Control system, control method, and program

Abstract

According to the present invention, it is possible to improve performance of monitoring and tracking of a moving body that moves in an ocean area or the like using a plurality of unmanned vehicles.SOLUTION: The present invention provides a system for detecting an object using a plurality of unmanned boats capable of navigating on a water surface or on water, the system including a measurement unit that acquires measurement data by a measurement sensor mounted on the plurality of unmanned boats, an object detection determination unit that detects the object by processing the measurement data, an object analysis determination unit that determines at least one of a type, an operating state, and dynamic performance of the detected object, and an unmanned boat operation management unit that issues an operation command to the plurality of unmanned boats, the unmanned boat operation management unit determines a command content of the operation command for the plurality of unmanned boats in accordance with a determination result by the object analysis determination unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a control device that includes an other-unit information acquisition means for acquiring information about the status of other units, in order to optimize the behavior of the entire unmanned aircraft group while each unit in the unmanned aircraft group autonomously selects its own behavior; an action comparison means for acquiring information about the status of other units from the other-unit information acquisition means and acquiring sensor signals including information about the status of the own unit, and calculating comparison values ​​for multiple types of actions that the own unit should take using the acquired information about the own unit and the other units; an action selection means for selecting an action that the own unit should take based on the comparison values ​​of the multiple types of actions calculated by the action comparison means; an operation amount calculation means for calculating the operation amount of the own unit using information about the action selected by the action selection means and information about the status of the other units obtained from the other-unit information acquisition means; and an operation setting means for setting operation setting values ​​of actuators that operate the own unit using the calculation results of the operation amount calculation means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Re-tabled publication No. 2018-105599 Summary of the Invention [Problem to be solved by the invention]

[0004] Ocean surveillance has traditionally been carried out using a few manned patrol boats and research vessels to prevent nuisance and illegal fishing caused by suspicious vessels navigating the ocean, or to conduct ecological surveys of marine life. However, a few manned patrol boats have the problem of being unable to perform coordinated operations with multiple vessels, such as tracking handover, anticipation, encirclement, detention, and coordinated tracking. Furthermore, even when deploying a large number of manned patrol boats, it is not easy to quickly control and manage a large number of manned vessels. Furthermore, it is not easy to train personnel with the skills to perform such control and management. In recent years, the use of unmanned vessels capable of autonomously navigating the ocean has been considered, and it is expected that they will be used for the aforementioned monitoring of suspicious vessels and ecological surveys.

[0005] On the other hand, it is expected that suspicious ships and the like will attempt to escape surveillance and pursuit by drones by fleeing at high speed, fleeing in a direction where there are fewer drones, sudden acceleration and deceleration, sharp turns, etc. It is also expected that marine life such as whales and dolphins will similarly flee from research vessels.

[0006] Patent Document 1 discloses a method for controlling a group of drones that, when a suspicious ship is discovered, causes a drone located near the suspicious ship to track the suspicious ship while other drones continue searching for the unmanned ship. However, this control method has problems remaining, such as when the suspicious ship flees at high speed as described above, when the suspicious ship flees in a direction where there are fewer or no drones, or when marine life attempts to escape from a research vessel, the suspicious ship may escape from the drone's pursuit, or it may be impossible to obtain evidential image data of the suspicious ship or research data of the marine life.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objectives is to provide a system or control method, etc., that can improve the performance of monitoring and tracking mobile objects moving in marine areas, etc., using multiple unmanned aerial vehicles. [Means for solving the problem]

[0008] According to the present invention, a control system is obtained that detects objects using a plurality of unmanned boats capable of navigating on or above the water surface, and includes a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned boats, an object detection determination unit that processes the measurement data to detect the objects, an object analysis determination unit that determines at least one of the type, operating state, and dynamic performance of the detected objects, and an unmanned boat operation management unit that issues operation commands to the plurality of unmanned boats, wherein the unmanned boat operation management unit determines the content of the operation commands to the plurality of unmanned boats depending on the determination result by the object analysis determination unit. [Effects of the Invention]

