges of the second and third unmanned vessels.

[0054] The priority group determination condition acquisition unit 2130 is a functional unit that acquires priority group determination conditions for determining which group should be prioritized when multiple groups pass each other, avoid contact, change formation, change course, change group composition, etc. The priority group determination condition acquisition unit 2130 can set the priority group determination conditions based on, for example, the internal state of each group, the action role (action state) assigned to each group, the measurement density distribution for each area measured by the measurement sensor 1110 of the unmanned watercraft 1000, the object determination state around the unmanned watercraft 1000, etc. The priority group determination condition acquisition unit 2130 may also acquire detection determination conditions when a peripheral object determination unit 2440, described below, detects an object 7000 based on measurement data acquired from the unmanned watercraft 1000.

[0055] An example of the priority group determination conditions acquired by the priority group determination condition acquisition unit 2130 may be, for example, priority group determination conditions in which the priority decreases in the order of post-discovery action, failure detection, abnormality detection, communication supplementation, berthing search, patrol search, and low SOC state. Note that, depending on the detailed operation content of the post-discovery action, priority group determination conditions in which the priority decreases in the order of tracking, anticipation, takeover tracking, encirclement, and ambush may also be set. Furthermore, depending on the detailed operation content of the low SOC state, priority group determination conditions in which the priority decreases in the order of low SOC state recovery charging operation, patrol, berthing, movement, deployment, and unmanned vessel recovery may also be set.

[0056] The unmanned watercraft information acquisition unit 2140 is a functional unit that acquires, via the communication satellite 3000, HAPS, terrestrial base station 4000, etc., determination results determined by the determination units 1500 of multiple unmanned watercraft 1000, measurement data measured by multiple unmanned watercraft 1000, or information regarding the watercraft's own status determined by the watercraft's own status determination unit 1200. The measurement data acquired by the unmanned watercraft information acquisition unit 2140 is measurement data measured by measurement sensors mounted on the unmanned watercraft 1000, and includes measurement data measured by optical sensors such as one (monocular) or multiple electro-optical sensors that acquire image data of the sea, optical cameras, infrared sensors (IR sensors), stereo cameras, laser sensors such as LiDAR that acquire point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. The information relating to the state of the unmanned watercraft acquired by the unmanned watercraft information acquisition unit 2140 is information on the navigation state, internal state, and external state of the unmanned watercraft.

[0057] (A-1-5-2.Activity condition acquisition section 2200) The activity condition acquisition unit 2200 is a functional unit that acquires information about activity conditions input from a user who uses the integrated control system 2000 or an external collaborative system 5000. The activity condition acquisition unit 2200 includes a user input acquisition unit 2210 and an external user input acquisition unit 2220.

[0058] The user input acquisition unit 2210 is a functional unit that acquires activity conditions and other user input information received from a user by the user input acceptance unit 2720, which will be described later. For example, the information received by the user input acquisition unit 2210 regarding the activity conditions of the multiple unmanned watercrafts 1000 includes information regarding at least one of the activity areas of the multiple unmanned watercrafts 1000, the activity date and time, designation information of the target object 7000 detected by the measurement sensors mounted on the unmanned watercraft 1000, the alert level for activity by the unmanned watercraft 1000, and the measurement density distribution calculated for each area by the measurement sensors.

[0059] The external user input acquisition unit 2220 is a functional unit that receives user input information from an external source such as the collaborative system 5000. For example, the external user input acquisition unit 2220 can receive the above-described activity conditions from the collaborative system 5000 via a communication unit 2740 (described later). The external user input acquisition unit 2220 can also receive intervention command information from the user regarding candidate actions such as group organization, formation, and course changes for each group, and post-discovery actions, which are sent to the collaborative system 5000 via the communication unit 2740 (described later).

[0060] (A-1-5-3. Operation plan determination unit 2300) The motion plan determination unit 2300 is a functional unit that determines motion plans such as the organizational structure of the multiple groups 1010, the assignment of motion roles, and movement routes before the start of an activity. The motion plan determination unit 2300 includes an overall organization determination unit 2310, a group role assignment unit 2320, a collision avoidance motion planning unit 2330, and a measurement density plan determination unit 2340.

[0061] The overall formation determination unit 2310 is a functional unit that determines in advance the formation of each group 1010 made up of multiple unmanned watercraft 1000. For example, the overall formation determination unit 2310 can determine the number and identification information of the unmanned watercraft 1000 that make up the group 1010, the number and identification information of the master unit 1001, primary connected slave units 10021, secondary connected slave units 10022, and tertiary connected slave units 10023 in the group 1010, and the wireless connection relationships of the unmanned watercraft 1000 in the group 1010. The formation of each group may also be determined according to the alert level acquired by the activity condition acquisition unit 2200.

[0062] The group role assigning unit 2320 is a functional unit that determines in advance the assignment of operations to each group based on the information acquired by the activity condition acquiring unit 2200. The group role assigning unit 2320 assigns various operations to each group, such as search operations for the object 7000 (patrol search, anchorage search), operations after the object 7000 is discovered (tracking, tracking takeover, advance, encirclement, ambush), communication relay, data analysis, data transmission, data accumulation, advance preparation (deployment, movement), termination operations (return, recovery), standby, and recovery charging.

[0063] The group role assigning unit 2320 may have a function of determining a corresponding alert level according to the action assignment for each group described above. Furthermore, the group role assigning unit 2320 may determine an action role for each group according to the determined alert level or the alert level acquired by the activity condition acquiring unit 2200. For example, when the alert level of a certain group decreases, it may be determined that the action role assigned to the group is changed from the action of pursuit to the action of encirclement.

[0064] Furthermore, the group role assigning unit 2320 may assign an activity area (search area) to each group, in addition to the assignment of the various actions described above. As a method of assigning an activity area (search area) to each group, the activity area (search area) may be determined for each group according to the determined alert level or the alert level acquired by the activity condition acquiring unit 2200.

[0065] The collision avoidance operation planning unit 2330 is a functional unit that determines in advance collision avoidance operations to prevent the unmanned watercraft 1000 from colliding with multiple groups or with obstacles in the activity area. The collision avoidance operation planning unit 2330 can, for example, determine whether avoidance operations are necessary to avoid contact between the unmanned watercraft 1000 belonging to multiple groups, determine to detour the movement paths of at least one of the multiple groups as an avoidance operation, determine to change the formation of at least one of the multiple groups to an avoidance formation as an avoidance operation, or determine to perform an operation to allow the multiple groups to pass each other while at least a portion of their deployment areas overlap as an avoidance operation. Here, avoidance formations include a separation formation that separates a group into two, a modified formation that changes the formation of at least a portion of a group, a compressed formation that compresses at least a portion of the deployment area of ​​a group, and a reduction or increase in the distance between the unmanned watercraft within a group.

[0066] In addition, when detouring or changing the shape of the movement path to prevent multiple groups from getting too close, the collision avoidance operation planning unit 2330 can determine plans for each group's movement path, formation, and reduction or expansion of the distance between unmanned boats 1000 within a group so that the distance between representative positions of multiple groups (approximate centroid position, parent aircraft position, or any other position within the group deployment area) or unmanned boats 1000 belonging to different groups is maintained at a distance of a predetermined value or greater.

[0067] The measurement density plan determination unit 2340 is a functional unit that, when searching for the target object 7000 using the measurement sensors 1110 mounted on multiple unmanned watercraft 1000 included in multiple groups, determines the movement path, formation, and reduction or expansion of the distance between moving bodies within at least one of the multiple groups so that the measurement density distribution calculated for each area by the measurement sensors 1110 meets a predetermined target value. Here, the measurement density distribution (also called the search rate) can be obtained, for example, by calculating the length of measurement time measured by the measurement sensors 1110 of the unmanned watercraft 1000 for each area. In other words, the measurement density distribution will be high in areas where the total measurement time by the unmanned watercraft 1000 equipped with the measurement sensors 1110 is long, and the measurement density distribution will be low in areas where the total measurement time by the unmanned watercraft 1000 is short. The measurement density distribution can also be calculated as the coverage rate of the movement area of ​​the unmanned watercraft 1000 in the activity area of ​​the unmanned watercraft 1000. The measurement density distribution may be calculated based on the movement records and measurement record areas for each unmanned watercraft 1000, or may be calculated based on the movement records and measurement record areas for each group.

[0068] (A-1-5-4. State Determination Unit 2400) The state determination unit 2400 is a functional unit that determines information related to the current states of multiple groups. The state determination unit 2400 includes a group internal state determination unit 2410, a group behavior state determination unit 2420, a measurement density distribution determination unit 2430, and a peripheral object determination unit 2440.

[0069] The group internal state determination unit 2410 is a functional unit that determines the group internal state of the unmanned watercraft 1000 belonging to multiple groups, including at least one of an abnormal state, a fault state, and a charging state. Here, an abnormal state includes a reversible or temporary equipment abnormality, such as a temperature abnormality, a communication abnormality, or an operational abnormality caused by vibration. Furthermore, a fault state, unlike an abnormal state, includes an irreversible equipment failure, such as damage to a propeller or airframe or a broken wired communication line. Furthermore, the charging state refers to the charging state of the battery installed in the unmanned watercraft 1000, and includes, for example, SOC and SOH.

[0070] The group behavior state determination unit 2420 is a functional unit that determines the current operating state of each group. The group behavior state determination unit 2420 can determine, for example, various operations such as search operations (patrol search, anchorage search), operations after discovery of the target object 7000 (tracking, tracking takeover, advance, encirclement, ambush), communication relay, data analysis, data transmission, data storage, advance preparations (deployment, movement), termination operations (return, recovery), standby, and recovery charging as the current operating state of each group. The group behavior state determination unit 2420 can determine the current operating state of each group as described above based on information about the status of the unmanned watercraft itself acquired by the unmanned watercraft information acquisition unit 2140 of the unmanned watercraft 1000 belonging to each group.

[0071] The measurement density distribution determination unit 2430 is a functional unit that determines the measurement density distribution (also called the search rate) that can be obtained by calculating, for each area, the length of measurement time measured by the measurement sensors 1110 mounted on the unmanned watercraft 1000 belonging to each group. The measurement density distribution calculated by the measurement density distribution determination unit 2430 will be high in areas where the unmanned watercraft 1000 equipped with the measurement sensors 1110 has a long total stay time, and will be low in areas where the unmanned watercraft 1000 has a short total stay time. The measurement density distribution determination unit 2430 can also calculate the coverage rate of the movement area of ​​the unmanned watercraft 1000 in the activity area of ​​the unmanned watercraft 1000.

[0072] The surrounding object determination unit 2440 is a functional unit that determines no-entry areas such as moving objects (such as ships) or stationary objects (such as breakwaters) or highways that exist in the vicinity of each group based on the measurement data acquired by the unmanned boat information acquisition unit 2140, the determination results of the determination unit 1500, and ship navigation information and ship highway information acquired by the external information acquisition unit 2110.