[0009] According to the present invention, it is possible to improve the performance of monitoring and tracking moving objects moving in marine areas, etc., using multiple unmanned aerial vehicles. [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 platoon 1010 made up of unmanned boats 1000. [Figure 5] 1 is a conceptual diagram showing an unmanned boat 1000 deployed on the sea monitoring or tracking a suspicious ship 7000. FIG. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. [Figure 7] 1 is a functional block diagram showing the functional configuration of a determination unit 1500 of the unmanned watercraft 1000. FIG. [Figure 8] 15 is a diagram showing determination items of the determination process executed by the object detection determination unit 1510. FIG. [Figure 9] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 10] 10 is a state transition diagram showing the speed status etc. relating to the speed and acceleration / deceleration pattern of the suspicious ship determined by the navigation pattern determination unit 2250. FIG. [Figure 11] 10 is a state transition diagram showing the course trajectory status regarding the course pattern of the suspicious ship determined by the navigation pattern determination unit 2250. FIG. [Figure 12] 10 is a state transition diagram showing the disruptive navigation status regarding a navigation pattern intended to confuse the tracking of a suspicious ship, as determined by the navigation pattern determination unit 2250. FIG. [Figure 13] 10 is a state transition diagram showing the escape behavior status relating to the pattern of the suspicious ship's escape behavior determined by the behavior status determination unit 2260. FIG. [Figure 14] FIG. 10 is a state transition diagram showing the tracking state determined by the tracking state determination unit 2330. [Figure 15] 10 is a state transition diagram showing the prediction state of the course prediction determined by the course prediction state determination unit 2340. FIG. [Figure 16] 10 is a state transition diagram showing the state of an overall operation command determined by an overall operation determination unit 2410. FIG. [Figure 17] FIG. 10 is a state transition diagram showing the state of a tracking formation command determined by the tracking operation determination unit 2430. [Figure 18] 10 is a state transition diagram showing the state of a relative distance control command determined by a tracking operation determination unit 2430. FIG. [Figure 19] FIG. 2 is a hardware configuration diagram of an integrated control system 2000. [Figure 20] FIG. 2 is a flowchart showing the processing flow of the control system 1. [Figure 21] 3 is a sequence diagram showing the exchange of signals between systems in the control system 1. FIG. [Figure 22] FIG. 10 is a flowchart showing the processing flow of the object analysis and determination process executed by the object analysis and determination unit 2200. [Figure 23]10 is a flowchart showing the flow of a process executed by a system state determination unit 2300 to determine the state or relative operating state of the unmanned watercraft 1000. FIG. [Figure 24] 10 is a flowchart showing the processing flow for determining an operation command for the unmanned watercraft 1000 determined by the operation management unit 2400. FIG. [Figure 25] FIG. 10 is a flowchart showing the processing flow executed by the tracking break-off response action determination unit 2440 to determine an operation command for the unmanned watercraft 1000 when break-off occurs, etc. [Figure 26] 10 is a diagram showing the relative positions and communication connections of a platoon 1010 of a plurality of unmanned watercraft 1000. FIG. [Figure 27] FIG. 10 is a diagram showing the layout relationship of multiple platoons 1010. [Figure 28] 10A and 10B are diagrams showing the state of position control at times t1 and t2 when a target is tracked by a plurality of unmanned watercraft 1000. FIG. [Figure 29] 10A and 10B are diagrams showing the state of position control at times t3 and t4 when a target is tracked by a plurality of unmanned watercraft 1000. FIG. [Figure 30] 10A and 10B are diagrams showing the state of position control at times t5 and t6 when a target is tracked by a plurality of unmanned watercraft 1000. FIG. [Figure 31] 10A and 10B are diagrams showing the state of position control at times t7 and t8 when a target is tracked by a plurality of unmanned watercraft 1000. FIG. [Figure 32] FIG. 10 is a diagram showing a time series takeover state when tracking takeover control is performed. [Figure 33] 10A and 10B are diagrams showing the state of position control at times t20 and t21 when a plurality of unmanned watercraft 1000 are used to surround an object using a first surrounding operation. [Figure 34] 10 is a diagram showing the state of position control at time t22 when a plurality of unmanned watercraft 1000 are surrounding an object by a first surrounding operation. FIG. [Figure 35] 10A and 10B are diagrams showing the state of position control at times t30 and t31 when a plurality of unmanned watercraft 1000 are used to surround an object in a second surrounding operation. [Figure 36]10 is a diagram showing the state of position control at time t32 when a plurality of unmanned watercraft 1000 are surrounding an object by performing a second surrounding operation. FIG. [Figure 37] 10A and 10B are diagrams showing the state of times t40 and t41 when the action allocation determination unit 2420 allocates action roles to a plurality of unmanned watercraft. [Figure 38] 13A and 13B are diagrams showing the state of times t42 and t43 when the action allocation determination unit 2420 allocates action roles to a plurality of unmanned watercraft. [Figure 39] 13A and 13B are diagrams showing the state at times t44 and t45 when the action allocation determination unit 2420 allocates action roles to a plurality of unmanned watercraft. [Figure 40] 13A and 13B are diagrams showing the state of times t46 and t47 when the action allocation determination unit 2420 allocates action roles to a plurality of unmanned watercraft. [Figure 41] 10A and 10B are diagrams showing the state of times t50 and t51 when the tracking operation determination unit 2430 controls the relative distances between a plurality of unmanned watercraft. [Figure 42] 13A and 13B are diagrams showing the state at times t52 and t53 when the tracking operation determination unit 2430 controls the relative distances between a plurality of unmanned watercraft. [Figure 43] 13A and 13B are diagrams showing the state at times t54 and t55 when the tracking operation determination unit 2430 controls the relative distances between a plurality of unmanned watercraft. [Figure 44] 13A and 13B are diagrams showing the state at times t56 and t57 when the tracking operation determination unit 2430 controls the relative distances between a plurality of unmanned watercraft. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] A system for detecting an object using a plurality of unmanned watercraft that can navigate on or above the water surface, a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned watercraft; an object detection determination unit that processes the measurement data and detects the object; an object analysis / determination unit that determines at least one of the type, operating state, and dynamic performance of the detected object; an unmanned watercraft operation management unit that issues operation commands to the plurality of unmanned watercraft; Equipped with The unmanned watercraft operation management unit determines the command content of the operation command to the plurality of unmanned watercrafts in accordance with the determination result by the object analysis and determination unit. [Item 2] In the control system according to item 1, The unmanned watercraft operation management unit determines the assignment of an operation role to each of the plurality of unmanned watercraft, and issues the operation command to the plurality of unmanned watercraft to perform the assigned operation role. [Item 3] In the control system according to item 1 or 2, A control system in which the operational roles assigned to the plurality of unmanned vessels by the unmanned vessel operation management unit include at least one of the following roles: a role of tracking the object, a role of taking over tracking of the object, a role of anticipating the destination of the object, a role of surrounding the object, a role of relaying communications between the plurality of unmanned vessels, a role of storing the measurement data, and a role of performing analytical processing of the measurement data. [Item 4] In the control system according to any one of items 1 to 3, The operating state or dynamic performance of the object determined by the object analysis and determination unit includes: past or current movement states of the object, including at least one of a past movement trajectory, a current traveling direction, a current heading direction, a current movement speed, a current acceleration, and a current deceleration; or a predicted future moving state including at least one of a predicted future course of the object, a predicted position at a future time, a predicted speed at a future time, and a predicted direction of travel at a future time; Or, the control system includes dynamic performance including at least one of the maximum movement speed, maximum turning speed, maximum acceleration, maximum deceleration, and movable distance of the object. [Item 5] In the control system according to any one of items 1 to 4, When the type of the object determined by the object analysis and determination unit corresponds to a predetermined type, or when the current moving speed of the object is equal to or less than a predetermined value, The unmanned boat operation management unit issues an operation command to at least one of the plurality of unmanned boats for an encirclement operation that moves the unmanned boat so that the target object is inside the formation of the plurality of unmanned boats, a control system. [Item 6] In the control system according to any one of items 1 to 5, When the unmanned watercraft operation management unit issues a movement command for a proactive operation to a destination of the object, The unmanned watercraft operation management unit, for at least some of the plurality of unmanned watercraft, A control system that issues the operational command to move the unmanned watercraft to at least one of the positions or areas determined by the object analysis and determination unit, including an extension of the object's past movement trajectory or the surrounding area of ​​that extension, forward in the object's current direction of travel or the surrounding area, forward in the object's current heading direction or the surrounding area, on the object's predicted future path or the surrounding area of ​​that predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position. [Item 7] In the control system according to any one of items 1 to 6, The object includes an object moving on the water surface, in the water, or in the air; The object analysis and determination unit determines the navigation pattern of the object, which includes at least one of: stopped, where the object is stopped or almost stopped; navigation within the object's steady speed range; navigation faster than the steady speed range; navigation slower than the steady speed range; accelerating navigation; decelerating navigation; repeated acceleration and deceleration; zigzag navigation, where the object navigates a zigzag path; turning course change, where the object changes course by making a turn; U-turn navigation; and figure-of-eight navigation, where the object navigates a figure-of-eight path. [Item 8] In the control system according to any one of items 1 to 7, The object analysis and determination unit determines the escape behavior state of the object, which includes at least one of the following behaviors: behavior to shake off pursuit, behavior to avoid being pursued, behavior to move away from an approaching unmanned vessel, behavior to prevent a course prediction, behavior to avoid an unmanned vessel moving ahead, and behavior to avoid being surrounded. [Item 9] In the control system according to any one of items 1 to 8, a system state determination unit that determines the current or future states of the plurality of unmanned watercraft, or the current or future relative operating states of the plurality of unmanned watercraft and the object; The unmanned watercraft operation management unit determines the operation commands for the plurality of unmanned watercrafts in accordance with the determination result by the system state determination unit. [Item 10] In the control system according to any one of items 1 to 9, A control system in which the system state determination unit determines at least one of the positions of the multiple unmanned vessels, the number of vessels, the direction of movement, the movement speed, the possible movement distance, the remaining energy, and an estimated value of the movement capability including the movement speed or the possible movement distance of the unmanned vessel in the external environment of the activity area of ​​the unmanned vessel. [Item 11] In the control system according to any one of items 1 to 10, The system state determination unit determines a relative motion state including at least one of a tracking state in which the unmanned vessel is tracking the object, a shake-off indication state in which the unmanned vessel being tracked is showing signs of being shaken off due to the object's fleeing behavior, a shake-off occurrence state in which the unmanned vessel being tracked has been shaken off due to the object's fleeing behavior, and a position capture lost state in which the unmanned vessel has lost track of the object's position. [Item 12] In the control system according to any one of items 1 to 11, The system state determination unit performs a runaway prediction determination to predict at least one of a runaway predicted position and a runaway predicted time at which the unmanned watercraft being tracked will be runaway. [Item 13] In the control system according to any one of items 1 to 12, The system state determination unit determines that the runaway state has occurred when the relative distance between the unmanned craft being tracked and the target object is equal to or greater than a predetermined distance. [Item 14] In the control system according to any one of items 1 to 13, The system state determination unit determines that the state corresponds to the indication of runaway when the speed of the unmanned vessel being tracked is slower than the speed of the object, or when the relative distance between the unmanned vessel being tracked and the object is increasing over time, or when the travelable distance of the unmanned vessel being tracked is shorter than the travelable distance of the object, or when the remaining energy of the unmanned vessel being tracked is less than the remaining energy of the object. [Item 15] In the control system according to any one of items 1 to 14, A control system in which, when making the runaway prediction determination, the system state determination unit determines at least one of the runaway predicted position and the runaway predicted time at which the unmanned vessel to be tracked will be runaway, based on status information regarding the unmanned vessel to be tracked, including at least one of the movement speed, movement direction, and position of the unmanned vessel, and status information regarding the object, including at least one of the movement speed, movement direction, and position of the object. [Item 16] In the control system according to any one of items 1 to 15, When the system state determination unit determines that the state corresponds to the swing-out symptom state, the swing-out occurrence state, or the position capture lost state, The unmanned vessel operation management unit determines whether to assign a role of taking over the tracking operation to another unmanned vessel different from the unmanned vessel performing the tracking. [Item 17] In the control system according to any one of items 1 to 16, When the unmanned watercraft operation management unit assigns a role of taking over tracking to another unmanned watercraft different from the unmanned watercraft that is tracking, The unmanned boat operation management unit performs at least one of the following on the unmanned boat: selecting the unmanned boat to be assigned the role of taking over the tracking of the target object; issuing an operation command to move the unmanned boat to the predicted runout position; and issuing an operation command to move the unmanned boat to the predicted runout position by the predicted runout time. [Item 18] In the control system according to any one of items 1 to 17, The system state determination unit determines that the state corresponds to the swing-out symptom state or the swing-out occurrence state, When the object analysis and determination unit determines at least one of the past movement trajectory, the current traveling direction, the current heading direction, the future predicted course, and the future predicted position of the object, The unmanned watercraft operation management unit, for at least some of the plurality of unmanned watercraft, A control system that issues the operation command for a proactive operation to move the unmanned watercraft to at least one of the following positions or areas: an extension of the past movement trajectory of the object determined by the object analysis and determination unit or the surrounding area of ​​the extension, forward in the current direction of travel of the object or the surrounding area, forward in the current direction of the object's nose or the surrounding area, on the future predicted path of the object or the surrounding area of ​​the predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position. [Item 19] In the control system according to any one of items 1 to 18, When the system state determination unit determines that the state corresponds to the swing-out symptom state, The unmanned watercraft operation management unit issues the operation command to the unmanned watercraft, which command includes at least one of attaching paint to the object and attaching a transmitter to the object. [Item 20] In the control system according to any one of items 1 to 19, When the system state determination unit determines that the state corresponds to the swing-out state or the position capture lost state, The unmanned boat operation management unit issues the operation command to the unmanned boat that has entered the runaway state or position capture lost state, assigning an operation role to the unmanned boat that includes at least one of the following: taking over tracking of the target object, anticipating the target object's destination, surrounding the target object, relaying communications between the multiple unmanned boats, storing the measurement data, and analyzing the measurement data. [Item 21] In the control system according to any one of items 1 to 20, The system state determination unit determines at least one of the following: whether or not a capture loss has occurred, in which the plurality of unmanned vessels have lost track of the target object due to the target object fleeing; whether or not a capture loss will occur in the future; a predicted location where the capture loss will occur; an area where the target object can be captured; a predicted time when the capture loss will occur; and a time period during which the target object can be captured. [Item 22] In the control system according to any one of items 1 to 21, When the system state determination unit determines that the acquisition loss has occurred or predicts that the acquisition loss will occur in the future, A control system comprising an information output unit that outputs information including at least one of information on the occurrence of the capture loss, the predicted lost position, the predicted lost time, and information on the target object to an external system. [Item 23] In the control system according to any one of items 1 to 22, The object analysis and determination unit determines a predicted future course or a predicted position at a future time of the object; When the object analysis and determination unit determines the navigation pattern of the object, which includes at least one of: stopped (where the object is stopped or nearly stopped), navigation within the object's steady speed range, navigation faster than the steady speed range, navigation slower than the steady speed range, accelerating navigation, decelerating navigation, repeated acceleration and deceleration, zigzag navigation (navigating a zigzag route), turning course change (changing course by turning), U-turn navigation, and figure-of-eight navigation (navigating a figure-of-eight route), or the escape behavior state of the object, which includes at least one of behaviors of shaking off pursuit, avoiding behavior of a leading unmanned vessel, behavior that disrupts course prediction, behavior that avoids being surrounded, and behavior of moving away from an approaching unmanned vessel, The system state determination unit determines the validity of the determined future predicted route or the predicted position at a future time, depending on the navigation pattern or the escape behavior state. [Item 24] In the control system according to any one of items 1 to 23, When the unmanned watercraft operation management unit issues an operation command for tracking the target object, The unmanned boat operation management unit issues the operation command including information regarding the tracking formation of the multiple unmanned boats, including at least one of tracking from behind the object's direction of travel, tracking from two directions (left and right) relative to the object's direction of travel, tracking from three directions (left and right and behind) relative to the object's direction of travel, tracking from four directions (front, back, left and right) relative to the object's direction of travel, and tracking from ahead of the object's direction of travel. [Item 25] In the control system according to any one of items 1 to 24, When the unmanned watercraft operation management unit issues an operation command for tracking the target object, The unmanned boat operation management unit issues the operation command, which includes information regarding at least one of the tracking operations: an operation to prevent collision between multiple unmanned boats that are tracking the target object, an operation to prevent collision between the target object and the unmanned boat, an operation to shorten the distance between the unmanned boat and the target object, and an operation to increase the distance between the unmanned boat and the target object. [Item 26] In the control system according to any one of items 1 to 25, a user interface unit that displays candidate information for the operation command generated by the unmanned watercraft operation management unit and receives user input information for the operation command from a user; When the user input information is received by the user interface unit, The unmanned watercraft operation management unit determines the operation command in accordance with the user input information. [Item 27] A control method for a system that detects an object using a plurality of unmanned watercraft that can navigate on or above the water surface, comprising: The computer a measurement step of acquiring measurement data by measurement sensors mounted on the plurality of unmanned watercraft; an object detection step of processing the measurement data to detect the object; an object analysis step of determining at least one of a type, an operating state, and a dynamic performance of the detected object; a command determination step of determining operation command contents for the plurality of unmanned watercrafts in accordance with the determination result of the object analysis step; an operation command step of issuing commands to the plurality of unmanned watercraft based on the operation commands; A control method comprising: [Item 28] A program for controlling a system that detects objects using a plurality of unmanned watercraft that can navigate on or above the water surface, On the computer, a measurement command to acquire measurement data by measurement sensors mounted on the plurality of unmanned watercraft; an object detection command for processing the measurement data to detect the object; an object analysis command for determining at least one of the type, operating state, and dynamic performance of the detected object; A command determination command for determining the content of an operation command for the plurality of unmanned boats according to the determination result determined based on the object analysis command, An operation execution command for performing a command based on the operation command on the plurality of unmanned boats, A program for causing the above to be executed.

[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 the control system 1 according to an embodiment of the present invention will be described using 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 an embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an unmanned boat 1000 and a general control system 2000. Further, the general control system 2000 is configured to be communicable with an external cooperation system 5000 and an external system 6000 via an Internet line or the like, and can perform input / output of information. The general control system 2000 can transmit a control command to the unmanned boat 1000 deployed at sea via a communication satellite 3000 and a ground base station 4000, and can receive the operation status and measurement data of the unmanned boat 1000.

[0015] The unmanned boat 1000 is equipped with a parent unit 1001 capable of communicating with a communication satellite 3000, and a child unit 1002 capable of communicating directly or indirectly with the parent unit 1001, and a communication network is established between the multiple child units 1002 and the parent unit 1001. The multiple child units 1002 and the parent unit 1001 also have the function of detecting and measuring suspicious ships sailing on the sea or other moving objects moving on the sea using measurement sensors (optical cameras, IR cameras, laser sensors such as LiDAR and millimeter wave sensors, acoustic sensors such as sonar, etc.) mounted on the vehicle.

[0016] Detection information and measurement data of objects 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. Based on information obtained from the unmanned vessel 1000 and the external system 6000, the overall control system 2000 analyzes detected objects such as suspicious vessels 7000 and the unmanned vessel 1000, and generates operational commands for the unmanned vessel 1000. The generated information, such as operational commands, is transmitted to the cooperative system 5000, and external user input information can also be obtained from the cooperative system.

[0017] (A-1-1-2. Example of Control System 1 Implementation in Real Space) Fig. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Fig. 2, a terrestrial base station 4000 and 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 such as a monitoring organization facility, and further, an external system 6000 such as an AIS (Automatic Identification System) control center and an AIS base station that manages information about ships sailing on the ocean.

[0018] On the other hand, on the ocean side shown on the left side of the drawing, there are deployed unmanned vessels 1000, objects to be monitored and tracked such as suspicious vessels 7000, and part of a cooperative system 5000, such as surveillance vessels operated by external cooperative surveillance organizations. Multiple unmanned vessels 1000 (master vessel 1001 and slave vessels 1002) form multiple platoons 1010 (1010a, 1010b, 1010c), and each platoon can communicate directly or via a communications satellite 3000. The unmanned vessels 1000 can also communicate with surveillance vessels directly or via the communications satellite 3000. For example, the unmanned vessels 1000 can notify the surveillance vessels of detection information regarding the suspicious vessel 7000. The unmanned vessels 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 part of the functions implemented in the overall control system 2000 shown in this embodiment can also be installed in other coastal field bases on land or manned ships at sea, and the unmanned boat 1000 can be operated at the coastal field bases or manned ships.

[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 a user interface unit 2500 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 ship at sea, the operator can operate the unmanned watercraft 1000 from the coastal field base or the manned ship.

[0021] In addition, there is a monitoring manager at the external cooperative monitoring organization facility of the cooperative system 5000, and observers on the monitoring boats, and they work together to monitor nuisance behavior at sea, survey marine life, etc. In addition, there is a person in charge of generating, operating, and managing AIS information at the AIS control center of the external system 6000.

[0022] Furthermore, there are crew members on the suspicious ship 7000 that is the target of monitoring by the control system 1 and the collaboration system 5000, and these crew members are engaging in nuisance activities. The information control system 1 can monitor and track the suspicious ship 7000 more efficiently by communicating and cooperating with the collaboration system 5000 and the external system 6000.

[0023] (A-1-3. Configuration of Unmanned Boat 1000) Figure 4 is a configuration diagram showing a platoon 1010 made up of unmanned craft 1000. As shown in Figure 4, the unmanned craft 1000 is made up of one or more platoons 1010 (1010a, 1010b). Each platoon 1010 has at least one master unit 1001 and multiple slave units 1002. The master unit 1001 is connected to a communication satellite 3000 for communication, and has the function of aggregating information collected from multiple slave units 1002 and transmitting the information to 3000 via satellite communication, 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.

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

[0025] FIG. 5 is a conceptual diagram showing how an unmanned vessel 1000 deployed on the sea monitors or tracks a suspicious vessel 7000. As shown in FIG. 5, multiple unmanned vessels (parent vessel 1001, child vessels 10021, 10022, 1023) are deployed on the sea, and a measurement sensor 1110 mounted on each unmanned vessel can detect the suspicious vessel 7000 within its measurable range. Measurement information and other data about the detected suspicious vessel 7000 is collected in the parent vessel 1001 via a communication network between the unmanned vessels, transmitted from the parent vessel 1001 to a communication satellite 3000, and then transmitted to a terrestrial base station 4000 or an internet connection to a central control system 2000. Each unmanned vessel is also equipped with a navigation unit 1300 that can navigate the unmanned vessel in any direction. Based on operational commands generated by the central control system 2000 or the parent vessel 1001, the suspicious vessel 7000 can be tracked after it is detected.

[0026] In the configuration of the present embodiment described with reference to Figures 1 to 5, a non-terrestrial network using a communication satellite 3000 in a geosynchronous orbit or a low Earth orbit is used as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft 1000. However, the present invention is not limited to this. A non-terrestrial network using an unmanned air vehicle 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, in which a terrestrial base station 4000 is directly connected to the unmanned watercraft 1000 via wireless communication, without going through the communication satellite 3000 or the HAPS. The terrestrial base station 4000 is not limited to a fixed base station, and may be a mobile base station.

[0027] (A-1-4.Unmanned boat 1000) Next, the functions and details implemented in the unmanned watercraft 1000 will be described with reference to Figures 6 to 8. In the present invention, an unmanned watercraft refers to a mobile body that can navigate on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body such as a mobile buoy equipped with a thrust generating unit.

[0028] (A-1-4-1. Functional configuration of the unmanned boat 1000) Figure 6 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. Note that while Figure 6 illustrates the functional block diagram of the unmanned watercraft 1000, 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, a recording unit 1600, and an other action execution unit 1700.

[0029] The measurement unit 1100 is a functional unit that detects a suspicious ship 7000 that is present within a measurable range around the unmanned craft 1000 using a measurement sensor 1110, and acquires measurement information about the suspicious ship 7000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0030] The measurement sensor 1110 can be configured, for example, with optical sensors such as electro-optical sensors and infrared sensors (IR sensors) that acquire image data, laser sensors such as LiDAR sensors and ToF (Time of Flight) sensors that acquire point cloud data, radar sensors that detect microwaves, millimeter wave sensors that detect millimeter waves, acoustic sensors such as sonar, radio wave sensors that detect radio waves emitted by suspicious ships, etc. The measurement sensor 1110 acquires measurement data of monitored objects such as suspicious ships that are present within the measurable range by measuring the surroundings of the parent unit 1001.

[0031] The measurement control unit 1120 also controls at least one of the attitude angles of the measurement sensor 1110 around three axes relative to the unmanned watercraft 1000 by operating a sensor attitude changing device that can change the attitude of the measurement sensor 1110. For example, if the measurement sensor is an optical camera or an infrared camera, the measurement control unit 1120 can change the zoom amount or resolution of the optical camera or infrared camera to any control amount. If the measurement sensor is a sonar, particularly an active sonar that emits sound waves, the measurement control unit 1120 can adjust the output of the generated sound waves to any control amount. The measurement control unit 1120 can also adjust the measurement sensitivity of the measurement sensor to any control amount.

[0032] 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. The external condition determination unit 1230 also determines communication conditions such as communication strength (dB value or RSSI value, etc.) and communication speed with other unmanned watercraft 1000 in the platoon 1010 with which it communicates, as well as ocean and tidal currents (current speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the unmanned watercraft 1000. Here, the external condition determination unit 1230 can calculate the relative direction, relative distance, and relative position coordinates of the other unmanned watercraft 1000 with which it is communicating by analyzing the communication strength (RSSI value, etc.) with other unmanned watercraft 1000 in the platoon 1010.

[0033] 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. For example, the current position, moving speed, and moving direction of the aircraft itself can be determined using a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), a Real-Time Kinematic - Global Navigation Satellite System (RTK-GNSS), or the like. Here, the aircraft's 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. The acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed. The current heading of the aircraft itself can be determined using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the shape of the seabed. 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 also be calculated based on the amount of change over time in the determined heading information.

[0034] As another measurement method, the navigation state determination unit 1210 can use an inertial measurement unit (IMU) or gyro sensor that detects translational motion (mainly acceleration) and rotational motion (mainly angular velocity) in three orthogonal axis directions to measure the aircraft's position, velocity, and acceleration in the three orthogonal axis directions, as well as the attitude, angular velocity, and angular acceleration in the rotational directions of the three orthogonal axes.

[0035] Next, the navigation unit 1300 includes a thrust generating unit, a steering unit, and a navigation control unit, and is a functional unit that navigates the parent vehicle 1001 in any direction according to operational commands received via the communication unit 1400. The thrust generating unit is, for example, configured with a propeller, and can generate thrust by driving the propeller with an engine or an electric motor. The thrust generating unit can also be configured with a sail that generates thrust by receiving wind, or a wave glider that generates thrust by receiving wave power. The steering unit can change the heading direction of the unmanned watercraft by changing the attitude angle of the propeller or rudder. The navigation control unit is a functional unit that controls the navigation operation of the unmanned watercraft by controlling the output from the thrust generating unit and the attitude angle of the steering unit. The navigation control unit includes a processing unit that has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP), and 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.

[0036] 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, and turning speed. That is, the navigation control unit 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.

[0037] Next, the communication unit 1400 is equipped with 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 platoon 1010, the communication satellite 3000, external surveillance craft, and AIS base stations. The unmanned craft-to-unmanned craft communication unit 1410 is equipped with a communication antenna for unmanned craft-to-unmanned craft communication, and communicates with other unmanned crafts 1000 in the platoon 1010. The satellite communication unit 1420 is equipped with a satellite communication antenna, and communicates with the communication satellite 3000. The external communication unit 1430 is equipped with an AIS antenna and a VHF antenna, and communicates with external surveillance craft and AIS base stations.

[0038] Next, the determination unit 1500 is a functional unit that makes a determination regarding a monitored object such as the suspicious ship 7000. Details will be described later with reference to FIG.

[0039] 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.

[0040] Next, the other action execution unit 1700 is a functional unit that performs a paint attachment action by spraying paint onto a tracking target such as the suspicious ship 7000, or a transmitter attachment action by throwing a transmitter or the like onto the tracking target.

[0041] (A-1-4-2. Functional configuration of the determination unit 1500) 7 is a functional block diagram showing the functional configuration of the determination unit 1500 of the unmanned watercraft 1000. As shown in FIG.

[0042] The object detection determination unit 1510 is a functional unit that includes an initial detection unit 1511, a detailed measurement determination unit 1512, a detailed detection unit 1513, and an object suitability determination unit 1514, and performs detection determination of objects such as the suspicious ship 7000. The initial detection unit 1511 performs initial detection of a monitored object based on measurement data acquired by the measurement unit 1100. The detailed measurement determination unit 1512 determines whether detailed measurement is necessary and the detailed measurement conditions based on the results of the initial detection determination. The detailed detection unit 1513 performs detailed detection determination of the monitored object based on the detailed measurement data obtained by the detailed measurement. The object suitability determination unit 1514 determines whether the detected object is a monitored object based on the results of the detailed detection determination. The determination content by the object detection determination unit 1510 described above will be described in detail below with reference to FIG. 8.

[0043] Fig. 8 is a diagram showing determination items in the determination processing executed by the object detection determination unit 1510. In particular, Fig. 8 shows determination items in the initial detection by the initial detection unit 1511, the detailed measurement determination by the detailed measurement determination unit 1512, the detailed detection by the detailed detection unit 1513, and the object suitability determination by the object suitability determination unit 1514. As shown in Fig. 8, the initial detection determination by the initial detection unit 1511 includes, for example, in the case where the object to be monitored is a suspicious ship 7000, a ship suitability determination that determines whether the detected object detected from the detection data is a ship, a shape determination of the detected object (ship), an orientation determination of the detected object (ship), a relative distance determination between the detected object (ship) and the aircraft, a size determination of the detected object (ship), a type determination of the detected object (ship), a position coordinate determination of the detected object (ship), a future route prediction determination of the detected object (ship), and an estimation of the past route history of the detected object (ship).

[0044] The detailed measurement determination unit 1512 determines whether or not it is necessary to acquire detailed measurement data necessary to determine whether or not the object is a monitored object, and the measurement conditions for acquiring the detailed measurement data. Examples of conditions for acquiring detailed measurement data include an approaching image, measurement image data acquired from a different angle than that used during initial detection, and image acquisition using a higher light intensity than the measurement image acquired during initial detection. The detailed detection determination unit 1513 also performs image analysis to determine whether or not the object is a monitored object. This image analysis includes interpreting ship information (ship name, registration number, etc.) from images, interpreting the detailed shape and characteristic shape of the ship from images, and so on. The object appropriateness determination unit 1514 determines whether or not the detected object (ship) is a monitored object based on the results of the detailed detection determination. Instead of providing binary information on whether or not the object is appropriate, the object appropriateness determination unit 1514 may also provide multiple levels of suspiciousness information indicating the probability of the object being appropriate.

[0045] Here, the type of detected object determined by the initial detection unit 1511 can be determined to be, for example, a ship capable of AIS inquiry, such as a cargo ship, a regular service ship, or a passenger ship, or a small or medium-sized private ship, such as a fishing boat, a pleasure boat, a yacht, a boat, or a water scooter, or an object moving on or underwater, such as a diver, a marine organism (such as a whale, a dolphin, or a school of fish), or an underwater drone. Birds and small drones flying in the air close to the water surface can also be detected.

[0046] Next, the object analysis unit 1520 is a functional unit that includes an operation status determination unit 1521, a performance determination unit 1522, and a future course prediction determination unit 1523, and updates and determines the position, performance, and future course prediction of the object based on the latest measurement data of the monitored object obtained by continuous measurement by the measurement unit 1100.