[0073] The surrounding object determination unit 2440 can determine whether or not an object needs to be avoided from contact with the unmanned watercraft 1000 based on, for example, preset conditions for determining whether avoidance is necessary and object characteristics, based on the type of detected object, whether it is moving or not, its shape, size, orientation, and the relative distance from the unmanned watercraft 1000. Objects that need to be avoided can include, for example, the above-mentioned monitoring targets, and further, in addition to monitoring targets, objects that are larger than a certain size (marine buoys, driftwood, rubble, jetties, breakwaters, harbors, land, straits, coasts, small islands, offshore facilities (wind power plants, offshore plants, offshore runways), etc.) can also be determined to need to be avoided.

[0074] The surrounding object determination unit 2440 can further determine whether or not the object 7000 to be searched for (for example, a ship, a fleet, a suspicious ship, a diver, marine life (such as a whale), an offshore buoy, a wind power generation facility, a fish pen, or other offshore facility) is an object 7000 to be searched for, based on the measurement data acquired by the unmanned boat information acquisition unit 2140 and preset determination conditions for the object 7000. The surrounding object determination unit 2440 may have a function to automatically determine an alert level according to the object 7000.

[0075] In addition, the surrounding object determination unit 2440 is not limited to determining objects, but can also determine areas that need to be avoided, such as the ship's planned route and busy navigation route areas, where the unmanned boat 1000 should avoid entering, based on ship navigation information and ship route information acquired by the external information acquisition unit 2110.

[0076] (A-1-5-5. Group Operation Decision Unit 2500) The group operation determination unit 2500 is a functional unit that makes decisions regarding at least one of the group organization, assigned operation, assigned area, movement route, and formation for each of the multiple groups, based on the information acquired by the activity condition acquisition unit 2200. Furthermore, the group operation determination unit 2500 is a functional unit that makes decisions regarding at least one of the group organization, assigned operation, assigned area, movement route, and formation for each of the multiple groups, in addition to or instead of the information acquired by the activity condition acquisition unit 2200, in accordance with the operation plans for the multiple groups determined by the operation plan determination unit 2300 or the states of the multiple groups determined by the state determination unit 2400. The group operation determination unit 2500 includes a priority determination unit 2510, a group organization determination unit 2520, a collision avoidance operation determination unit 2530, and a measurement density adjustment operation determination unit 2540.

[0077] The priority determination unit 2510 is a functional unit that determines a priority for each group. The priority determination unit 2510 can determine a priority for each group based on, for example, the operation plans for multiple groups generated by the operation plan determination unit 2300, the current states of multiple groups determined by the state determination unit 2400, or the information acquired by the activity condition acquisition unit 2200.

[0078] For example, the priority determination unit 2510 can determine the priorities based on the charge states of the unmanned watercraft 1000 in multiple groups determined by the state determination unit 2400. As another example, the priority determination unit 2510 can also determine the priorities based on priority designation input information acquired from the user by the activity condition acquisition unit 2200.

[0079] The group formation determination unit 2520 is a functional unit that determines the formation of groups made up of multiple unmanned crafts 1000. The decision information regarding the group formation determined by the group formation determination unit 2520 includes, for example, decision information regarding the number of multiple unmanned crafts 1000 included in a portion of the multiple groups (first group) or another portion of the groups (second group), decision information regarding whether or not the formation of the first group or the second group needs to be changed, decision information regarding an increase or decrease in the number of multiple unmanned crafts 1000 included in the first group or the second group, or decision information regarding a movement or exchange of multiple unmanned crafts 1000 between the first group and the second group.

[0080] Furthermore, when the priority of some groups (second groups) within the multiple groups is higher than the priority of other groups (first groups), the group formation determination unit 2520 can, for example, determine that the number of unmanned boats 1000 belonging to the second group is greater than the number of unmanned boats belonging to the first group, or increase the number of unmanned boats 1000 belonging to the second group, or decide to move at least some of the unmanned boats 1000 belonging to the first group to the second group (i.e., change the group to which they belong from the first group to the second group).

[0081] As another example, when the priority of some groups (second groups) within the multiple groups is higher than the priority of other groups (first groups), the group formation determination unit 2520 can decide to replace, for example, an unmanned watercraft 1000 belonging to the second group that has been detected to be in an abnormal state, broken state, or insufficiently charged state with a moving object belonging to the first group. In other words, it can decide to change the group formation by replacing an unmanned watercraft 1000 that has activity constraints such as an abnormality, breakdown, or insufficient charge among unmanned watercraft 1000 belonging to a group with a relatively high priority among the multiple groups with an unmanned watercraft 1000 belonging to a group with a lower priority.

[0082] As yet another example, the group formation determination unit 2520 can determine the number of multiple unmanned vessels 1000 belonging to the first group or the second group, determine whether or not the formation of the first group or the second group needs to be changed, determine whether to increase or decrease the number of multiple unmanned vessels 1000 included in the first group or the second group, or determine whether to move or swap multiple unmanned vessels 1000 between the first group and the second group, depending on the results of the allocation operation determined by the group role assignment unit 2320 between some groups (first groups) and other groups (second groups) within the multiple groups.

[0083] The group formation determination unit 2520 may have a function of updating the allocation of action roles and activity areas for each group determined by the group role assignment unit 2320, based on the information acquired by the activity condition acquisition unit 2200 and the determination information by the state determination unit 2400. For example, when the state determination unit 2400 determines that the object 7000 has been detected, the allocation of action roles can be determined so that the actions (including tracking, surrounding, getting ahead of the object 7000, taking over tracking, etc.) after the object 7000 is discovered are shared and executed by multiple groups.

[0084] Also, as an example, the group formation determination unit 2520 can determine the group formation (group allocation), assigned actions, and assigned areas (group placement) for each of the multiple groups, based on the information acquired by the activity condition acquisition unit 2200, the action plans for the multiple groups determined by the action plan determination unit 2300, or the states of the multiple groups determined by the state determination unit 2400. The assigned actions determined here include deployment (movement and deployment of the unmanned watercraft 1000), recovery of the unmanned watercraft 1000, recovery charging, search, post-discovery actions, etc.

[0085] As another example, the group formation determination unit 2520 can change the formation structure and the assigned area according to the alert level acquired by the activity condition acquisition unit 2200 or the alert level determined by the group role assignment unit 2320. Furthermore, the group formation determination unit 2520 may change the formation structure and the assigned area for each group according to the measurement density distribution determined by the measurement density distribution determination unit 2430.

[0086] The collision avoidance operation determination unit 2530 is a functional unit that determines an avoidance operation to avoid contact between an unmanned watercraft 1000 belonging to one group (first group) among the multiple groups and an unmanned watercraft 1000 belonging to another group (second group).

[0087] For example, the collision avoidance operation decision unit 2530 can decide whether or not to perform an avoidance operation to avoid contact between unmanned boats 1000 belonging to the first group and the second group, or decide to detour the movement paths of at least one of the first group and the second group as a contact avoidance operation between the unmanned boats 1000, or decide to change the formation of at least one of the first group and the second group to an avoidance formation as a contact avoidance operation between the unmanned boats 1000, or decide to perform a passing operation between the first group and the second group while at least a portion of the areas deployed by the first group and the second group overlap as a contact avoidance operation between the unmanned boats 1000.

[0088] Furthermore, for example, the collision avoidance operation determination unit 2530 can determine, as an operation to avoid contact between the unmanned boats 1000, at least one of the following: representative positions of the first group and the second group, or the movement paths of the first group and the second group, formation, or reduction or increase in the distance between the unmanned boats 1000 within the group so that the distance between the unmanned boats 1000 belonging to the first group and the second group is maintained at a predetermined value or greater.

[0089] For example, when an avoidance operation is performed to avoid contact between unmanned boats 1000 belonging to a first group and a second group, and the priority of the second group is higher than the priority of the first group determined by the priority determination unit 2510, the collision avoidance operation determination unit 2530 can determine to perform at least one of the following avoidance operations: changing the movement path or formation of the first group, or reducing or increasing the distance between moving bodies within the group.

[0090] Furthermore, when changing the formation of at least one of the first and second groups as an avoidance operation to avoid contact between unmanned boats 1000 belonging to the first and second groups, the collision avoidance operation determination unit 2530 can determine the formation to be changed to one of a partially deformed formation that deforms a part of the formation of at least one of the first and second groups, a compressed deformation that compresses the deployment area of ​​the formation, or a split formation that divides the formation into two or more parts.

[0091] Furthermore, when the collision avoidance operation determination unit 2530 performs a passing operation in which the unmanned boats 1000 belonging to the first group and the second group pass each other in a state where at least a portion of the areas of the first group and the second group overlap, as an avoidance operation to avoid contact between the unmanned boats 1000 belonging to the first group and the second group, the passing operation can be performed so as to pass through a gap between at least a portion of the unmanned boats 1000 belonging to the first group and the second group.

[0092] In addition, the collision avoidance operation decision unit 2530 can decide to swap the unmanned boat 1000 belonging to the first group with the unmanned boat 1000 belonging to the second group when the first group and the second group approach each other by more than a predetermined distance, as an avoidance operation to avoid contact between the unmanned boats 1000 belonging to the first group and the second group.

[0093] The measurement density adjustment operation determination unit 2540 is a functional unit that determines the operation to adjust the measurement density across multiple groups when the target object 7000 is searched for using measurement sensors 1110 mounted on multiple unmanned boats 1000 belonging to multiple groups. Alternatively, when the target object 7000 is searched for using measurement sensors 1110 mounted on multiple unmanned boats 1000 belonging to multiple groups and an external measurement sensor mounted on a research vessel of an external cooperative system 5000, the measurement density adjustment operation determination unit 2540 is a functional unit that determines the operation to adjust the overall measurement density including the group of unmanned boats 1000 and the research vessel of the cooperative system 5000.

[0094] For example, when searching for an object 7000 using measurement sensors 1110 mounted on multiple unmanned boats 1000 included in multiple groups, the measurement density adjustment operation decision unit 2540 can make decisions regarding at least one of the movement paths, formations, and shortening or increasing the distance between moving bodies within a group of at least one of some groups (first groups) and some other groups (second groups) within the multiple groups so that the measurement density distribution calculated for each area by the measurement sensors 1110 meets a predetermined target value.

[0095] For example, the collision avoidance operation determination unit 2530 and the measurement density adjustment operation determination unit 2540 can determine at least one of the representative positions of the first group and the second group, or the movement paths, formation, and reduction or extension of the distance between the unmanned boats 1000 within the group to maintain a distance of a predetermined value or greater between the unmanned boats 1000 belonging to the first group and the second group, so that the measurement density distribution calculated by the measurement sensor 1110 for each area meets a predetermined target value.

[0096] Furthermore, for example, when searching for an object using measurement sensors mounted on multiple moving bodies belonging to multiple groups and an external measurement sensor mounted on an external collaborative system, the measurement density adjustment operation determination unit 2540 can generate a movement route for the group that enables measurement of the boundary area between the external search area of ​​the collaborative system 5000 and the activity area of ​​the group at a frequency greater than a predetermined frequency, based on information regarding the external search area searched by the collaborative system 5000 and the activity area of ​​the multiple unmanned boats 1000.

[0097] As described above, when the collision avoidance operation decision unit 2530 or the measurement density adjustment operation decision unit 2540 changes the formation of a group or shortens or increases the distance between unmanned craft 1000 in a group, the decision to change the formation or shorten or increase the distance between unmanned craft 1000 is made based on the number of craft belonging to the group (formation composition) and information on the wireless communication distances available for the unmanned craft 1000 obtained in advance, within a range where the wireless communication network within the group is not interrupted. Similarly, a formation change process is decided that will not interrupt the wireless communication network within the group.

[0098] (A-1-5-6. Group operation control unit 2600) The group operation control unit 2600 is a functional unit that controls at least one of the group formation of multiple groups, the execution of assigned operations, the execution of operations in assigned areas, the movement route, and the formation, depending on the determination content of the group operation determination unit 2500. The group operation control unit 2600 includes a formation change control unit 2610, a collision avoidance operation control unit 2620, a measurement density adjustment operation control unit 2630, and an intra-group operation control unit 2640.

[0099] The formation change control unit 2610 is a functional unit that changes the formation configuration, including the number and types of unmanned crafts 1000 that belong to a group, in accordance with the group formation determined by the group formation determination unit 2520. The formation change control unit 2610 may also have a function to control changes in the formation of each group.

[0100] Furthermore, for example, the formation change control unit 2610 can control an increase or decrease in the number of multiple unmanned craft 1000 included in the first group or the second group, or the movement or interchange of multiple unmanned craft 1000 between the first group and the second group, in real time according to the state determined by the state determination unit 2400. Furthermore, the formation change control unit 2610 is not limited to changing the formation configuration, and can, for example, determine the allocation operation for each unmanned craft 1000 in multiple groups in real time according to the state determined by the state determination unit 2400. The allocation operations determined here include deployment (movement or deployment of the unmanned craft 1000), recovery of the unmanned craft 1000, recovery charging, search, post-discovery action, etc.

[0101] The collision avoidance operation control unit 2620 is a functional unit that controls the collision avoidance operation for each group in accordance with the collision avoidance operation for each group determined by the collision avoidance operation determination unit 2530. For example, the collision avoidance operation control unit 2620 can prevent groups from getting too close to each other or the unmanned watercraft 1000 belonging to a group from coming into contact with each other by adjusting the control parameters of attractive and repulsive forces between multiple groups.

[0102] Here, the collision avoidance operation control unit 2620 may have a function to determine the relative position or distance to the other group or obstacle to be avoided and determine whether the avoidance operation is complete when performing an avoidance operation to avoid contact with another group or a moving or stationary obstacle.

[0103] Furthermore, the collision avoidance operation control unit 2620 can prevent groups from getting too close to each other or unmanned watercraft 1000 belonging to a group from coming into contact with each other by mutually communicating the representative positions of multiple groups or the position information of each unmanned watercraft 1000 belonging to multiple groups via a communication network between the groups. Here, the representative position of multiple groups may be the position of any unmanned watercraft 1000 belonging to the group, or it may be any position within the deployment area of ​​the group, regardless of the positions of the unmanned watercraft 1000.

[0104] Furthermore, the collision avoidance operation control unit 2620 may have a function to determine the necessity of performing collision avoidance operation, for example, when multiple groups are made to search for the target object 7000, depending on the dynamic performance state (movement speed, etc.) and communication state (communication strength and communication speed) of the group determined by the state determination unit 2400.

[0105] The measurement density adjustment operation control unit 2630 is a functional unit that controls the measurement density adjustment operation for each group in accordance with the measurement density adjustment operation for each group determined by the measurement density adjustment operation determination unit 2540. For example, the measurement density adjustment operation control unit 2630 can prevent the search areas in which the measurement sensors 1110 mounted on the unmanned watercraft 1000 of multiple groups search for the target object 7000 from overlapping between the groups.

[0106] The intra-group operation control unit 2640 is a functional unit that controls the operation of the unmanned watercraft 1000 within each group in accordance with the operation of each group determined by the group operation determination unit 2500. For example, the intra-group operation control unit 2640 can adjust the control parameters of attractive and repulsive forces between the unmanned watercraft 1000 to change the shape of the target formation, maintain the formation, and prevent contact between the unmanned watercraft 1000.

[0107] Furthermore, the intra-group operation control unit 2640 can prevent overlapping of search areas in which the measurement sensors 1110 mounted on the unmanned boats 1000 search for the target object 7000 by communicating the position information of each unmanned boat 1000 belonging to the group with each other via a network between the unmanned boats 1000, thereby preventing contact between the unmanned boats 1000.

[0108] (A-1-5-7. Information input / output unit 2700) The information input / output unit 2700 is a functional unit that acquires information input to the overall control system 2000 from a user or an external system, and outputs commands or displays information generated by each functional unit in the overall control system 2000. The information input / output unit 2700 includes a display unit 2710, a user input receiving unit 2720, a control command output unit 2730, and a communication unit 2740.

[0109] The display unit 2710 is a functional unit that displays and outputs acquired information, judgment information, decision information, etc. by each functional unit in the integrated control system 2000. By displaying such information, the user can grasp each piece of information, such as the acquired information by the information import unit 2100 and the activity condition acquisition unit 2200, the judgment results by the state judgment unit 2400, the decision results by the action plan determination unit 2300 and the group action determination unit 2500, and the control state by the group action control unit 2600.

[0110] For example, the display unit 2710 can display information on the behavioral state of each group (such as assigned role actions) determined by the group behavior state determination unit 2420. In addition to current status information, the display unit 2710 can also display past history information. Furthermore, when an object 7000 is detected, the display unit 2710 can also display the determination result regarding the detected object 7000.

[0111] The display unit 2710 may also display information about the status of the developing multiple groups integrated with a map or actual image (latest data or past data) of the activity area. The display unit 2710 may also display information about the contact points, contact methods, or locations of the external system 6000 and the collaborative system 5000. The display unit 2710 may also display information about the current measured density distribution and other information about recommended activity areas and operation details for a user who manually inputs group operation commands.

[0112] The user input accepting unit 2720 is a functional unit that accepts any user input information from the user, whether it is related to various types of information displayed on the display unit 2710 or unrelated to the displayed information. The user input information may include an intervention control command from the user to the unmanned watercraft 1000 or the group 1010. The user input accepting unit 2720 may be a portable mobile terminal such as a smartphone, tablet terminal, or laptop PC. The user input information may also be accepted via operation buttons provided on the display screen of the display unit 2710.

[0113] The control command output unit 2730 is a functional unit that transmits and outputs the control command generated by the group operation control unit 2600 to the unmanned watercraft 1000 .

[0114] The communication unit 2740 is a functional unit that outputs information similar to the information displayed on the display unit 2710 to the collaborative system 5000, the external system 6000, or other external systems. The communication unit 2740 can also acquire information similar to the information accepted by the user input acceptance unit 2720 from the collaborative system 5000, the external system 6000, or other external systems. In other words, the communication unit 2740 can accept intervention command inputs that arbitrarily change the determination results decided by the group operation determination unit 2500 or the control commands generated by the group operation control unit 2600.

[0115] The functions implemented in the unmanned watercraft 1000 and the overall control system 2000 described above using Figures 6 and 7 are merely one embodiment, and the present invention is not limited to this implementation example. That is, some of the functions implemented in the unmanned watercraft 1000 shown in Figure 6 (mainly the functions of the determination unit 1500) can be implemented in the overall control system 2000. Also, some of the functions implemented in the overall control system 2000 shown in Figure 7 can also be implemented in the unmanned watercraft 1000. Also, in this embodiment, an example has been shown in which the function of initially detecting an object based on measurement data is implemented in the determination unit 1500 on the unmanned watercraft 1000 side, but this initial detection and determination function can also be implemented in a distributed manner on both the unmanned watercraft 1000 side and the overall control system 2000 side, and it is also possible for the entire initial detection and determination function to be implemented on the overall control system 2000 side.

[0116] (A-1-6. Hardware Configuration) 8 is a hardware configuration diagram of an 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 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0117] The input device 100 can constitute the user input receiving unit 2720, and is a device that allows a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0118] The output device 200 is a device that outputs various types of information generated by the integrated control system 2000, and can constitute the display unit 2710. Specifically, the output device 200 can constitute the display unit 2710 using a display device for eyewear, AR, or VR, or can also be a printer or a speaker.

[0119] 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 processing.

[0120] The main storage device 400 is a memory device such as a RAM that temporarily stores various types of read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0121] The communication device 600 is a device that performs wireless or wired information communication with the outside, and can constitute the communication unit 2740 described above.

[0122] (A-1-7. Control flow of control system 1) Next, a description will be given of the overall control flow of the control system 1. Fig. 9 is a flowchart showing the processing flow of the control system 1.

[0123] First, the information import unit 2100 acquires advance information from the external system 6000 or the like (step 101). In this step, for example, geographic information about the area of ​​operation in which the unmanned craft 1000 will be deployed, route information and navigation information for ships in the area of ​​operation and its surrounding areas, information about multiple formation change patterns for the group 1010, judgment condition information for determining the priority group, and detection information detected by the unmanned craft 1000 are acquired.

[0124] Next, the activity condition acquisition unit 2200 acquires input information from the user or an external system, such as the activity area in which the unmanned boat 1000 will be deployed, the activity date and time, the object 7000 to be searched, the target measurement density, and the search alert level (step 102).

[0125] Next, the motion plan determination unit 2300 determines a motion plan, such as the organization of the multiple groups 1010, the assignment of motion roles, and the movement route, before the unmanned watercraft 1000 starts its activity (step 103). The detailed processing of this step will be described later.

[0126] Next, a plurality of groups of unmanned crafts 1000 start activities such as searching for the target object 7000 (step 104).

[0127] Next, the status determination unit 2400 determines information about the current status of the groups (step 105). The detailed processing of this step will be described later.

[0128] Next, the group action determination unit 2500 determines at least one of the group organization, assigned action, assigned area, movement route, and formation for each of the multiple groups based on the information acquired by the activity condition acquisition unit 2200 (step 106). In this step, in addition to or instead of the information acquired by the activity condition acquisition unit 2200, a determination may be made regarding the group organization for each of the multiple groups, etc., depending on the action plans for the multiple groups determined by the action plan determination unit 2300 or the states of the multiple groups determined by the state determination unit 2400.

[0129] In this step, a priority may be determined for each group based on the action plans for multiple groups generated by the action plan determination unit 2300, the current states of multiple groups determined by the state determination unit 2400, or information acquired by the activity condition acquisition unit 2200, and the action of each group may be determined according to the priority. The detailed processing content of this step will be described later.

[0130] Next, the group action control unit 2600 controls at least one of the group organization of multiple groups, the execution of assigned actions, the execution of actions in the assigned area, the movement route, and the formation, depending on the content determined by the group action determination unit 2500 (step 107). The detailed processing content of this step will be described later.

[0131] (A-1-8. Control sequence within control system 1) Next, a description will be given of a control sequence between the systems in the control system 1. Fig. 10 is a sequence diagram showing the exchange of signals between the systems in the control system 1.

[0132] First, the external system 6000 or the like transmits advance information (AIS information, highway information, etc.) to the overall control system 2000. Furthermore, the cooperative system 5000 or the like transmits information about the activity conditions (activity areas of the multiple unmanned vessels 1000, activity dates and times, designation information of the target objects 7000 detected by the measurement sensors mounted on the unmanned vessels 1000, alert levels for activities by the unmanned vessels 1000, measurement density distributions calculated for each area by the measurement sensors, etc.) to the overall control system 2000.