[0047] The motion state determination unit 1521 is a functional unit that determines the current motion state of the object based on the latest measurement data. The motion state determination unit 1521 determines the current position coordinates, speed, turning radius, turning speed, acceleration, and deceleration of the object. Here, the position coordinates may be two-dimensional coordinates on a horizontal XY plane, but are preferably three-dimensional coordinates in XYZ space that also include information in the height direction.

[0048] The performance determination unit 1522 is a functional unit that determines the dynamic performance of a detected object. For example, if the object is a suspicious ship, the performance determination unit 1522 predicts dynamic performance related to the navigation of the suspicious ship, including at least one of maximum speed, minimum turning radius, turning speed, acceleration, deceleration, and cruising range. The performance determination unit 1522 can determine each of the above-mentioned performances based on information determined by the initial detection unit 1511 and the operating state determination unit 1521. Furthermore, the performance may be determined based on information on the type of object determined by the initial detection unit 1511.

[0049] The future course prediction determination unit 1523 is a functional unit that predicts and determines the future course of a detected object. The future course prediction determination unit 1523 can predict and determine the future course based on, for example, the course history and current position and orientation information determined by the initial detection unit 1511 and the motion state determination unit 1521. The future course prediction determination unit 1523 may also predict and determine the future course based on type information of the object determined by the initial detection unit 1511.

[0050] (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. 9. Fig. 9 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 9, the overall control system 2000 includes an information import unit 2100, an object analysis and determination unit 2200, a system state determination unit 2300, an operation management unit 2400, a user interface unit 2500, an operation command unit 2600, and an information communication unit 2700.

[0051] (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 watercraft 1000, the cooperative system 5000, or the external system 6000. The information import unit 2100 includes a detection condition acquisition unit 2110, a detection information acquisition unit 2120, an external information acquisition unit 2130, and an external user input information acquisition unit 2140.

[0052] The detection condition acquisition unit 2110 is a functional unit that acquires information about the determination conditions when determination is made in each of the functional units of the object analysis and determination unit 2200, the system state determination unit 2300, and the operation management unit 2400, which will be described later.

[0053] The detection information acquisition unit 2120 is a functional unit that acquires detection information of objects determined by the determination unit 1500 of the unmanned watercraft 1000 via the communication satellite 3000, HAPS, etc., and measurement data measured by the unmanned watercraft 1000.

[0054] The external information acquisition unit 2130 is a functional unit that acquires navigation information of ships in the ocean area where the unmanned craft 1000 is deployed or the surrounding area from the AIS control center of the external system 6000. In addition, navigation information of ships may be acquired from another VHF Data Exchange System included in the external system 6000.

[0055] The external information acquisition unit 2130 may also acquire weather information for the ocean area where the unmanned craft 1000 is deployed or its surrounding area from an external system 6000 such as the Japan Meteorological Agency or a private weather information system.

[0056] The external user input information acquisition unit 2140 is a functional unit that receives external user input information from the collaboration system 5000. The external user input information received from the collaboration system 5000 can include a selection input for selecting an arbitrary operation command from a plurality of operation command candidates generated by the operation management unit 2400, an approval input for approving the operation command candidate, a correction request input for correcting part of the operation command candidate, or an intervention operation command input for instructing the execution of an intervention operation different from the operation command candidate.

[0057] (A-1-5-2. Object Analysis and Determination Unit 2200) The object analysis and determination unit 2200 is a functional unit that analyzes the object based on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120, and determines at least one of the object's type, operating state, and dynamic performance. The object analysis and determination unit 2200 includes a type determination unit 2210, an operating state determination unit 2220, a performance determination unit 2230, a course prediction determination unit 2240, a navigation pattern determination unit 2250, and an action status determination unit 2260.

[0058] The type determination unit 2210 is a functional unit that determines the type of an object based on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120. The type determination unit 2210 can determine the type of object as a ship on the sea surface, a marine organism, a diver, etc. Here, the type determination unit 2210 can determine types including, for example, a cargo ship, a liner, a passenger ship, a fishing boat, a pleasure boat, a yacht, a boat, a water scooter, a diver, a marine organism (a whale, a dolphin, a school of fish, etc.), etc.

[0059] The type determination unit 2210 can determine the alert level based not only on the type of object but also on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120. For example, the alert level can be determined at multiple levels, such as Level S, A, B, and C. For example, the alert level can be determined based on the object's type, size, detection date and time (time zone), detection location, speed and behavior measured by the unmanned watercraft 1000, movement speed, acceleration, and past movement trajectory determined by the operation status determination unit 2220 (described later), or the suspicious ship detection probability calculated based on AIS, SAR, and VDES information, or the determination results by the navigation pattern determination unit 2250 and the behavior status determination unit 2260 (described later). For example, if the time, position, and route of the suspicious ship detection match a time zone such as late night, a location where suspicious ships frequently appear, or an important route, the alert level can be set high. Furthermore, the overall operation determination unit 2410 (described later) can determine an overall higher-level operation command based on the alert level. Alternatively, the tracking operation determination unit 2430, which will be described later, can determine a tracking formation command according to this alert level.

[0060] If the type or alert level of the object determined by the type determination unit 2210 is indefinite, additional measurement data is required to identify the object, so a re-measurement command may be sent to the unmanned watercraft 1000. In addition, the display unit 2510 of the user interface unit 2500, which will be described later, may be notified that the determination is indefinite, and input information regarding the need to acquire additional measurement data may be received from the user.

[0061] The motion state determination unit 2220 is a functional unit that determines the past or present movement state of the object based on the information acquired by the detection information acquisition unit 2120. The motion state determination unit 2220 determines the past movement trajectory, current traveling direction, current heading direction, current movement speed, current acceleration, current deceleration, and further the current position coordinates, turning radius, and turning speed of the object. Here, the position coordinates may be two-dimensional coordinates on a horizontal XY plane, but are preferably three-dimensional coordinates in XYZ space that also include information in the height direction.

[0062] The performance determination unit 2230 is a functional unit that determines the dynamic performance of the object based on the information acquired by the detection information acquisition unit 2120 or the determination information of the operation state determination unit 2220. For example, when the object is a suspicious ship, the performance determination unit 1522 predicts the dynamic performance related to the navigation of the suspicious ship, including at least one of the maximum movement speed, minimum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and possible movement distance.

[0063] The path prediction determination unit 2240 is a functional unit that predicts and determines the future movement state of the detected object. The path prediction determination unit 2240 can predict and determine the future movement state of the object, including at least one of the predicted future path of the object, the predicted position at a future time, the predicted speed at a future time, and the predicted direction of travel at a future time, based on information such as the movement trajectory, current position, traveling direction, nose direction, and response speed of the object determined by the initial detection unit 1511 and the motion state determination unit 2220.

[0064] The navigation pattern determination unit 2250 is a functional unit that determines the navigation pattern of the suspicious ship, which is the target object. The navigation pattern determination unit 2250 can determine, as the navigation pattern of the suspicious ship, for example, the status related to the speed and acceleration / deceleration pattern of the suspicious ship, the status related to the navigation path of the suspicious ship, or the status related to the tracking disruptive navigation of the suspicious ship. The contents of the determination of each status of the suspicious ship by the navigation pattern determination unit 2250 will be explained below with reference to Figures 14 to 16.

[0065] Figure 10 is a state transition diagram showing the speed and acceleration / deceleration patterns of the suspicious ship determined by the navigation pattern determination unit 2250. As shown in Figure 10, the speed and other statuses of the suspicious ship determined by the navigation pattern determination unit 2250 include a stopped state in which the suspicious ship's movement is stopped or almost stopped, a steady cruising state in which the suspicious ship is cruising within a steady speed range, a high-speed steady cruising state in which the suspicious ship is cruising steadily at a speed faster than the steady speed range, a low-speed steady cruising state in which the suspicious ship is cruising steadily at a speed slower than the steady speed range, a rapid acceleration state in which the suspicious ship is accelerating rapidly, a rapid deceleration state in which the suspicious ship is decelerating rapidly, and a repeated rapid acceleration / deceleration state in which the suspicious ship is repeating rapid acceleration and rapid deceleration. The navigation pattern determination unit 2250 can determine which of the speed and other statuses shown in Figure 10 the suspicious ship's state corresponds to, based on the speed, acceleration, and deceleration information determined by the operation state determination unit 2220.

[0066] Figure 11 is a state transition diagram showing the course trajectory status relating to the course pattern of the suspicious ship determined by the navigation pattern determination unit 2250. As shown in Figure 11, the course trajectory status of the suspicious ship determined by the navigation pattern determination unit 2250 includes each of the following states: a stopped state in which the suspicious ship's movement is stopped, a straight course cruising state in which the ship is navigating a straight course, a straight-ahead state in which the ship increases the distance to the unmanned boat 1000 while continuing to navigate straight, a sideways state in which the ship approaches the unmanned boat 1000, a wide-open state in which the ship moves away from the unmanned boat 1000, a normal turning state in which the ship turns at a gentle angle, an obtuse-angle course change state in which the ship changes course at a gentle angle, and a sharp-angle course change state in which the ship changes course at an acute angle.

[0067] The navigation pattern determination unit 2250 can determine which course trajectory status shown in Figure 11 the state of the suspicious ship corresponds to, based on the turning radius and turning speed determined by the operation status determination unit 2220, or the route history and current position and orientation information determined by the initial detection unit 1511.

[0068] Fig. 12 is a state transition diagram showing the disruptive navigation status regarding a navigation pattern intended to confuse the tracking of a suspicious ship, as determined by the navigation pattern determination unit 2250. As shown in Fig. 12, the disruptive navigation status of a suspicious ship determined by the navigation pattern determination unit 2250 includes a normal cruising state within a steady speed range, a sudden stop state, a zigzag navigation state in which the ship navigates a zigzag route, a figure-of-eight navigation state in which the ship navigates a figure-of-eight route, a U-turn state in which a U-turn is made, a non-disturbance escape navigation state in which the ship escapes without any disruptive action, and an escape navigation abandonment state in which the ship abandons escape.

[0069] The navigation pattern determination unit 2250 can determine which of the disturbed navigation statuses shown in Figure 12 the state of the suspicious ship corresponds to, based on the speed, acceleration, deceleration, turning radius, and heading speed determined by the operation state determination unit 2220, or the route history and current position and orientation information determined by the initial detection unit 1511.

[0070] Next, the behavior status determination unit 2260 is a functional unit that determines the escape behavior status of the suspicious ship, which is the target. The behavior status determination unit 2260 is a functional unit that determines the state or intention of the escape behavior of the pilot of the suspicious ship as the escape behavior status of the suspicious ship. Below, with reference to Figure 13, the contents of the determination of the escape behavior status of the suspicious ship by the behavior status determination unit 2260 will be explained.

[0071] Figure 13 is a state transition diagram showing escape behavior statuses relating to the escape behavior patterns of a suspicious ship determined by the behavior status determination unit 2260. As shown in Figure 13, the escape behavior statuses of a suspicious ship determined by the behavior status determination unit 2260 include normal cruising, an escape and escape state in which an escape behavior is performed to escape pursuit from the unmanned ship 1000, a stalking avoidance state in which an escape behavior is performed to avoid stalking by the unmanned ship 1000, an approaching ship distance state in which an approaching unmanned ship 1000 is distanced to avoid taking close-up evidence photographs, a path prediction prevention state in which the path is prevented from being predicted, a proactive ship avoidance state in which a proactive ship avoids a preemptive unmanned ship, an encirclement prevention state in which the ship is prevented from being surrounded by the unmanned ship 1000, and an escape navigation abandonment state in which the escape navigation is abandoned.

[0072] The navigation pattern determination unit 2250 can determine which escape behavior status shown in Figure 13 the state of the suspicious ship corresponds to based on the various operating states of the suspicious ship determined by the operating state determination unit 2220 and the various navigation patterns of the suspicious ship determined by the navigation pattern determination unit 2250.