[0133] Next, the overall control system 2000 makes advance decisions such as operation plans for the multiple groups 1010 based on the received advance information and information on activity conditions, and transmits role assignment commands to the parent devices 1001 of the multiple groups including group A and group B. The parent device 1001 transmits the received activity start command to the other child devices 1002 in the group, and starts activity in each group.

[0134] Next, in multiple groups including group A and group B, various status information of the unmanned boats determined by the own boat status determination unit 1200 of the unmanned boats 1000 belonging to each group is collected and the status information is transmitted to the overall control system 2000.

[0135] Next, the state determination unit 2400 of the overall control system 2000 determines the activity states of the multiple groups, the group action determination unit 2500 determines the actions of the multiple groups, and sends candidate action commands for each group to the cooperative system 5000.

[0136] Next, the external user input acquisition unit 2220 of the integrated control system 2000 receives input information from the external user for the operation command candidates for each group from the collaborative system 5000.

[0137] Next, the integrated control system 2000 determines an operation command for each group based on the received input information from the external user, and transmits the operation command to the parent device 1001 of multiple groups including the group A and the group B.

[0138] (A-1-9. Examples of pre-acquired information) Fig. 11 is a diagram showing an example of pre-acquired information acquired by the information import unit 2100. As shown in Fig. 11, the pre-acquired information acquired by the information import unit 2100 includes ship-related information and geographical information acquired by the external information acquisition unit 2110, and pre-set information acquired by the formation pattern acquisition unit 2120 and the priority group determination condition acquisition unit 2130.

[0139] The ship-related information acquired by the external information acquisition unit 2110 includes ship route information and AIS information. In addition, the pre-set information acquired by the formation pattern acquisition unit 2120 includes formation patterns, formation change processes, and passing patterns.

[0140] (A-1-10. Example of activity condition information) 12 is a diagram showing an example of activity condition information received from a user. As shown in FIG. 12, the activity condition information received from a user or the like includes the target area in which the unmanned watercraft 1000 will be operating, the activity date and time, the activity type, the detected object, the target measurement density distribution, and the alert level.

[0141] The target area includes location information such as position coordinates that can identify the location of the area in which the unmanned vessel 1000 will be operating. The activity date and time includes the start date and time and the end date and time of the unmanned vessel 1000's activity. The activity type includes information that can identify the type of activity using the unmanned vessel 1000, such as survey, observation, or search. The detected object includes information that can identify the object that will be measured by the unmanned vessel 1000, such as a shipwreck, a person in distress, marine life, a diver, a buoy, or an underwater structure.

[0142] The target measurement density distribution includes a target value of the measurement density distribution calculated for each area based on the length of the measurement time measured by the measurement sensor 1110. The alert level includes information that allows the alert level to be specified in multiple stages when performing an activity type.

[0143] (A-1-11. Motion plan determination process) 13 is a flowchart showing an example of the flow of the operation plan determination process by the operation plan determination unit 2300. The flowchart shown in FIG. 13 particularly shows detailed processing of step 103 in the flowchart shown in FIG.

[0144] First, the overall formation determination unit 2310 determines the overall formation of a plurality of groups required to satisfy the activity conditions, etc. (step 201).

[0145] Next, the group role assignment unit 2320 determines the assignment of activity areas to each of the multiple groups (step 202).

[0146] Next, the group role assignment unit 2320 determines the assignment of action roles to each of the multiple groups (step 203).

[0147] Next, the group role assigning unit 2320 assigns an alert level to each of the multiple groups according to the assigned action roles (step 204). In this step, the alert level for each group is automatically set based on the setting information of the alert level for the action role that has been set in advance.

[0148] Next, the collision avoidance motion planning unit 2330 and the measurement density plan determination unit 2340 generate a path for each of the multiple groups (step 205). Here, the collision avoidance motion planning unit 2330 generates a path for each group that prevents the multiple groups from getting closer than a predetermined distance, in order to avoid collisions between the multiple groups or between the unmanned watercraft 1000 and obstacles in the activity area. Furthermore, when searching for the target object 7000 using the measurement sensors 1110 mounted on the multiple unmanned watercraft 1000 included in multiple groups of the multiple groups, the measurement density plan determination unit 2340 generates a movement path for at least one of the multiple groups so that the measurement density distribution calculated for each area by the measurement sensor 1110 satisfies a predetermined target value.

[0149] Next, the collision avoidance motion planning unit 2330 and the measurement density plan determination unit 2340 determine a formation shape for each of the multiple groups (step 206). Here, the collision avoidance motion planning unit 2330 generates a formation shape for each group that prevents the multiple groups from getting closer than a predetermined distance, in order to avoid collisions between the multiple groups or between the unmanned watercraft 1000 and obstacles in the activity area. Furthermore, when searching for the target object 7000 using the measurement sensors 1110 mounted on the multiple unmanned watercraft 1000 included in multiple groups, the measurement density plan determination unit 2340 generates a formation shape for at least one of the multiple groups so that the measurement density distribution calculated for each area by the measurement sensor 1110 satisfies a predetermined target value.

[0150] (A-1-11-1. An example of motion planning) Fig. 14 is a diagram showing an example of an operation plan determined by the operation plan determination unit 2300. Fig. 14 particularly shows an example of operation roles assigned to three groups (1010a, 1010b, 1010c) by the operation plan determination unit 2300. In the example shown in Fig. 14, groups 1010a and 1010b are assigned the operation of searching for the object 7000 by patrolling, and group 1010c is assigned the operation of relaying communication with the terrestrial base station 4000 and searching for the object 7000 by mooring.

[0151] Groups 1010a and 1010b, which are assigned the operation of searching for the target object 7000 by patrolling, are assigned a patrol movement route and a formation shape (such as a branching connection shape) for the patrol search. Also, group 1010c, which is assigned the operation of searching for the target object 7000 by relaying communication with the terrestrial base station 4000 and by anchoring, is assigned a formation shape for the anchored search. For example, the formation shape for group 1010c is determined to be a long and narrow shape that follows the coastal area where the terrestrial base station 4000 is installed, with at least some of the unmanned crafts 1000 in the group being located within the communication range of the terrestrial base station 4000.

[0152] (A-1-11-2. List of assigned operation roles) Fig. 15 is a diagram showing a list of operation roles assigned to multiple groups by the operation plan determination unit 2300. As shown in Fig. 15, the operation role items include search, communication relay, data analysis, data transmission, data storage, post-discovery action, advance preparation, termination action, standby, recovery charging, etc.

[0153] Search is the operation of discovering the target object 7000 using the measurement sensor 1110 mounted on the unmanned vessel 1000. Communication relay is the operation of relaying communications between unmanned vessels 1000 within a group. Data analysis is the operation of analyzing and processing measurement data using the measurement sensor 1110. Data transmission is the operation of transmitting measurement data, etc. from the unmanned vessel 1000 to the ground base station 4000. Data accumulation is the operation of storing measurement data in memory. Post-discovery actions are actions performed after the target object 7000 is discovered, including tracking, surrounding, getting ahead of, and taking over tracking of the target object 7000. Advance preparation is the preparatory operation before the start of a mission, including deploying or moving the unmanned vessel 1000 to the target area. Termination actions are the operation performed after the activity is completed, including returning or recovering the unmanned vessel 1000. Standby is the operation of having the unmanned vessel 1000 or group stay anchored and waiting at the same location. Recovery charging is an operation in which the battery is charged using solar panels mounted on the body of the unmanned craft 1000.

[0154] (A-1-12. Activity status determination process) 16 is a flowchart showing an example of the flow of the active state determination process by the state determination unit 2400. The flowchart shown in FIG. 16 particularly shows detailed processing of step 105 in the flowchart shown in FIG.

[0155] First, the unmanned watercraft information acquisition unit 2140 acquires measurement data measured by the unmanned watercraft 1000 (step 301).

[0156] Next, the peripheral object determination unit 2440 determines whether the target object 7000 is detected from the measurement data (step 302).

[0157] Next, the group internal state determination unit 2410 determines the internal states of the multiple groups (step 303).

[0158] Next, the group behavior state determination unit 2420 determines the behavior states of the multiple groups (step 304).

[0159] Next, the measurement density distribution determining unit 2430 determines the overall measurement density distribution of the multiple groups (step 305).

[0160] (A-1-12-1. List of group internal status determinations) Fig. 17 is a diagram showing a list of determination processing contents of the internal state of a group by the group internal state determination unit 2410. As shown in Fig. 17, the internal state items determined by the group internal state determination unit 2410 include normal, abnormal, malfunction, charging state, etc.

[0161] Normal indicates a state in which there are no abnormalities or failures. Abnormalities are temporary abnormal states of equipment installed on the unmanned watercraft 1000, and include, for example, communication abnormalities, navigation abnormalities, measurement abnormalities, and temperature abnormalities. Failures are irreversible failure states, and include communication unit failures, navigation unit failures, and measurement unit failures. Charging status is the charging status of the battery installed on the unmanned watercraft 1000, and includes, for example, insufficient SOC.

[0162] (A-1-12-2. State transitions within the group) Fig. 18 is a state transition diagram of the internal state of a group determined by the group internal state determination unit 2410. In the example shown in Fig. 18, an example of state transitions between each of the operation states of movement, deployment, search, standby, recovery charge, post-discovery action, return, and recovery is shown.

[0163] The states of movement and deployment indicate the preparation state before the start of a mission, while search, standby, recovery, charging, and post-discovery actions indicate the operating state during the mission, and recovery and return indicate the state after the mission is completed or aborted.

[0164] (A-1-13. Action determination process for each group) 19 is a flowchart showing an example of the flow of the group-by-group action determination process performed by the group action determination section 2500. The flowchart shown in FIG. 19 particularly shows detailed processing of step 106 in the flowchart shown in FIG.

[0165] First, the priority determining unit 2510 determines the priority of each of the multiple groups (step 401).

[0166] Next, the group formation determination unit 2520 determines whether or not the unmanned boats 1000 need to be swapped between the multiple groups, and determines the processing step to transition to depending on the result of this swap necessity determination (step 402). If it is determined in this step that the unmanned boats 1000 need to be swapped, the processing transitions to step 403. On the other hand, if it is determined that the unmanned boats 1000 do not need to be swapped, the processing transitions to step 404.

[0167] Next, if it is determined in step 402 that an unmanned craft 1000 needs to be swapped, the group formation determination unit 2520 determines the unmanned craft 1000 to be swapped between groups according to the group priority (step 403). In this step, the decision to swap the unmanned craft 1000 can be made according to the internal state of the group determined by the group internal state determination unit 2410 and the priority of the group's assigned task. For example, if an unmanned craft 1000 in an abnormal state exists in a group with a high assigned task priority, it can be decided to swap the unmanned craft 1000 in an abnormal state with a normal unmanned craft 1000 in a group with a lower priority.

[0168] Next, the collision avoidance operation determination unit 2530 determines whether or not a collision avoidance operation is necessary between the groups, and determines the processing step to transition to depending on the result of this collision avoidance necessity determination (step 404). If it is determined in this step that a collision avoidance operation is necessary, the processing transitions to step 405, and on the other hand, if it is determined that a collision avoidance operation is not necessary, the processing transitions to step 407.

[0169] Next, if it is determined in step 404 that a collision avoidance operation is necessary, the collision avoidance operation determination unit 2530 determines a group that will perform the collision avoidance operation according to the priority of the group (step 405). In this step, it can be determined according to the priority, for example, that a group with a lower priority will perform the collision avoidance operation.

[0170] Next, the collision avoidance operation determination unit 2530 determines the details of the operation change, such as a change in route, formation, or passing operation, for the group that is to perform the collision avoidance operation (step 406).

[0171] Next, the measurement density adjustment operation determination unit 2540 determines the measurement density distribution of the multiple groups, and determines the processing step to transition to depending on whether this measurement density distribution achieves the preset target (step 407). If it is determined in this step that the measurement density distribution achieves the preset target, the processing of this flowchart is terminated, but on the other hand, if it is determined that the measurement density distribution does not achieve the preset target, the processing transitions to step 408.

[0172] Next, the measurement density adjustment operation determination unit 2540 determines the details of operation changes, such as changes in the group's route or formation, in order to achieve a preset target for the measurement density distribution (step 408).

[0173] (A-1-13-1. Collision avoidance operation) 20 to 22, the collision avoidance operation determined by the collision avoidance operation determination unit 2530 will be described. First, Fig. 20 is a diagram showing an example of the collision avoidance operation in which the movement path of a group is changed. Fig. 20 shows how one of multiple groups approaching each other at times t1, t2, and t3 avoids a collision by changing its movement path.

[0174] 20 shows an example in which groups 1010a and 1010b are approaching each other. In this case, since group 1010b is determined to have a higher priority than group 1010a, collision avoidance operation determination unit 2530 determines to change the movement route of group 1010a, which has a lower priority.

[0175] The example shown at time t2 in Figure 20 shows an example in which the movement path of group 1010a is changed to a direction that does not interfere with the movement path of group 1010b, and time t3 shows the state after groups 1010a and 1010b have passed each other to avoid a collision.

[0176] Next, Figure 21 shows an example of a collision avoidance operation in which the formation shape of a group is changed. Figure 21 shows how one of multiple groups approaching each other at times t1, t2, and t3 changes its formation shape to avoid a collision.

[0177] 21 shows an example in which groups 1010a and 1010b are approaching each other. In this case, since group 1010b is determined to have a higher priority than group 1010a, collision avoidance operation determination unit 2530 determines to change the formation shape of group 1010a, which has a lower priority.

[0178] The example shown at time t2 in Figure 21 shows an example in which the formation shape of group 1010a is changed to a shape that does not interfere with the movement path of group 1010b. Specifically, by narrowing the width of the formation shape of group 1010a, interference with the movement path of group 1010b is avoided. Time t3 in Figure 21 shows the state after groups 1010a and 1010b have passed each other and avoided a collision.

[0179] Next, Fig. 22 is a diagram showing an example of a collision avoidance operation due to groups passing each other. Fig. 22 shows how multiple groups approaching each other at times t1, t2, and t3 avoid a collision of the unmanned watercraft 1000 by passing each other so that at least a portion of their deployment ranges overlap. In other words, a collision is avoided by the multiple groups passing each other so that they pass through the gaps between the unmanned watercraft 1000.

[0180] 22 shows an example in which groups 1010a and 1010b are approaching each other. At this time, groups 1010a and 1010b adjust the positions and formations of their unmanned craft 1000 so that they can pass through the gap between each other's unmanned craft 1000.

[0181] The example shown at time t2 in Figure 22 shows the unmanned craft 1000 of groups 1010a and 1010b passing each other by passing through the gap between the unmanned craft 1000. Time t3 in Figure 22 shows the state after groups 1010a and 1010b have avoided a collision and passed each other.

[0182] 20 to 22 have described three patterns of collision avoidance operations determined by the collision avoidance operation determination unit 2530, but the collision avoidance operation determination unit 2530 may have a function of determining one of these collision avoidance operations depending on the internal state or behavioral state of each group. For example, if the behavioral state of one of two approaching groups is performing a post-discovery action for the object 7000 or a highly urgent search operation, it can determine that the groups will pass each other while maintaining their formation so that their deployment ranges overlap, as shown in FIG. 22. As another example, if a low SOC state is detected as the internal state of one of the approaching groups, it can also determine that the groups will pass each other while maintaining their formation so that their deployment ranges overlap, as shown in FIG. 22.

[0183] (A-1-14. Operation control process for each group) 23 is a flowchart showing an example of the operation control processing flow for each group by the group operation control section 2600. The flowchart shown in Fig. 23 particularly shows detailed processing of step 107 in the flowchart shown in Fig. 9.

[0184] First, the determined action for each group determined by the group action determination unit 2500 is executed (step 501).

[0185] Next, the groups communicate information about their own positions with each other (step 502). Here, the self-position of each group can be defined as the position of any of the multiple unmanned crafts 1000 belonging to the group, or any position within the deployment range of the group.

[0186] Next, it is determined whether the distance between the representative positions of the multiple groups communicating with each other has deviated from a predetermined range, and the processing step to transition to is determined based on the result of this inter-group distance determination (step 503). If it is determined in this step that the distance between the representative positions of the multiple groups has deviated from the predetermined range, the processing transitions to step 504, whereas if it is determined that the distance between the representative positions of the multiple groups has not deviated from the predetermined range, the processing transitions to step 505.

[0187] Next, if it is determined in step 503 that the distance between the representative positions of the multiple groups has deviated from a predetermined range, the attractive and repulsive forces, which are control parameters between the multiple groups, are adjusted to control the distance between the multiple groups (step 504).

[0188] Next, the intra-group operation control unit 2640 controls the operation of the multiple unmanned watercraft 1000 within each group (step 505). In this step, for example, the intra-group operation control unit 2640 adjusts the control parameters of attractive and repulsive forces between the multiple unmanned watercraft 1000 belonging to the group, thereby making it possible to change to the shape of the target formation and maintain the formation, prevent contact between the unmanned watercraft 1000, and prevent overlapping of search areas in which the measurement sensors 1110 mounted on the unmanned watercraft 1000 search for the target object 7000. The detailed processing content of this step will be described later.

[0189] (A-1-14-1. An example of group-specific operation control) Fig. 24 is a diagram showing an example of cooperative control of multiple groups by the group operation control unit 2600. Fig. 24 shows an example in which, while two groups (1010a, 1010b) are searching for the target object 7000 by patrolling, the attractive and repulsive forces between the groups are adjusted to control the distance between the multiple groups so that the representative positions of the groups do not get closer to each other than a predetermined distance range or do not get too far apart than the predetermined distance range.

[0190] Furthermore, as shown in Figure 24, when adjusting the movement paths so that multiple groups do not get too close to each other, the movement paths of each group can be controlled so that the distance between the representative positions of multiple groups (approximate centroid positions, parent unit positions, or any other positions within the group deployment area) or unmanned boats 1000 belonging to different groups is maintained at a distance of a predetermined value or greater.

[0191] As shown in Figure 24, by controlling multiple groups in a coordinated manner and controlling the distance between the multiple groups, it is possible to prevent contact between the unmanned boats 1000 belonging to each group and to prevent overlapping of search areas by each group searching for the target object 7000 using the measurement sensor 1110 installed on the unmanned boat 1000.

[0192] (A-1-15. Operation control process within a group) 25 is a flowchart of the operation control process flow for the unmanned watercraft 1000 in each group by the intra-group operation control unit 2640. In particular, the flowchart shown in Fig. 25 shows detailed processing of step 505 in the flowchart shown in Fig. 23.

[0193] First, it is determined whether the communication strength in the communication network between the unmanned crafts 1000 belonging to the group is equal to or less than a predetermined value, and the processing step to transition to is determined based on the result of this communication strength determination (step 5051). If it is determined in this step that the communication strength is equal to or less than the predetermined value, the processing transitions to step 5052, and if it is determined that the communication strength is not equal to or less than the predetermined value, the processing transitions to step 5053.

[0194] Next, if it is determined in step 5051 that the communication strength is equal to or less than a predetermined value, the attractive force of the control parameters between the unmanned crafts 1000 in the group is increased, and the positions of the unmanned crafts 1000 are controlled so as to shorten the distance between the unmanned crafts 1000 (step 5052). In this way, by adjusting the distance between the unmanned crafts in accordance with the communication strength between the unmanned crafts, it is possible to prevent interruptions in wireless communication between the unmanned crafts. Note that in this step, the control of the positions of the unmanned crafts in accordance with the communication strength between the unmanned crafts is described, but this is not limiting. It is also possible to prevent interruptions in wireless communication between the unmanned craft 1000 and the terrestrial base station 4000 in advance by adjusting the distance between the unmanned craft 1000 and the terrestrial base station 4000 in accordance with the communication strength with the terrestrial base station 4000.

[0195] Next, it is determined whether the distance between the unmanned boats 1000 is equal to or less than a predetermined distance, and the processing step to transition to is determined based on the result of this determination of the distance between the unmanned boats (step 5053). If it is determined in this step that the relative distance between the unmanned boats is equal to or less than the predetermined distance, the processing transitions to step 5054; on the other hand, if it is determined that the relative distance between the unmanned boats is not equal to or less than the predetermined distance, control of this flowchart ends.

[0196] Next, if it is determined in step 5053 that the relative distance between the unmanned boats is less than a predetermined distance, the repulsive force of the control parameters between the unmanned boats 1000 in the group is increased, and the positions of the unmanned boats 1000 are controlled so that the distance between the unmanned boats 1000 becomes longer (step 5054).

[0197] (A-1-15-1. An example of intra-group operation control) 26 is a diagram showing an example of how the positions of multiple unmanned watercraft 1000 within a group are controlled by the intra-group operation control unit 2640. As shown in Fig. 26, the intra-group operation control unit 2640 monitors the communication strength and relative distance of wireless communications between unmanned watercraft 1000a and unmanned watercraft 1000b that belong to group 1010.

[0198] Furthermore, if the intra-group operation control unit 2640 determines that the communication strength between the unmanned craft being monitored is below a predetermined value, it increases the attractive force of the control parameters between unmanned craft 1000a and unmanned craft 1000b, and controls the position of unmanned craft 1000 so as to shorten the distance between unmanned craft 1000a and unmanned craft 1000b. Furthermore, if the intra-group operation control unit 2640 determines that the relative distance between the unmanned craft being monitored is below a predetermined distance, it increases the repulsive force of the control parameters between unmanned craft 1000a and unmanned craft 1000b, and controls the position of unmanned craft 1000 so as to lengthen the distance between unmanned craft 1000a and unmanned craft 1000b.

[0199] As described above, by monitoring the communication strength and relative distance between unmanned vessels 1000 in a group and controlling the positions of the unmanned vessels 1000, it is possible to prevent the communication network between the unmanned vessels from being interrupted while also preventing the unmanned vessels from getting too close to each other and colliding with each other.

[0200] (A-1-16. Control process of search operation for each group) 27 is a flowchart showing an example of a control processing flow of a search operation for each group by the group operation control section 2600. The flowchart shown in Fig. 27 particularly shows detailed processing of step 107 in the flowchart shown in Fig. 9.

[0201] First, the search operation for each group determined by the group operation determination unit 2500 is executed (step 601).