[0073] (A-1-5-3. System state determination unit 2300) The system state determination unit 2300 is a functional unit that determines the current or future state of the unmanned vessel 1000, or the current or future relative operating state of the unmanned vessel 1000 and the target (suspicious vessel 7000). The system state determination unit 2300 includes an unmanned vessel state determination unit 2310, a capture / loss prediction unit 2320, a tracking state determination unit 2330, and a course prediction state determination unit 2340.

[0074] The unmanned vessel status determination unit 2310 is a functional unit that determines the status of the unmanned vessel, for example, by determining at least one of the following: the position of multiple unmanned vessels, formation, number of vessels, direction of movement, movement speed, possible movement distance, remaining energy, estimated values ​​of the movement capability including the movement speed or possible movement distance of the unmanned vessel under the external environment such as waves, wind, and currents in the unmanned vessel's activity area, and predicted position at a future time.

[0075] The capture loss prediction unit 2320 determines whether a capture loss will occur in the future, in which the target's position will be lost, before tracking by the unmanned watercraft 1000 begins or while tracking by the unmanned watercraft 1000 is being performed.If it determines that a capture loss will occur in the future, it determines the area in which the target's position can be captured by the unmanned watercraft 1000, or the predicted loss location where capture loss is predicted.It also predicts the time when the unmanned watercraft will be able to capture the target, or the predicted loss time when capture loss is predicted.The capture loss prediction unit 2320 can predict future capture loss in advance based on the analysis results of the target (suspicious ship 7000) determined by the target analysis and determination unit 2200 (particularly the dynamic performance including the target's speed), the movement speed and movement capability of the unmanned watercraft determined by the unmanned watercraft status determination unit 2310, and each piece of information on the unmanned watercraft's capture range.

[0076] The tracking status determination unit 2330 is a functional unit that determines the tracking status, which is the relative operating status of the unmanned watercraft 1000 that is tracking the target object (suspicious ship 7000). The tracking status of the unmanned watercraft 1000 determined by the tracking status determination unit 2330 will be described using Fig. 14.

[0077] Fig. 14 is a state transition diagram showing the tracking state determined by the tracking state determination unit 2330. As shown in Fig. 14, the tracking state of the unmanned vessel includes a tracking achieved state in which tracking is being performed, a loss-of-tracking indication state in which there are signs that the unmanned vessel is about to lose track of the target due to the target's fleeing behavior, a loss-of-tracking occurrence state in which tracking has been lost due to the target's fleeing behavior, a capture-lost state in which the unmanned vessel 1000 has lost track of the target (suspicious vessel 7000), and a tracking-ended state in which tracking has ended.

[0078] The tracking status determination unit 2330 can determine whether the object (suspicious ship 7000) is in one of the tracking states shown in Figure 14 based on the analysis results of the object (suspicious ship 7000) determined by the object analysis determination unit 2200 and the determination results regarding the unmanned boat by the unmanned boat status determination unit 2310.

[0079] For example, if the movement speed of the tracking unmanned vessel 1000 is slower than the movement speed of the target object, or if the relative distance between the tracking unmanned vessel and the target object increases over time, or if the movement distance of the tracking unmanned vessel is shorter than the movement distance of the target object, or if the remaining energy of the tracking unmanned vessel is less than the remaining energy of the target object, or if the movement performance of the unmanned vessel, including the maximum movement speed, etc., is lower than the predicted movement performance value, including the maximum movement speed, etc., of the target object, the tracking state determination unit 2330 can determine that the tracking state corresponds to a state of signs of loss of movement.

[0080] As another example, the tracking status determination unit 2330 may determine that the tracking status corresponds to a state indicating a loss of tracking ability based on the past movement history of the object (suspicious ship 7000) determined by the object analysis determination unit 2200 and the predicted future path of the object.

[0081] As another example, the tracking state determination unit 2330 can determine that a run-off state has occurred when the relative distance between the unmanned watercraft 1000 being tracked and the target object is equal to or greater than a predetermined distance.

[0082] When the tracking state determination unit 2330 determines that a run-off symptom state exists, it can perform a run-off prediction determination that predicts at least one of a predicted run-off position and a predicted run-off time at which the unmanned watercraft being tracked will be run off. As a method for performing this run-off prediction determination that predicts the predicted run-off position and predicted run-off time, for example, it can determine at least one of a predicted run-off position and a predicted run-off time at which the unmanned watercraft 1000 being tracked will be run off, based on status information about the unmanned watercraft 1000 being tracked, including at least one of the movement speed, movement direction, and position of the unmanned watercraft 1000, and status information about the target object, including at least one of the movement speed, movement direction, and position of the target object.

[0083] The path prediction state determination unit 2340 is a functional unit that determines the state of a prediction process that determines the predicted future path or predicted position at a future time of the object determined by the above-mentioned path prediction determination unit 2240. The path prediction state determined by the path prediction state determination unit 2340 will be described with reference to Fig. 15 .

[0084] Fig. 15 is a state transition diagram showing the prediction state of the course prediction determined by the course prediction state determination unit 2340. As shown in Fig. 15, the course prediction state includes the following states: course prediction normal, course prediction uncertain, course prediction abnormal, and tracking end.

[0085] The course prediction state determination unit 2340 can determine the validity of the prediction process for determining the future predicted course or predicted position at a future time of the object determined by the course prediction determination unit 2240, depending on the state of the object's navigation pattern shown in Figures 10, 11, and 12 determined by the above-mentioned navigation pattern determination unit 2250 and the state of the object's escape behavior status shown in Figure 13 determined by the behavior status determination unit 2260. In other words, it can determine the course prediction state shown in Figure 15.

[0086] For example, if the course trajectory status determined by the navigation pattern determination unit 2250 is "straight course navigation," it is highly likely that the vessel will proceed along the predicted course, and therefore the course prediction state can be determined to be "course prediction normal." Furthermore, if the course trajectory status determined by the navigation pattern determination unit 2250 is "normal turn," it is highly likely that the vessel will deviate from the predicted course, and therefore the course prediction state can be determined to be "course prediction uncertain." Furthermore, if the course trajectory status determined by the navigation pattern determination unit 2250 is "sharp course change," it is highly likely that the vessel will deviate from the predicted course, and therefore the course prediction state can be determined to be "course prediction abnormal." Here, an example has been described in which the course prediction state is determined according to the course trajectory status determined by the navigation pattern determination unit 2250, but the course prediction state may also be determined according to a determination result other than those mentioned above by the navigation pattern determination unit 2250 or the behavior status determination unit 2260, or another determination result by the object analysis determination unit 2200.

[0087] (A-1-5-4. Operation management unit 2400) The operation management unit 2400 is a functional unit that determines the content of operation commands to be issued to a plurality of unmanned watercrafts and issues the operation commands in accordance with the determination result regarding the object by the object analysis and determination unit 2200. The operation management unit 2400 includes an overall operation determination unit 2410, an operation allocation determination unit 2420, a tracking operation determination unit 2430, a tracking break-off response action determination unit 2440, a surrounding operation determination unit 2450, a proactive operation determination unit 2460, and an operation command confirmation unit 2470.

[0088] The overall operation determination unit 2410 is a functional unit that determines an overall operation command for one or more platoons 1010 made up of multiple unmanned crafts 1000. A method for determining an overall operation command will be described below with reference to FIG.

[0089] 16 is a state transition diagram showing the states of overall operation commands determined by the overall operation determination unit 2410. As shown in FIG. 16, the overall operation commands determined by the overall operation determination unit 2410 include "tracking" to perform tracking, "taking over tracking" to track the target while performing takeover by multiple unmanned watercraft, "advancing" to have unmanned watercrafts advance to the target's destination, "surrounding" to surround the target with multiple unmanned watercrafts, "abandon tracking" to abandon tracking, "external takeover request" to request an external system to take over, "action just before loss" to perform an action just before losing the target's position, and "end tracking" to end tracking. Note that the advancing and surrounding operation commands may cause some unmanned watercrafts to track the target.

[0090] The overall operation determination section 2410 can determine an overall operation command from the multiple operation command candidates shown in FIG. 16 according to the determination content regarding the object determined by the object analysis and determination section 2200.

[0091] For example, if the type of object determined by the object analysis and determination unit 2200 corresponds to a predetermined type (a type of ship that should be surrounded, such as a trespassing ship or a poaching ship), or if the current movement speed of the object is below a predetermined value, or if the alert level of the object determined by the type determination unit 2210 is relatively low, the overall operation determination unit 2410 can determine that the overall operation command is to "surround" the unmanned boats so that the object is inside a formation of multiple unmanned boats.

[0092] As an example of a method for determining the overall operation depending on the alert level of the object determined by the type determination unit 2210, when the alert level of the object determined by the type determination unit 2210 is relatively high, "track" may be determined as the overall operation, and when the alert level drops to a relatively low alert level, the overall operation may be changed from "track" to only "surround." As another example, when the alert level drops to a relatively low level, the overall operation may be changed to "anticipate," and the unmanned watercraft may be caused to advance to a position ahead of the predicted movement path of the object.

[0093] As another example of a method for determining overall operations according to the alert level of the object determined by the type determination unit 2210, the formation and positioning of the unmanned boats 1000 within the platoon may be switched according to the alert level of the object determined by the type determination unit 2210.

[0094] Furthermore, as described above, the operation management unit 2400 can determine the content of operation commands to multiple unmanned boats and issue operation commands based not only on the judgment results regarding the object by the object analysis and judgment unit 2200, but also on the judgment results by the system state judgment unit 2300, that is, the current or future state of the unmanned boat 1000 or the current or future relative operating state of the unmanned boat 1000 and the object (suspicious boat 7000).

[0095] In addition, the operation management unit 2400 can determine the content of operation commands to multiple unmanned boats and issue the operation commands based on both the judgment results regarding the object by the object analysis and judgment unit 2200 and the judgment results by the system state judgment unit 2300.

[0096] The action allocation determination unit 2420 is a functional unit that determines the allocation of action roles to each of the multiple unmanned watercraft 1000. The action role allocation command determined by the action allocation determination unit 2420 is output to the unmanned watercraft 1000 by the action command unit 2600, which will be described later.

[0097] The operation roles assigned to multiple unmanned vessels by the operation allocation determination unit 2420 include at least one of the following roles: a role of tracking an object, a role of taking over tracking of an object, a role of anticipating the object's destination, a role of surrounding the object, a role of relaying communications between multiple unmanned vessels, a role of accumulating measurement data, and a role of performing analytical processing of measurement data.

[0098] Here, the operation allocation determination unit 2420 may determine the number of unmanned watercraft to be assigned to each operation (tracking, tracking takeover, encirclement, and preemption) according to, for example, the type of object or the alert level determined by the type determination unit 2210. Alternatively, the formation of multiple platoons within a company made up of multiple platoons 1010 may be modified according to the type of object or the alert level determined by the type determination unit 2210. In other words, by assigning the above operation roles to more unmanned watercraft for objects with a relatively high alert level, and conversely, assigning the above operation roles to fewer unmanned watercraft for objects with a relatively low alert level, the amount of activity of the unmanned watercraft can be controlled according to the alert level, and energy and watercraft can be assigned to roles with a higher alert level.

[0099] The tracking operation determination unit 2430 has the function of determining an operation command that instructs the detailed operation of the unmanned craft 1000 to which the tracking operation has been assigned by the operation allocation determination unit 2420 when the overall operation command is determined to be "tracking" by the overall operation determination unit 2410.

[0100] When the tracking state determined by the tracking state determination unit 2330 is determined to be a runout symptom state, a runout occurrence state, or a position capture lost state, and the operation allocation determination unit 2420 determines that the role of taking over the tracking operation should be assigned to another unmanned vessel 1000 different from the unmanned vessel 1000 performing the tracking, the tracking operation determination unit 2430 determines at least one of an operation command to move the unmanned vessel 1000 assigned to take over the tracking operation to the predicted runout position, or an operation command to move the unmanned vessel 1000 to the predicted runout position by the predicted runout time.

[0101] The tracking operation determination unit 2430 may have a function to determine an operation command for a tracking formation of multiple unmanned watercraft 1000 when the overall operation determination unit 2410 determines the overall operation command to be "tracking." Below, a method for determining an operation command for a tracking formation will be explained using FIG. 17.