[0202] Next, the groups communicate information about their own positions with each other (step 602). Here, the self-position of each group can be defined as the position of any of the multiple unmanned crafts 1000 belonging to the group, or any position within the deployment range of the group.

[0203] Next, it is determined whether the distance between the representative positions of the multiple groups communicating with each other has deviated from a predetermined range, and the processing step to transition to is determined based on the result of this inter-group distance determination (step 603). If it is determined in this step that the distance between the representative positions of the multiple groups has deviated from the predetermined range, the processing transitions to step 604, whereas if it is determined that the distance between the representative positions of the multiple groups has not deviated from the predetermined range, the processing transitions to step 605.

[0204] Next, if it is determined in step 603 that the distance between the representative positions of the multiple groups has deviated from a predetermined range, the attractive and repulsive forces, which are control parameters between the multiple groups, are adjusted to control the distance between the multiple groups (step 604).

[0205] Next, the measurement density adjustment operation control unit 2630 determines the measurement density distribution in the boundary area between the groups, and determines the processing step to transition to depending on the determination result of the measurement density distribution in the boundary area between the groups (step 605). If it is determined in this step that the measurement density distribution in the boundary area between the groups is equal to or less than a predetermined value, the processing transitions to step 606. On the other hand, if it is determined that the measurement density distribution in the boundary area between the groups is not equal to or less than the predetermined value, the processing transitions to step 607.

[0206] Next, if it is determined in step 605 that the measurement density distribution in the boundary area between the groups is equal to or less than a predetermined value, the movement route for each group is adjusted (step 606). In this step, for example, the planned movement route for each group is changed so as to improve the measurement density distribution in the boundary area between the groups.

[0207] The intra-group operation control unit 2640 controls the operation of the multiple unmanned watercraft 1000 within each group (step 605). In this step, for example, the intra-group operation control unit 2640 adjusts the control parameters of attractive and repulsive forces between the multiple unmanned watercraft 1000 belonging to the group, thereby making it possible to change to the shape of the target formation and maintain the formation, prevent contact between the unmanned watercraft 1000, and prevent overlapping of search areas in which the measurement sensors 1110 mounted on the unmanned watercraft 1000 search for the target object 7000.

[0208] (A-1-16-1. Example of the measurement density distribution judgment result for each group) Fig. 28 is a diagram showing an example of the results of the determination of the measurement density distribution by the measurement density adjustment operation control unit 2630. Fig. 28 particularly shows an example of the results of the determination of the measurement density distribution for each area by the unmanned boats 1000 of two groups (1010a, 1010b) by the measurement density adjustment operation control unit 2630 while the two groups (1010a, 1010b) are performing a patrol search operation for the target object 7000, with darker areas indicating areas with higher measurement density and lighter areas indicating areas with lower measurement density.

[0209] 28, there is an area with low measurement density (light color) in the boundary area between the development areas where the two groups (1010a, 1010b) move. If the measurement density distribution in the boundary area is lower than a predetermined value in this way, the planned movement route of at least one of the two groups (1010a, 1010b) can be changed to improve the measurement density distribution in the boundary area, thereby making it possible to bring the measurement density distribution of the multiple groups as a whole closer to the target value.

[0210] (A-1-17. Control process for passing each other in multiple groups) Fig. 29 is a flowchart showing an example of a control processing flow for multiple groups passing each other by the group operation control unit 2600. The flowchart shown in Fig. 29 particularly shows detailed processing of step 107 in the flowchart shown in Fig. 9 when multiple groups perform passing each other so that at least a portion of their expansion ranges overlap.

[0211] First, the group operation control unit 2600 executes an operation in which a plurality of groups pass each other in a state in which at least a part of the development ranges of the groups overlap (step 701).

[0212] Next, information about the respective positions of the unmanned crafts belonging to different groups is communicated with each other (step 702).

[0213] Next, the distance between the unmanned boats belonging to the different groups is determined, and the processing step to transition to is determined based on the result of this determination of the distance between the unmanned boats (step 703). If it is determined in this step that the distance between the unmanned boats belonging to the different groups is equal to or less than a predetermined distance, the processing transitions to step 704. On the other hand, if it is determined that the distance between the unmanned boats belonging to the different groups is not equal to or less than the predetermined distance, the processing of this flowchart ends.

[0214] Next, if it is determined in step 703 that the distance between unmanned boats belonging to different groups is less than a predetermined distance, the repulsive force of the control parameters between the approaching unmanned boats is increased, and the positions of the unmanned boats are controlled so as to increase the distance between the unmanned boats (step 704).

[0215] (A-1-18. Group formation patterns) 30 to 37, the variation information of the group formation pattern acquired by the formation pattern acquisition unit 2120 will be described.

[0216] (A-1-18-1. Branching structure formation) Fig. 30 is a diagram showing an example of a branch connection formation, which is an example of a formation pattern for a group 1010. The example shown in Fig. 30 shows a branch connection formation made up of one master unit 1001 and ten slave units 1002 connected to each other via a wireless communication network. Here, the master unit 1001 is an aircraft that serves as the hub of the wireless communication network that connects multiple unmanned watercraft 1000 in the group. In the branch connection formation shown in Fig. 30, the communication path branches out into multiple paths from the master unit 1001, and each slave unit 1002 is connected via a wireless communication network.

[0217] (A-1-18-2. Near-V formations and other movement formations) 31 to 33, the movement formation of the group 1010 will be described below. Figure 31 is a diagram showing an example of a substantially V-shaped formation, which is an example of a formation pattern of the group 1010.

[0218] As shown in Figure 31, the approximately V-shaped formation is a formation that allows group 1010 to move more efficiently, and is a formation in which parent unit 1001 and child unit 1002 are arranged in an approximately V shape with the direction of movement of group 1010 as the vertex.

[0219] The parent device 1001 can be placed at the apex of the V. By placing the parent device at the apex of the V in this way, the parent device can be placed near the center of the communication network within the formation, so that measurement data and other information can be collected more quickly from each child device 1002 in the group 1010.

[0220] Furthermore, the angle of the apex of the V-shape (angle α) can be appropriately determined depending on the movement speed of the group 1010. As an example, when the movement speed of the group 1010 is relatively fast, the angle α can be set to a relatively small angle, and when the movement speed of the group 1010 is relatively slow, the angle α can be set to a relatively large angle.

[0221] There are several possible variations of the approximate V-shaped formation other than the formation shown in Figure 31. Figure 32 shows several other examples of the approximate V-shaped formation of group 1010.

[0222] FIG. 32a shows an example of a formation in which one serial configuration consisting of multiple unmanned vessels 1000 has been added to the inside of the V of a roughly V-shaped formation. The added serial configuration in this figure is connected to the parent vessel 1001 via wireless communication. Next, FIG. 32b shows an example of a formation in which two serial configurations consisting of multiple unmanned vessels 1000 have been added to the inside of the V of a roughly V-shaped formation. The added serial configurations in this figure are connected to the parent vessel 1001 via wireless communication. Although FIGS. 32a and 32b show examples of formations in which one or two serial configurations connected to the parent vessel 1001 have been added to the inside of the V of the roughly V-shaped formation, the number of additional serial configurations may be three or more.

[0223] Next, Figure 32c shows another example of a formation in which four serial configurations are added inside the V of a roughly V-shaped formation. The four serial configurations added to the formation shown in Figure 32c are connected to child units 1002 instead of parent units 1001. Figure 32d shows an example of a formation in which five serial configurations are added inside the V of a roughly V-shaped formation. Of the five serial configurations added in Figure 32d, one is connected to parent unit 1001 and the other four are connected to child units 1002. The number of serial configurations added inside the roughly V-shaped formation is not limited to the four and five shown in Figures 32c and 32d, but can be six or more.

[0224] Next, Figure 32e shows an example of a formation in which three unmanned watercraft 1000 are arranged on the inside of a roughly V-shaped formation. The three unmanned watercraft 1000 added to the formation shown in Figure 32e are connected to multiple other child watercraft 1002 via wireless communication paths, resulting in a formation and communication network configuration with redundant wireless communication paths so that even if one wireless communication path is cut off, communication with the parent watercraft 1001 can be indirectly achieved via another wireless communication path.

[0225] Figure 32f shows an example of a formation in which eight unmanned watercraft 1000 are arranged inside the V of a roughly V-shaped formation. The eight unmanned watercraft 1000 added to the formation shown in Figure 32f are connected to multiple other child watercraft 1002 via wireless communication paths, resulting in a formation and communication network configuration with redundant wireless communication paths so that even if one wireless communication path is disconnected, communication with the parent watercraft 1001 can be indirectly achieved via another wireless communication path.

[0226] As shown in Figures 32e and 32f, some of the multiple unmanned craft 1000 that make up a group 1010 are arranged in a roughly V-shaped inner area, and the unmanned craft 1000 arranged in the inner area are connected to the other multiple unmanned craft 1000 via a wireless communication network, creating a redundant communication path so that the group 1010 can continue operating even if a communication interruption occurs on one of the communication paths. Therefore, it is desirable to have a redundant connection in the communication network as shown in Figures 32e and 32f, especially when the movement speed of the group 1010 is faster than a predetermined value.

[0227] 31 and 32 above, a roughly V-shaped formation was described as the movement formation when group 1010 moves, but a formation other than a roughly V-shape can also be used as the movement formation. Figure 33 is a diagram showing an example of a roughly square formation, which is an example of a formation pattern for group 1010. The roughly square formation shown in Figure 33 is a formation that allows more efficient movement when group 1010 moves as a group, and is a roughly rectangular formation with the longitudinal direction being the direction of movement of group 1010.

[0228] A parent device 1001 and multiple child devices 1002 are arranged at a position in front of the approximately rectangular formation in the direction of travel, and other child devices 1002 are arranged behind the parent device 1001 and child devices 1002. The width of the rectangular group 1010 in the direction of travel can be determined appropriately depending on the movement speed of the group 1010. As an example, if the movement speed of the group 1010 is relatively fast, the width can be made relatively short, and if the movement speed of the group 1010 is relatively slow, the width can be made relatively long.

[0229] There are several possible variations in the wireless communication network configuration for a roughly rectangular formation. Figure 33a shows a formation and wireless communication network configuration in which multiple unmanned watercraft 1000 are arranged in three rows in series along the direction of movement of the group 1010, connected in series via wireless communication. Next, Figure 33b shows a formation and communication network configuration in which multiple unmanned watercraft 1000 making up the roughly rectangular formation are connected to multiple other child watercraft 1002 via wireless communication paths, and the wireless communication paths are redundant so that even if one wireless communication path is disconnected, communication with the parent watercraft 1001 can be indirectly achieved via another wireless communication path. Therefore, it is desirable to use a redundant connection for the communication network as shown in Figure 33b, especially when the movement speed of the group 1010 is faster than a predetermined value.

[0230] (A-1-18-3. Obstacle avoidance formation) Fig. 34 is a diagram showing two examples of avoidance formations, which are examples of formation patterns for group 1010. The avoidance formations shown in Fig. 34 are avoidance formations that are determined as changed formations when an object to be avoided or an area to be avoided is detected ahead in the direction of travel of group 1010, or when an object to be avoided or an area to be avoided approaching group 1010 is detected, and are avoidance formations that avoid the object to be avoided or the area to be avoided.