[0102] 17 is a state transition diagram showing the state of a tracking formation command determined by the tracking operation determination unit 2430. As shown in Fig. 17, the tracking formation command determined by the tracking operation determination unit 2430 includes the operation commands "simple tracking arrangement" for tracking the object from behind the direction of travel, "left and right tracking arrangement" for tracking the object from two directions, left and right, with respect to the direction of travel, "left and right rear tracking arrangement" for tracking the object from three directions, left and right and rear, with respect to the direction of travel, "left and right front and rear tracking arrangement" for tracking the object from four directions, front and rear, left and right, with respect to the direction of travel, "tracking with predicted path ahead obstructing the path" for tracking the object from ahead of the direction of travel, "abandon tracking" for abandoning tracking, and "end tracking" to end tracking.

[0103] For example, the tracking operation determination unit 2430 can determine a tracking formation command according to the type or alert level of the object determined by the type determination unit 2210. For example, a "left / right / front / back tracking arrangement" in which more unmanned vessels track an object with a relatively high alert level can be used, and conversely, a "simple tracking arrangement" in which fewer unmanned vessels track an object with a relatively low alert level can be used. Furthermore, the tracking operation determination unit 2430 can determine a tracking formation command according to the state of the object determined by the navigation pattern determination unit 2250 or the action status determination unit 2260, and if the determined state of the object changes, the tracking formation command can be changed according to the changed state of the object.

[0104] The tracking operation determination unit 2430 may have a function of determining an operation command related to relative distance control between the multiple unmanned watercraft 1000 and between the unmanned watercraft 1000 and an object when the overall operation determination unit 2410 determines the overall operation command to be "tracking." A method for determining an operation command related to relative distance control will be described below with reference to FIG. 18.

[0105] Figure 18 is a state transition diagram showing the states of relative distance control commands determined by the tracking operation determination unit 2430. As shown in Figure 18, the relative distance control commands determined by the tracking operation determination unit 2430 include operations to prevent collision between multiple unmanned watercraft 1000 performing tracking operations on an object, operations to prevent collision between the unmanned watercraft being tracked and the object, operations to shorten the distance between the unmanned watercraft being tracked and the object, operations to lengthen the distance between the unmanned watercraft being tracked and the object, tracking, and operation commands to end tracking.

[0106] In addition, the tracking operation determination unit 2430 can determine a relative distance control command according to the state of the object determined by the navigation pattern determination unit 2250 or the behavior status determination unit 2260, and further, if the determined state of the object changes, can change the relative distance control command according to the state of the object after the change.

[0107] Here, if the relative distance between the other unmanned vessels 1000 is too close and there is a possibility of collision, position control is required to increase the relative distance with high priority and avoid collision, so the state transitions to an operation command state for collision prevention operation between the unmanned vessels 1000. Also, if the relative distance between the target and the unmanned vessel 1000 is too close and there is a possibility of collision, position control is required to increase the relative distance with high priority and avoid collision, so the state transitions to an operation command state for collision prevention operation for the target. Note that the relative distance control shown in FIG. 18 is controlled so that the relative distance between the unmanned vessels 1000 communicating with each other within the platoon 1010 does not exceed the communication distance. Therefore, if the relative distance between the unmanned vessel 1000 being tracked and the other unmanned vessel 1000 it is communicating with increases and approaches the upper limit of the communication distance, the status of the relative distance control transitions to tracking end, and the position of the unmanned vessel 1000 is controlled to maintain within the communication distance.

[0108] The tracking break-off response action determination unit 2440 has a function of determining a just-before-shaking-off action to be taken just before the unmanned watercraft 1000 breaks off from tracking. The tracking break-off response action determination unit 2440 can determine, for example, a paint attachment action by spraying or throwing paint at the target object to cause the paint to adhere to the target, or a transmitter attachment action by spraying or throwing a transmitter or the like at the target to cause the transmitter or the like to adhere to the target, as the just-before-shaking-off action. Furthermore, the tracking break-off response action determination unit 2440 can determine to execute the just-before-shaking-off action described above when, for example, the tracking state determined by the tracking state determination unit 2330 is a state indicating a break-off.

[0109] In addition, when the tracking state determined by the tracking state determination unit 2330 is determined to correspond to a loss-of-tracking symptom state, a loss-of-tracking occurrence state, or a position capture lost state, the tracking loss-of-tracking response action determination unit 2440 can determine whether or not to assign the role of taking over the tracking operation to another unmanned vessel 1000 different from the unmanned vessel 1000 performing the tracking.

[0110] In addition, when it is determined that the role of taking over the tracking operation should be assigned to an unmanned vessel 1000 other than the unmanned vessel 1000 performing the tracking, the tracking separation response action determination unit 2440 can select an unmanned vessel to which the role of taking over the tracking operation of the target object should be assigned.

[0111] In addition, when the tracking state determined by the tracking state determination unit 2330 corresponds to a loss-of-track state or a position capture lost state, the tracking loss-of-track response action determination unit 2440 can optimally assign operational roles to the unmanned vessel 1000 that has entered the loss-of-track state or the position capture lost state, or to the unmanned vessel 1000 that has completed roles such as communication relay, measurement data accumulation, and measurement data analysis processing, including at least one of the role of taking over tracking of the target, the role of anticipating the target's destination, the role of surrounding the target, the role of communicating between multiple unmanned vessels, the role of accumulating measurement data, and the role of analyzing measurement data.

[0112] In addition, as an example, when the tracking status determination unit 2330 determines that the unmanned boat 1000 has lost track of the target object, or when the tracking loss prediction unit 2320 determines that a tracking loss will occur in the future, the tracking loss response action determination unit 2440 decides to transmit and output information including at least one of the current tracking loss occurrence information, predicted future tracking loss occurrence information, predicted loss position, predicted loss time, and information about the target object, as determined by the tracking status determination unit 2330 or the tracking loss prediction unit 2320, to the cooperative system 5000, the external system 6000, or other external systems via the information communication unit 2700.

[0113] The surrounding operation determination unit 2450 is a functional unit that, when the overall operation determination unit 2410 determines an operation command for "surrounding," determines the content of a control operation for moving the unmanned watercraft 1000 so that the target object is inside the formation of multiple unmanned watercraft 1000. For example, the surrounding operation determination unit 2450 calculates a movement target position for surrounding an unmanned watercraft 1000 that has been assigned the operation role of surrounding by the operation allocation determination unit 2420, and determines a surrounding movement command to that position. The surrounding movement command may also include a movement target time.

[0114] The encirclement operation determination unit 2450 can, for example, determine an encirclement operation command to move the entire platoon 1010 consisting of multiple unmanned boats 1000 so that the position of the target object is inside the area in which the multiple unmanned boats 1000 are deployed, or so that the position approaches the central position of the area in which the unmanned boats 1000 are deployed, without changing the formation of the multiple unmanned boats 1000.

[0115] As another example, the encirclement operation determination unit 2450 can determine an encirclement operation command to move the unmanned watercraft 1000 so that the target object is inside the formation of the multiple unmanned watercraft 1000 by changing the formation so that the target object is surrounded by the multiple unmanned watercraft 1000. A specific example of control of the platoon 1010 by the encirclement operation determination unit 2450 will be described later.

[0116] When the overall operation decision unit 2410 decides on an "advance" operation designation to have the unmanned boat advance to the destination of the target object, the advance operation decision unit 2460 calculates the predicted destination of the target object or its surrounding area as an advance target position for at least some of the multiple unmanned boats 1000 that make up the platoon 1010, and further calculates the target time for moving to the advance target position, and decides on an operation command including these target positions and target times.

[0117] As a method of determining the advance area that will be the movement target of the advance operation command, for example, the advance operation determination unit 2460 can determine, based on the past movement trajectory of the object, the current traveling direction of the object, the current heading direction of the object, the predicted future path of the object, and the predicted position of the object at a future time determined by the object analysis and determination unit 2200, at least one of the following positions or areas: an extension of the object's past movement trajectory or the surrounding area on that extension, an area ahead of the object's current traveling direction or the surrounding area, an area ahead of the object's current heading direction or the surrounding area, an area on the object's future predicted path or the surrounding area on the predicted path, a predicted position of the object at a future time or the surrounding area of ​​the predicted position, as the target position or area for advancement.

[0118] It should be noted that the proactive operation determination unit 2460 determines the target position or area for proactive operation by the above-described method when, for example, the tracking state determined by the tracking state determination unit 2330 is a swing-out symptom state or a swing-out occurrence state.

[0119] The operation command determination unit 2470 is a functional unit that determines an operation command based on information on the operation command candidates generated by each determination unit of the operation management unit 2400 described above and user input information acquired from the user interface unit 2500 described below. Alternatively, it is a functional unit that determines an operation command based on information on the operation command candidates generated by each determination unit of the operation management unit 2400 described above and external user input information received from the collaborative system 5000 acquired by the external user input information acquisition unit 2414.

[0120] For example, when there is no input of user input information or external user input information, the operation command determination unit 2470 determines the operation command candidate generated by each determination unit of the operation management unit 2400 as the operation command, and when there is input of user input information or external user input information, it can determine the operation command based on both the operation command candidate generated by each determination unit of the operation management unit 2400 and the user input information or the external user input information, or can determine the operation command based only on the user input information or the external user input information.

[0121] (A-1-5-5. User interface unit 2500) The user interface unit 2500 is a functional unit that displays and outputs each operation command determined by the operation management unit 2400, each piece of information related to the object determined by the object analysis and determination unit 2200, and each piece of information determined by the system state determination unit 2300, and receives user input information regarding the displayed operation information and other information from the user. The user interface unit 2500 includes a display unit 2510 and a user input receiving unit 2520.

[0122] The display unit 2510 is a functional unit that displays and outputs each operation command determined by the operation management unit 2400, each piece of information regarding the object determined by the object analysis and determination unit 2200, and each piece of information determined by the system state determination unit 2300.

[0123] The display unit 2510 may also display various information related to the object, such as the type of object, movement performance, past movement route, current position, predicted position at a future time (which may include the location and time of landing on the coast) determined by the object analysis and determination unit 2200. The display unit 2510 may also display the past movement route, current position, predicted position at a future time of the unmanned watercraft determined by the unmanned watercraft status determination unit 2310, as well as the operation role (tracking, takeover tracking, advance, encirclement, etc.) assigned to each unmanned watercraft, the planned position of handover, the planned time of handover, etc. determined by the operation management unit 2400.

[0124] In addition, when the information communication unit 2700 described below transmits information regarding captured lost or information regarding the target object to the cooperative system 5000, the external system 6000, or other external systems, information such as the contact details, contact method, and location of the external destination may be displayed on the display unit 2510.

[0125] Furthermore, when the path prediction determination unit 2240 of the object analysis and determination unit 2200 determines multiple path candidates as the predicted path of the object, the probability of each predicted path may also be displayed on the nautical chart. Note that the user can select and input one path candidate from the multiple path candidates via the user input receiving unit 2520, which will be described later.

[0126] The user input accepting unit 2520 is a functional unit that accepts user input for each piece of information displayed by the display unit 2510, particularly for candidate action commands. The user input information can include a selection input for selecting an arbitrary action command from a plurality of candidate action commands, an approval input for approving a candidate action command, a correction request input for correcting part of the candidate action command, or an intervention action command input for instructing the execution of an intervention action different from the candidate action command. The above-mentioned user input information can also be accepted via an operation button provided on the display screen of the display unit 2510.

[0127] The user input accepting unit 2520 may also have a function to accept a display request for measurement data acquired by the unmanned watercraft 1000. In this case, a function to accept a priority request for displaying measurement data in a prioritized manner, such as time-priority display, which prioritizes displaying measurement data that can be displayed early, detailed image-priority display, which prioritizes displaying detailed measurement data, or area-designated-priority display, which prioritizes displaying measurement data in an area designated by the user, may be provided. When the above-mentioned measurement data display request is accepted, the display unit 2510 may display a predicted display time for which the measurement data can be displayed. When the above-mentioned measurement data display request is accepted, the display unit 2510 may display a predicted display time for the measurement data according to the designated display priority.