[0231] Fig. 34a is a diagram showing a separated avoidance formation, which is one example of an avoidance formation. The separated avoidance formation shown in Fig. 34a is a formation in which at least a portion of the group 1010 is separated so that the relative distance between some of the unmanned watercraft 1000 and other unmanned watercraft 1000 increases, and by separating the formation, it is possible to avoid objects that need to be avoided, such as ships, and areas that need to be avoided.

[0232] Figure 34b is a diagram showing a compressed avoidance formation, which is an example of an avoidance formation. The compressed avoidance formation shown in Figure 34b is a formation in which at least a portion of the group 1010 formation is compressed so that the formation width when viewed from at least one direction is narrowed, and by compressing the formation, it is possible to avoid objects that need to be avoided, such as ships, and areas that need to be avoided.

[0233] (A-1-18-4. Formation when operating in a narrow space) Below, we will explain formations when group 1010 performs activities in a narrow, cramped area using Figures 35 to 37. Figure 35 is a diagram showing an example of a narrow-space formation in the formation pattern of group 1010. In particular, Figure 35 is a narrow-space formation that is suitable for deploying group 1010 in a narrow area where the area width or area is smaller than a predetermined value, avoiding immobile objects that need to be avoided and areas that need to be avoided, and performing activities such as search, inspection, and investigation.

[0234] In the example shown in Figure 35, when the activity area is a narrow area (such as a bay) inside an immovable object that needs to be avoided, such as a pier or breakwater at a port, multiple unmanned watercraft 1000 that make up at least a part of the group 1010 are arranged in a line so as to fit into the narrow area, thereby showing how the group 1010 can carry out activities such as search, inspection, and investigation even in the narrow area. In this way, in a narrow area, by transforming all or a part of the group 1010 into a long, narrow line, it becomes possible to operate in a complex, narrow area. Note that the communication connection of the long, narrow line-shaped part of the narrow space formation may be a serial connection configuration in which communication is connected with adjacent unmanned watercraft 1000 as shown in Figure 35, but it is not necessarily required that adjacent unmanned watercraft 1000 be serially connected, and a communication network configuration in which communication is connected with any other unmanned watercraft 1000 within the communication range is also possible.

[0235] Next, Fig. 36 is a diagram showing another example of a formation for a narrow space in the formation pattern of the group 1010. In particular, Fig. 36 shows a formation for a narrow space that is suitable for passing through a narrow space by deploying the group 1010 in a narrow space where the area width or area is narrower than a predetermined value, avoiding immobile objects that need to be avoided and areas that need to be avoided.

[0236] In the example shown in Figure 36, when passing through a narrow area between immovable objects that need to be avoided, such as a harbor pier or breakwater, multiple unmanned boats 1000 that make up at least a part of the group 1010 are arranged in a line to enter the narrow area, showing the changes in the formation of the group 1010 at times t1, t2, and t3 as the group 1010 passes through the narrow area.

[0237] At time t1, a portion of the unmanned watercraft 1000 at the front of the group 1010 is shown forming a line and entering the narrow area. At time t2, a portion of the unmanned watercraft 1000 at the front of the group 1010 has passed through the narrow area, while the other unmanned watercrafts 1000, including the parent watercraft 1001, are passing through or have just passed the narrow area. At time t2, the group operation control unit 2600 causes the unmanned watercraft 1000 that has passed through the narrow area to wait at the exit of the narrow area or in an area nearby. At time t3, all of the unmanned watercrafts 1000 in the group 1010 have passed through the narrow area. At time t3, the group 1010, together with the multiple unmanned watercrafts 1000 that had been waiting at or near the exit of the narrow area, begins moving from the area near the exit of the narrow area.

[0238] As shown in Figure 36, when passing through a narrow area, all or part of the group 1010 can be deformed into a long, narrow line, making it possible to pass through the narrow area. Note that the communication connection of the long, narrow line-shaped part of the narrow space formation may be a serial connection configuration in which it is communicatively connected to other adjacent unmanned watercraft 1000 as shown in Figure 36, but serial connection with adjacent unmanned watercraft is not necessarily required, and it can be a communication network configuration in which it is communicatively connected to any other unmanned watercraft within the communication range.

[0239] Fig. 37 is a diagram showing another example of a formation for a narrow space in the formation pattern of group 1010. In particular, Fig. 37 shows a narrow space formation that is suitable for passing through a narrow space by deploying group 1010 in a narrow space where the area width or area is narrower than a predetermined value, avoiding immobile objects that need to be avoided (coasts) or areas that need to be avoided (congested highways).

[0240] The example shown in Figure 37 shows the changes in the formation of group 1010 at times t1, t2, and t3 when unmanned boats making up at least a part of group 1010 enter a narrow area inside a bay or congested highway area, and the unmanned boats that have entered the narrow area pass through the narrow area in a formation that maintains a relative distance range that allows wireless communication with at least two or more other unmanned boats 1000.

[0241] At time t1, an unmanned watercraft 1000b at the front of the group 1010 is shown entering a narrow area in a formation that maintains a relative distance that allows communication with the other two or more unmanned watercraft. At this time, as shown in Figure 37, the unmanned watercraft 1000 at the front of the group 1010 may be connected via a wireless communication network to the other two or more unmanned watercraft within the communication range.

[0242] Also, at time t2, the unmanned watercraft 1000b at the front of the group 1010 has passed through the narrow area and moved into the range of direct communication with the terrestrial base station 4000 located near the exit of the narrow area. Here, the unmanned watercraft 1000b can be moved into the communication area based on information about the installation location and communication area of ​​the terrestrial base station 4000 acquired by the external information acquisition unit 2110. In this case, the unmanned watercraft 1000b that has moved into the range of direct communication with the terrestrial base station 4000 is assigned the function of a master unit 1001 that relays communication between the ground communication network and the group 1010.

[0243] Also, at time t3, almost all of the unmanned boats 1000 in the group 1010 have passed through the narrow area. At time t3, the group 1010 merges with the unmanned boats 1000 that have been waiting at or near the exit of the narrow area and the unmanned boats 1000 that have passed through the narrow area, and the group 1010 begins moving from the area near the exit of the narrow area.

[0244] As shown in Figure 37, the formation of the group 1010 when passing through a narrow area does not necessarily have to be in single file, but may be a zigzag formation as shown in Figure 37, a lattice formation, or other formations such as a diamond or hexagon. Furthermore, by configuring the wireless communication network of the group 1010 when passing through a narrow area as a redundant network configuration in which the unmanned watercraft are connected to multiple other unmanned watercraft within the communication range, it is possible to maintain communication connections with all unmanned watercrafts 1000 in the group 1010 even if some communication connections are lost.

[0245] Furthermore, if there is an area where direct communication with the terrestrial base station 4000 is possible, at least one unmanned watercraft 1000 can be moved into that area to relay communication between the terrestrial base station 4000 and other unmanned watercraft 1000 in the group 1010, thereby making it possible to provide redundant communication between the group 1010 and the ground network.

[0246] In the above embodiment, a control system 1 using a group 1010 consisting of multiple unmanned boats 1000 that operate on the sea or water was described, but the present invention is not limited to ships such as the unmanned boat 1000, and can be applied to any mobile body or unmanned aircraft, such as an unmanned aerial vehicle that can move through the air, an unmanned submersible that can move underwater, or an unmanned vehicle that can move on land.

[0247] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0248] [A-2. Effects of this embodiment] According to the above-described embodiment, when multiple groups each having multiple mobile objects are used to carry out activities such as search, inspection, and investigation, these activities can be carried out more safely or efficiently. As an example, by determining the group composition for each of the multiple groups and controlling the composition, it is possible to carry out the activities using multiple loops more safely or efficiently. [Explanation of symbols]

[0249] 1...Control system (system) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000...Unmanned boat 1001...Base unit 1002...Sub unit 10021... Primary connection slave unit 10022... Secondary connection slave unit 10023...Tertiary connected slave unit 1010...Group 1100...Measuring unit 1110...Measuring sensor 1120...Measurement control unit 1200...Own aircraft state determination unit 1210...Navigation state determination unit 1220: Internal state determination unit 1230: External state determination unit 1300...Navigation Department 1400...Communication unit 1410...Unmanned vehicle communication unit 1420...Satellite communication unit 1430...External communication unit 1500…Judgment section 1600...Recording section 1610...Measurement data recording section 1620...Own aircraft status recording section 1630...Determination information recording section 2000...Comprehensive control system 2100: Information import unit 2110: External information acquisition unit 2120... Formation pattern acquisition unit 2130... Priority group determination condition acquisition unit 2140...Unmanned boat information acquisition department 2200...Activity condition acquisition unit 2210...User input acquisition unit 2220...External user input acquisition unit 2300...Motion plan determination unit 2310...Overall formation determination unit 2320...Group role assignment unit 2330...Collision avoidance operation planning unit 2340…Measurement Density Planning Division 2400: State determination unit 2410: Group internal state determination unit 2420...Group behavior state determination unit 2430...Measurement density distribution determination unit 2440... Peripheral object detection unit 2500: Group operation determination unit 2510: Priority determination unit 2520: Group formation determination unit 2530: Collision avoidance operation determination unit 2540...Measurement density adjustment operation determination unit 2600...Group operation control unit 2610...Formation change control unit 2620: Collision avoidance operation control unit 2630: Measurement density adjustment operation control unit 2640...Inter-group operation control unit 2700...Information input / output section 2710...Display section 2720...User input reception unit 2730...Control command output unit 2740…Communications Department 3000...Communication satellite 4000...Ground base station 5000... Collaborative system 6000... External system 7000...Object

Claims

1. A control system for controlling the operation of a plurality of groups including at least a first group having a plurality of unmanned vehicles and a second group having a plurality of other unmanned vehicles, and for searching for an object using the plurality of unmanned vehicles, an activity condition acquisition unit that acquires information including a measurement density distribution calculated for each area by a measurement sensor mounted on the unmanned watercraft; a group operation determination unit that determines, for each of the plurality of groups, whether to reduce or increase the relative distance between unmanned watercraft within the group based on the information acquired by the activity condition acquisition unit; a group operation control unit that controls the reduction or increase of the relative distance between unmanned watercraft within the plurality of groups in accordance with the determination of the group operation determination unit;

2. A control system for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, an activity condition acquisition unit that acquires information about search activity conditions for the target object by the plurality of unmanned watercraft; a group operation determination unit that determines, based on the information acquired by the activity condition acquisition unit, an assignment operation for each of the plurality of groups, including at least one of a search operation before the object is discovered, a tracking operation after the object is discovered, a surrounding operation, a preemptive operation, and a tracking takeover operation; a group operation control unit that controls execution of the assigned operations of the plurality of groups in accordance with the content of the determination of the group operation determination unit; the group operation determination unit determines the number of the plurality of unmanned vessels belonging to the first group or the second group, determines whether to change the composition of the first group or the second group, determines whether to increase or decrease the number of the plurality of unmanned vessels included in the first group or the second group, or determines whether to move or swap the plurality of unmanned vessels between the first group and the second group, depending on the determination result of the allocation operation of the first group and the second group.