[0128] Furthermore, the user input accepting unit 2520 can accept from the user a display mode that includes displaying the latest measurement data or displaying past measurement data measured at a specified past time when displaying measurement data on the display unit 2510. Furthermore, when the unmanned watercraft 1000 acquires the latest measurement data, the display unit 2510 or the like may notify the user that the latest measurement data has been updated.

[0129] (A-1-5-6. Operation command section 2600) The operation command unit 2600 is a functional unit that transmits and outputs the operation command determined by the operation command determination unit 2470 to the unmanned watercraft 1000 via the communication satellite 3000, the aircraft, or the ground base station 4000.

[0130] (A-1-5-7. Department of Information and Communications 2700) The information communication unit 2700 is a functional unit that outputs each piece of information, such as the determination result regarding the object by the object analysis and determination unit 2200, the determination result by the system state determination unit 2300, or the operation command generated by the operation management unit 2400, to the cooperative system 5000, the external system 6000, or other external systems. Furthermore, the information communication unit 2700 can transmit and output information including at least any of current capture loss occurrence information, predicted future capture loss occurrence information, predicted loss position, predicted loss time, and information regarding the object, determined by the tracking state determination unit 2330 or the capture loss prediction unit 2320, to the cooperative system 5000, the external system 6000, or other external systems, in accordance with the command determined by the tracking loss response action determination unit 2440.

[0131] The functions implemented in the unmanned watercraft 1000 and the overall control system 2000 described above using Figures 6, 7, and 9 are merely one embodiment, and the present invention is not limited to this implementation example. In other words, some of the functions implemented in the unmanned watercraft 1000 shown in Figures 6 and 7 (mainly the function of the determination unit 1500) can be implemented in the overall control system 2000. On the other hand, some of the functions implemented in the overall control system 2000 shown in Figure 9 (mainly at least one of the information import unit 2100, object analysis and determination unit 2200, system state determination unit 2300, operation management unit 2400, and operation command unit 2600) can also be implemented in the unmanned watercraft 1000.

[0132] (A-1-6. Hardware Configuration) 19 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.

[0133] The input device 100 can constitute the user input receiving unit 2520 of the user interface unit 2500, 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.

[0134] 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 2510 of the user interface unit 2500. Specifically, the output device 200 can constitute the display unit 2510 using a display device for eyewear, AR, or VR, or it may also be a printer or a speaker.

[0135] 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.

[0136] 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.

[0137] The communication device 600 is a device that performs wireless or wired information communication with the outside, and can constitute the information communication unit 2700 described above.

[0138] (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. 20 is a flowchart showing the processing flow of the control system 1.

[0139] First, the information import unit 2100 acquires information from the external system 6000 (step 101).

[0140] Next, the determination unit 1500 of the unmanned watercraft 1000 performs a target object detection process (step 102).

[0141] Next, the object analysis and determination unit 2200 analyzes the object based on the detection information and measurement data of the object, and determines at least one of the object's type, operating state, and dynamic performance (step 103). Details of this step will be described later.

[0142] Next, the system state determination unit 2300 determines the current or future state of the unmanned watercraft 1000, or the current or future relative operating state of the unmanned watercraft 1000 and the target (suspicious vessel 7000) (step 104). Details of this step will be described later.

[0143] Next, the operation management unit 2400 determines the contents of the operation commands to be sent to the plurality of unmanned watercraft (step 105). Details of this step will be described later.

[0144] Next, the user interface unit 2500 displays candidate information for the operation command and accepts user input information for the displayed operation information and other information (step 106).

[0145] Next, the operation command unit 2600 transmits an operation command to the unmanned watercraft 1000, causing the unmanned watercraft 1000 to execute an operation (step 107).

[0146] (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. 21 is a sequence diagram showing the exchange of signals between the systems in the control system 1.

[0147] First, AIS information and satellite-related information are transmitted from the external system 6000 to the integrated control system 2000.

[0148] Next, measurement data is transmitted from the slave unit 1002 constituting the unmanned watercraft 1000 to the master unit 1001, and when the initial detection unit 1511 of the master unit 1001 detects an object, a detailed measurement command is transmitted from the master unit 1001 to the slave unit 1002. The slave unit 1002 performs detailed measurement in accordance with the detailed measurement command and transmits the detailed measurement data to the master unit 1001.

[0149] Next, if the object suitability determination unit 1514 of the parent unit 1001 determines that the detected object is an object to be monitored, the measurement data measured by the child unit 1002 and information on the detailed detection results determined by the determination unit 1500 of the parent unit 1001 are transmitted to the overall control system 2000.

[0150] Next, the overall control system 2000 analyzes and judges the object, judges the system status, generates candidates for operation commands for the unmanned boat, and transmits the judgment information and operation commands to the cooperative system 5000.

[0151] Next, the overall control system 2000 accepts external user input information from the collaborative system 5000, determines an operation command based on the external user input information and the operation command generated within the overall control system 2000, and transmits the determined operation command (such as a tracking command) to the parent unit 1001.

[0152] Next, the parent device 1001 that has received the operation command executes the commanded operation for its own device contained in the operation command, and also transmits operation commands (such as a tracking command) to the other child devices 1002 in the same platoon 1010.

[0153] Next, the slave device 1002 executes the command operation for itself, which is included in the operation command (such as a tracking command). Furthermore, when the slave device itself tracks an object, it transmits measurement data acquired during the tracking process to the master device 1001.

[0154] The parent device 1001 detects and analyzes the object based on the measurement data received from the child device 1002 , and transmits the measurement data and the detection and analysis results to the integrated control system 2000 .

[0155] Based on the measurement data and detection analysis results received from the parent unit 1001, the overall control system 2000 analyzes and judges the object, judges the system status, and generates candidates for operation commands for the unmanned boat, and transmits the judgment information and operation commands to the collaborative system 5000.

[0156] Next, the overall control system 2000 accepts external user input information from the collaborative system 5000, determines an operation command based on the external user input information and the operation command generated within the overall control system 2000, and transmits the determined operation command (such as an operation after swing-off) to the parent unit 1001.

[0157] Next, the parent device 1001 that has received the operation command executes the commanded operation for its own device contained in the operation command, and also transmits operation commands (such as post-swing-off operation) to other child devices 1002 in the same platoon 1010.

[0158] (A-1-9. Analysis and processing of the object) Next, the object analysis and determination process will be described with reference to Fig. 22. Fig. 22 is a flowchart showing the process flow of the object analysis and determination process executed by the object analysis and determination unit 2200. Fig. 22 particularly shows the detailed process flow of step 103 shown in Fig. 20.

[0159] First, the type of the object is determined by the type determination unit 2210 (step 201). In this step, the type determination unit 2210 determines the type of the object, including, for example, a cargo ship, a liner, a passenger ship, a fishing boat, a pleasure boat, a yacht, a boat, a water scooter, a diver, and a marine organism (such as a whale, a dolphin, or a school of fish).

[0160] Next, the motion state determination unit 2220 determines the dynamic state of the object (step 202). In this step, for example, at least one of the past movement trajectory, current traveling direction, current heading direction, current movement speed, current acceleration, current deceleration, current position coordinates, turning radius, and turning speed of the object is determined.

[0161] Next, the performance determination unit 2230 determines the movement performance of the object (step 203). In this step, for example, if the object is a suspicious ship, at least one of the maximum movement speed, minimum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and possible movement distance is determined.

[0162] Next, the path prediction determination unit 2240 predicts and determines the future path of the object (step 204). In this step, for example, at least one of the predicted future path of the object, the predicted position at a future time, the predicted speed at a future time, and the predicted direction of travel at a future time is determined.

[0163] Next, the navigation pattern of the target is determined by the navigation pattern determination unit 2250 (step 205). In this step, the navigation pattern of the target is determined, for example, as the status of the speed and acceleration / deceleration pattern of the suspicious ship as shown in Fig. 10, the status of the navigation path of the suspicious ship as shown in Fig. 11, or the status of the tracking disruptive navigation of the suspicious ship as shown in Fig. 12.

[0164] Next, the behavior status determination unit 2260 determines the fleeing behavior state of the target (step 206). In this step, for example, the fleeing behavior status of the target as shown in FIG.

[0165] (A-1-10. Determining the operating status of your own system) Next, the process of determining the current or future state of the unmanned vessel 1000, or the current or future relative operating state of the unmanned vessel 1000 and the target (suspicious vessel 7000), will be described using Figure 23. Figure 23 is a flowchart showing the process flow for determining the state or relative operating state of the unmanned vessel 1000, which is executed by the system state determination unit 2300. Figure 23 particularly shows the detailed processing flow of step 104 shown in Figure 20.

[0166] First, the unmanned vessel state determination unit 2310 determines the state of the unmanned vessel 1000 (step 301). In this step, for example, the location of the multiple unmanned vessels, the number of vessels, the direction of movement, the movement speed, the possible movement distance, the remaining energy, and at least one of the estimated values ​​of the movement capability including the movement speed or the possible movement distance of the unmanned vessel under the external environment such as the waves, wind, and currents in the activity area of ​​the unmanned vessel are determined.

[0167] Next, the capture loss prediction unit 2320 determines the state regarding future loss of capture of the target's position (step 302). In this step, for example, at least one of the following is predicted: whether or not a capture loss will occur in the future, in which the target's position will be lost, the area in which the target can be captured by the unmanned watercraft 1000, the predicted loss position where capture loss will occur, the time when the target can be captured by the unmanned watercraft, and the predicted loss time where capture loss will occur.

[0168] Next, the tracking state determination unit 2330 determines the tracking state, which is the relative motion state of the unmanned watercraft 1000 being tracked (step 303). In this step, for example, a tracking state such as that shown in Fig. 14 is determined.

[0169] Next, the predicted state of the future predicted path of the object determined by the path prediction state determination unit 2340 is determined (step 304). In this step, for example, the path prediction state as shown in FIG.

[0170] (A-1-11. Operation command determination process) Next, the process of determining operation commands for the multiple unmanned watercraft 1000 will be described with reference to Fig. 24. Fig. 24 is a flowchart showing the process flow for determining operation commands for the unmanned watercraft 1000, which are determined by the operation management unit 2400. Fig. 24 particularly shows the detailed process flow of step 105 shown in Fig. 20.

[0171] First, the overall operation determination unit 2410 determines an overall higher-level operation command for one or more platoons 1010 made up of a plurality of unmanned crafts 1000 (step 401).

[0172] Next, the process step to transition to is determined depending on whether the operation command determined in step 401 is to abandon tracking or not (step 402). In this step, if the determined operation command is to abandon tracking, the process transitions to step 403, and on the other hand, if the determined operation command is not to abandon tracking, the process transitions to step 404.

[0173] Next, if the overall higher-level action command is to abandon tracking, the action to be taken just before capture is lost is determined as the action command by the action determination unit just before tracking is shaken off (step 403). In this step, the action to be taken just before shaken off is determined to be paint attachment, which involves spraying or throwing paint at the target to cause the paint to adhere to the target, or transmitter attachment, which involves spraying or throwing a transmitter or the like at the target to cause the transmitter or the like to adhere to the target.

[0174] In addition, in step 403, instead of or in addition to the action immediately before tracking is cut off, the information communication unit 2700 may perform an operation to output information including at least one of information on the current occurrence of capture loss, information on predicted occurrence of future capture loss, predicted loss position, predicted loss time, and information on the target object to the cooperative system 5000, the external system 6000, or other external system.

[0175] Next, if the overall higher-level operation command is not to abandon tracking, a process step to transition to is determined depending on whether the overall higher-level operation command is to track or to take over tracking (step 404). In this step, if the overall higher-level operation command is to track or to take over tracking, the process transitions to step 405, whereas if the overall higher-level operation command is not to track or to take over tracking, the process transitions to step 411.

[0176] Next, if the overall higher-level operation command is tracking or tracking takeover, the operation allocation determination unit 2420 determines which unmanned watercraft 1000 will be assigned the lead or sub-role in the tracking operation (step 405). Here, the sub-role in the tracking operation refers to the role of tracking the target object by following the unmanned watercraft 1000 in the lead role that performs the tracking operation.