3. A control system for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, an activity condition acquisition unit that acquires information about activity conditions of the plurality of unmanned watercraft; a group action determination unit that determines a movement route for each of the plurality of groups based on the information acquired by the activity condition acquisition unit; a group operation control unit that controls the movement paths of the plurality of groups in accordance with the determination content of the group operation determination unit; When searching for an object using measurement sensors mounted on the plurality of unmanned craft belonging to the plurality of groups and an external measurement sensor mounted on a research vessel that is an external cooperative system, A control system in which the group operation determination unit generates the movement path that can measure the boundary area between the external search area and the activity area at a frequency greater than or equal to a predetermined frequency, based on information regarding the external search area of ​​the research vessel that is the collaborative system and the activity area of ​​the multiple unmanned boats.

4. A control system for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, an activity condition acquisition unit that acquires information about search activity conditions for the target object by the plurality of unmanned watercraft; a group action determination unit that determines a formation for each of the plurality of groups based on the information acquired by the activity condition acquisition unit; a group movement control unit that controls the formation of the plurality of groups in accordance with the determination content of the group movement determination unit; The information determined by the group operation determination unit includes: The control system includes decision information to change the formation of at least one of the approaching unmanned craft belonging to the first group and the second group into either a compressed formation, which narrows the width in the direction of travel, or a split formation, which divides the formation into two or more, as an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the second group.

5. A control system for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, an activity condition acquisition unit that acquires information about search activity conditions for the target object by the plurality of unmanned watercraft; a group action determination unit that determines at least one of a movement route and a formation of each of the plurality of groups based on the information acquired by the activity condition acquisition unit; a group movement control unit that controls at least one of the movement paths and the formations of the plurality of groups in accordance with the content of the determination by the group movement determination unit; The information determined by the group operation determination unit includes: The control system includes decision information for performing an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the unmanned craft belonging to the second group by adjusting the positions or formations of the unmanned craft belonging to the first group and the unmanned craft belonging to the second group that are approaching each other, and by having at least some of the unmanned craft belonging to the second group pass through gaps between at least some of the unmanned craft belonging to the first group while at least a portion of the deployment areas of the first group and the second group overlap.

6. A control system for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, an activity condition acquisition unit that acquires information about activity conditions of the plurality of unmanned watercraft; a group action determination unit that determines group formation for each of the plurality of groups based on the information acquired by the activity condition acquisition unit; a group operation control unit that controls the group organization of the plurality of groups in accordance with the content of the determination by the group operation determination unit; the group operation control unit switches the unmanned watercraft belonging to the first group with the unmanned watercraft belonging to the second group when the first group and the second group come within a predetermined distance of each other, as an avoidance operation to avoid contact between the unmanned watercraft belonging to the first group and the unmanned watercraft belonging to the second group.

7. 1. A control method for controlling operations of a plurality of groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, and for searching for an object using the plurality of unmanned watercraft, the method comprising: The computer an activity condition acquisition step of acquiring information including a measurement density distribution calculated for each area by a measurement sensor mounted on the unmanned craft; a group operation determination step of determining, for each of the plurality of groups, whether to reduce or increase the relative distance between unmanned watercraft within the group based on the information acquired in the activity condition acquisition step; a group operation control step of controlling a reduction or increase in the relative distance between unmanned watercraft in each of the plurality of groups in accordance with the determination made in the group operation determination step; A control method for performing the above.

8. A control method for controlling the operation of multiple groups including at least a first group having a plurality of unmanned vessels and a second group having a plurality of other unmanned vessels, comprising: The computer an activity condition acquisition step of acquiring information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group operation determination step for determining, based on the information acquired in the activity condition acquisition step, an assignment operation for each of the plurality of groups, including at least one of a search operation before the object is discovered, a tracking operation after the object is discovered, a surrounding operation, a proactive operation, and a tracking takeover operation; executing a group operation control step of controlling execution of the assigned operations of the plurality of groups according to the content of the determination of the group operation determination step; a control method in which, in the group operation determination step, depending on the determination result of the allocation operation of the first group and the second group, a determination is made of the number of the plurality of unmanned vessels belonging to the first group or the second group, a determination is made of whether or not to change the composition of the first group or the second group, a determination is made of whether to increase or decrease the number of the plurality of unmanned vessels included in the first group or the second group, or a determination is made of whether to move or swap the plurality of unmanned vessels between the first group and the second group.

9. A control method for controlling the operation of multiple groups including at least a first group having a plurality of unmanned vessels and a second group having a plurality of other unmanned vessels, comprising: The computer an activity condition acquisition step of acquiring information about activity conditions of the plurality of unmanned watercraft; a group action determination step of determining movement routes of the plurality of groups based on the information acquired in the activity condition acquisition step; executing a group action control step of controlling the movement paths of the plurality of groups in accordance with the determination content of the group action determination step; When searching for an object using measurement sensors mounted on the plurality of unmanned craft belonging to the plurality of groups and an external measurement sensor mounted on a research vessel that is an external cooperative system, A control method in which, in the group operation determination step, a movement path is generated that can measure the boundary area between the external search area and the activity area at a frequency greater than or equal to a predetermined frequency, based on information regarding the external search area of ​​the research vessel that is the cooperative system and the activity area of ​​the multiple unmanned boats.

10. A control method for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, comprising: The computer an activity condition acquisition step of acquiring information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group action determination step of determining a formation for each of the plurality of groups based on the information acquired in the activity condition acquisition step; execute a group movement control step of controlling the formation of the plurality of groups in accordance with the content of the determination in the group movement determination step; The decision information determined by the group action decision step includes: The control method includes decision information to change the formation of at least one of the approaching unmanned craft belonging to the first group and the second group to either a compressed formation that narrows the width in the direction of travel, or a split formation that divides the formation into two or more, as an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the second group.

11. A control method for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, comprising: The computer an activity condition acquisition step of acquiring information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group action determination step of determining at least one of a movement route and a formation of each of the plurality of groups based on the information acquired in the activity condition acquisition step; executing a group movement control step of controlling at least one of the movement paths and the formations of the plurality of groups according to the content of the determination made in the group movement determination step; The decision information determined by the group action decision step includes: The control method includes decision information for performing an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the unmanned craft belonging to the second group by adjusting the positions or formations of the unmanned craft belonging to the first group and the unmanned craft belonging to the second group that are approaching each other, and performing a passing operation as the avoidance operation in which at least some of the unmanned craft belonging to the second group pass through gaps between at least some of the unmanned craft belonging to the first group while at least a portion of the deployment areas of the first group and the second group overlap.

12. A control method for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, comprising: The computer an activity condition acquisition step of acquiring information about activity conditions of the plurality of unmanned watercraft; a group action determination step of determining a group organization for each of the plurality of groups based on the information acquired in the activity condition acquisition step; execute a group operation control step of controlling the group organization of the plurality of groups according to the content of the determination in the group operation determination step; In the group operation control step, as an avoidance operation to avoid contact between the unmanned watercraft belonging to the first group and the unmanned watercraft belonging to the second group, when the first group and the second group come within a predetermined distance of each other, the unmanned watercraft belonging to the first group are swapped with the unmanned watercraft belonging to the second group.

13. A program for controlling the operation of a plurality of groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, and for searching for an object by the plurality of unmanned watercraft, On the computer, an activity condition acquisition command to acquire information including a measurement density distribution calculated for each area by a measurement sensor mounted on the unmanned craft; a group operation decision command for making a decision regarding reduction or increase of the relative distance between unmanned watercraft within each of the plurality of groups based on the information acquired by the activity condition acquisition command; a group operation control command for controlling the reduction or increase of the relative distance between unmanned watercraft in each of the plurality of groups in accordance with the content of the determination made by the group operation determination command; A program that executes the following.

14. A program for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, On the computer, an activity condition acquisition command to acquire information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group operation determination command for determining, based on the information acquired by the activity condition acquisition command, an assignment operation including at least one of a search operation before the object is discovered, a tracking operation after the object is discovered, a surrounding operation, a preemptive operation, and a tracking takeover operation for each of the plurality of groups; execute a group operation control command to control execution of the assigned operations of the plurality of groups according to the content of the determination made by the group operation determination command; a program that, in executing the group operation decision command, determines the number of the plurality of unmanned watercraft belonging to the first group or the second group, determines whether to change the composition of the first group or the second group, determines whether to increase or decrease the number of the plurality of unmanned watercraft included in the first group or the second group, or determines whether to move or swap the plurality of unmanned watercraft between the first group and the second group, depending on the result of the decision on the allocation operation of the first group and the second group.

15. A program for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, On the computer, an activity condition acquisition command to acquire information about activity conditions of the plurality of unmanned watercraft; a group action determination command for determining a movement route for the plurality of groups based on the information acquired by the activity condition acquisition command; execute a group action control command to control the movement paths of the plurality of groups in accordance with the content of the determination made by the group action determination command; When searching for an object using measurement sensors mounted on the plurality of unmanned craft belonging to the plurality of groups and an external measurement sensor mounted on a research vessel that is an external cooperative system, A program that, in executing the group operation decision command, generates a movement path that can measure the boundary area between the external search area and the activity area at a frequency greater than or equal to a predetermined frequency, based on information regarding the external search area of ​​the research vessel that is the cooperative system and the activity area of ​​the multiple unmanned vessels.

16. A program for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, On the computer, an activity condition acquisition command to acquire information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group action determination command for determining a formation for each of the plurality of groups based on the information acquired by the activity condition acquisition command; execute a group movement control command to control the formation of the plurality of groups in accordance with the content of the determination made by the group movement determination command; The decision information determined by the group action decision command includes: The program includes decision information for changing the formation of at least one of the approaching first and second groups into either a compressed formation, which narrows the width in the direction of travel, or a split formation, which divides the formation into two or more, as an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the second group.

17. A program for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, On the computer, an activity condition acquisition command to acquire information about activity conditions for searching for an object by the plurality of unmanned watercraft; a group action determination command for determining at least one of a movement route and a formation of each of the plurality of groups based on the information acquired by the activity condition acquisition command; execute a group movement control command to control at least one of the movement paths and the formations of the plurality of groups in accordance with the content of the determination made by the group movement determination command; The decision information determined by the group action decision command includes: The program includes decision information for performing an avoidance operation to avoid contact between the unmanned craft belonging to the first group and the unmanned craft belonging to the second group by adjusting the positions or formations of the unmanned craft belonging to the first group and the unmanned craft belonging to the second group that are approaching each other, and by having at least some of the unmanned craft belonging to the second group pass through gaps between at least some of the unmanned craft belonging to the first group while at least a portion of the deployment areas of the first group and the second group overlap.

18. A program for controlling the operation of multiple groups including at least a first group having a plurality of unmanned watercraft and a second group having a plurality of other unmanned watercraft, On the computer, an activity condition acquisition command to acquire information about activity conditions of the plurality of unmanned watercraft; a group action determination command for determining a group formation for each of the plurality of groups based on the information acquired by the activity condition acquisition command; execute a group operation control command to control the group organization of the plurality of groups according to the determined content of the group operation determination command; a program that, based on the group operation control command, executes an avoidance operation to avoid contact between the unmanned watercraft belonging to the first group and the unmanned watercraft belonging to the second group when the first group and the second group come within a predetermined distance of each other.

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