[0177] Next, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to which a role other than tracking is to be assigned (step 406).

[0178] Next, the tracking operation determination unit 2430 determines the detailed operation for the unmanned watercraft 1000 assigned the tracking role (step 407).

[0179] Next, the tracking operation determination unit 2430 determines a tracking formation of the multiple unmanned watercraft 1000 (step 408). In this step, for example, a tracking formation command status such as that shown in Fig. 17 is determined.

[0180] Next, the tracking operation determination unit 2430 determines an operation command related to the relative distance control between the plurality of unmanned watercraft 1000 and between the unmanned watercraft 1000 and the target object (step 409). In this step, for example, a relative distance control command status such as that shown in Fig. 18 is determined.

[0181] Next, the tracking loss response action determination unit 2440 determines a response action to be taken for the unmanned watercraft 1000 that has entered a loss symptom state, a loss occurrence state, or a position capture lost state (step 410). Details of this step will be described later.

[0182] Next, if the overall higher-level operation command is not tracking or tracking inheritance, the process step to transition to is determined depending on whether the overall higher-level operation command is (1) encirclement or (2) anticipation (step 411). In this step, if the overall higher-level operation command is (1) encirclement, the process transitions to step 412, whereas if the overall higher-level operation command is (2) anticipation, the process transitions to step 415.

[0183] Next, when the overall higher-level action command is (1) encirclement, the action allocation determination unit 2420 determines the unmanned watercraft 1000 to be assigned the role of performing the encirclement action (step 412).

[0184] Next, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to which a role other than encirclement is to be assigned (step 413).

[0185] Next, the surrounding operation determination unit 2450 determines the detailed operation of the unmanned watercraft 1000 to perform the surrounding operation (step 414).

[0186] Next, when the overall higher-level operation command is (2) proactive, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to be assigned the role of performing proactive operation (step 415).

[0187] Next, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to which a role other than the advance role is to be assigned (step 416).

[0188] Next, the proactive operation determination unit 2460 determines the detailed operation of the unmanned watercraft 1000 that will execute the proactive operation (step 417).

[0189] (A-1-12. Operation command determination process) Next, the process of determining an operation command for the unmanned watercraft 1000 that has entered a run-off symptom state, a run-off occurrence state, or a position capture lost state will be described using Figure 25. Figure 25 is a flowchart showing the process flow for determining an operation command for the unmanned watercraft 1000 when run-off occurs, etc., executed by the tracking run-off response action determination unit 2440. Figure 25 particularly shows a detailed processing flow of step 410 shown in Figure 24. Figure 25 shows an example of selecting each of the operations of tracking takeover, proactive tracking, and requesting takeover to an external device, but the selection and determination of each operation may be performed using other methods.

[0190] First, a process step to be transitioned is determined depending on whether or not a swing-out symptom state has been determined (step 501). In this step, if a swing-out symptom state has been determined, the process transitions to step 502, and on the other hand, if a swing-out symptom state has not been determined, the process of this flowchart ends.

[0191] Next, if a shake-off indication state is determined in step 501, a pre-shake-off action to be taken immediately before the unmanned watercraft 1000 is shaken off is determined (step 502).

[0192] Next, the processing step to transition to is determined based on the determination result of whether or not there is another unmanned watercraft 1000 that can take over tracking of the abandoned object (step 503). In this step, if there is another unmanned watercraft 1000 that can take over, the processing transitions to step 504, and if there is no other unmanned watercraft 1000 that can take over, the processing transitions to processing step 505.

[0193] Next, if it is determined in step 503 that there is another unmanned watercraft 1000 that can take over, the unmanned watercraft 1000 that will take over is selected, and the location and time at which the takeover will be performed are determined (step 504). After this step is performed, the process proceeds to step 507.

[0194] Next, if it is determined in step 503 that there are no other unmanned watercraft 1000 that can take over, the process step to transition to is determined based on the determination result of whether there are other unmanned watercraft 1000 that can get ahead of the abandoned object (step 505). In this step, if there are other unmanned watercraft 1000 that can get ahead, the process transitions to step 506, and on the other hand, if there are no other unmanned watercraft 1000 that can get ahead, the process transitions to step 508.

[0195] Next, in step 505, if it is determined that there is another unmanned craft 1000 that can move ahead, the unmanned craft 1000 that will move ahead is selected, and the target position and target time for the move ahead are determined (step 506).

[0196] Next, operational roles are reassigned to unmanned watercraft 1000 that have completed their roles, such as an unmanned watercraft 1000 that has been abandoned by the target (step 507). In this step, operational roles can be reassigned to unmanned watercraft 1000 that have completed their roles, including at least one of the following: taking over the tracking of the target, moving ahead to the target's destination, surrounding the target, relaying communications between multiple unmanned watercraft, storing measurement data, and analyzing the measurement data. Furthermore, the unmanned watercraft 1000 that has been reassigned the role of taking over the tracking is instructed to move to the target handover position by the target handover time.

[0197] Next, if it is determined in step 505 that there are no other unmanned craft 1000 that can get ahead, a request is made to the cooperative system 5000, the external system 6000, or another external system to take over tracking (step 508). In this step, information including at least one of the following may be transmitted in addition to the request for takeover: current capture-and-loss occurrence information, predicted capture-and-loss occurrence information in the future, predicted loss position, predicted loss time, and information about the target object.

[0198] (A-1-13. Platoon 1010 Composition) 26 and 27, a platoon 1010 made up of a plurality of unmanned crafts 1000 will be described below. Fig. 26 is a diagram showing the relative positions and communication connections of the plurality of unmanned crafts 1000 in the platoon 1010.

[0199] 26, a platoon 1010 includes one parent device 1001 and multiple child devices 1002. The parent device 1001 and the multiple child devices 1002 are connected via wireless communication as indicated by solid lines to form a communication network. The child devices 1002 include a primary connection child device 10021 that is communicatively connected to the parent device 1001, and a secondary connection child device 10022 that is communicatively connected to the primary connection child device 10021. 26 has a function of relaying information between the parent device 1001 and the secondary-connected child devices 10022, thereby enabling information to be exchanged between the parent device 1001 and the multiple secondary-connected child devices 10022.

[0200] Furthermore, the number of secondary connection slave devices 10022 communicatively connected to the primary connection slave device 10021 is not limited to one, and multiple secondary connection slave devices 10022 communicatively connected to the primary connection slave device 10021 can form a tree-structured communication network of multiple unmanned watercraft 1000 within the platoon 1010. Furthermore, since there is an upper limit to the communication distance between each unmanned watercraft 1000, the positions of at least one of the unmanned watercraft 1000 communicatively connected to each other, for example, the master device 1001 and the primary connection slave device 10021, and the primary connection slave device 10021 and the secondary connection slave device 10022, are controlled with high priority so that the relative distance between the unmanned watercraft 1000 is maintained within the communication distance (for example, approximately 1.5 km).

[0201] On the other hand, the relative distance between other unmanned vehicles 1000 that are not connected to each other does not need to be maintained as described above, but considering the purpose of the platoon, which is to monitor and investigate objects, it is desirable for the unmanned vehicles 1000 to be deployed over a wider area without getting too close to each other, so the position of at least one of the unmanned vehicles 1000 that are not connected to each other is controlled with a relatively low priority so as to maintain a preset steady-state relative distance (for example, approximately 1 km). Control based on the Boids algorithm, for example, can be applied to maintain this steady-state relative distance.

[0202] As described above, the relative distance between unmanned watercraft 1000 that are communicatively connected to each other is controlled with a high priority to within the communicable distance range, and the relative distance between unmanned watercraft 1000 that are not communicatively connected to each other is controlled with a relatively low priority so that the relative distance is maintained under normal conditions. Therefore, when an unmanned watercraft 1000 is commanded to track (or surround, anticipate, or take over tracking) an object, the unmanned watercraft 1000 performing the tracking or other operation controls its position by prioritizing the operation of tracking the object over maintaining the relative distance from other unmanned watercraft 1000 that are not communicatively connected to each other. On the other hand, even when an operation command such as tracking an object is executed, maintaining the relative distance between unmanned watercraft 1000 that are communicatively connected to each other within the communicable range is controlled by prioritizing the operation of tracking the object over the operation of tracking the object.

[0203] Furthermore, if the relative distance between the unmanned vessels 1000 becomes too close and there is a risk of collision, position control is performed with high priority to increase the relative distance. Therefore, even when the unmanned vessels 1000 are commanded to execute an operational command such as tracking an object (or surrounding, preempting, or taking over tracking), position control is performed with priority given to maintaining the relative distance between the unmanned vessels 1000 to avoid collision, rather than to performing operations such as tracking the object.

[0204] Next, Fig. 27 is a diagram showing the positional relationship of a plurality of platoons 1010. In the example shown in Fig. 27, two platoons (1010a, 1010b) cooperate with each other to perform position control, and for example, the relative distance between the secondary connected slave device 10022a in platoon 1010a and the secondary connected slave device 10022b in platoon 1010b is controlled to maintain a steady relative distance (e.g., approximately 1 km). Furthermore, the steady relative distance is set to a distance shorter than the communication distance, and further, it is desirable to set it to a distance such that the measurement ranges of the measurement sensors 1110 of adjacent unmanned crafts (1022a, 1022b) do not overlap, creating an area that cannot be measured by the measurement sensors.

[0205] For example, position information of the unmanned watercraft 1000 in each platoon is transmitted to the overall control system 2000 via the host unit 1001, and the operation management unit 2400 of the overall control system 2000 generates an operation command to control the position of each unmanned watercraft 1000, thereby making it possible to appropriately control the positions of the unmanned watercraft 1000 in each platoon. As another example, the host unit 1001a of the platoon 1010a and the host unit 1001b of the platoon 1010b share position information of the unmanned watercraft 1000 in each platoon via a communication satellite 3000 or the like (or by direct communication), and the host unit 1001 in each platoon generates a control command to control the position of the unmanned watercraft in the platoon, thereby making it possible to appropriately control the positions of the unmanned watercraft 1000 in each platoon.

[0206] (A-1-14. Position control in tracking operation) Below, using Figures 28 to 31, we will explain the chronological operating states of the two platoons 1010 from time t1 when the target (suspicious ship 7000) is detected, to time t8 when the target is tracked and the tracking is taken over, and the tracking ends.

[0207] Figure 28 is a diagram showing position control at times t1 and t2 when multiple unmanned vessels 1000 are tracking an object. The upper diagram in Figure 28 shows the planar layout of the multiple unmanned vessels 1000 and the communication network configuration (solid lines) at time t1, when the object (suspicious vessel 7000) is detected by some of the unmanned vessels 1000. The lower diagram in Figure 28 shows the operation management unit 2400 assigning a tracking operation to two unmanned vessels 1000 that are close to the object (suspicious vessel 7000), and these unmanned vessels 1000 starting to perform the tracking operation.

[0208] Figure 29 shows position control at times t3 and t4 when multiple unmanned vessels 1000 are tracking an object. The upper diagram in Figure 29 shows the tracking operation at time t3. At time t3, one unmanned vessel 1000 continues tracking from time t2, while another unmanned vessel 1000 ends tracking and hands over tracking to another unmanned vessel. The lower diagram in Figure 29 shows the tracking operation at time t4 while tracking of the object (suspicious vessel 7000) is in progress. At time t4, tracking is handed over to yet another unmanned vessel 1000.

[0209] Figure 30 shows position control at times t5 and t6 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in Figure 30 shows the tracking operation at time t5. At time t5, two unmanned watercraft continue tracking, and one unmanned watercraft takes over tracking. The lower diagram in Figure 30 shows the tracking operation at time t6. At time t6, one unmanned watercraft ends tracking, and the other two unmanned watercraft continue tracking.

[0210] FIG. 31 shows position control at times t7 and t8 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in FIG. 31 shows the tracking operation at time t7. At time t7, two unmanned watercraft continue tracking, continuing to the edge of the platoon 1010's activity area. The lower diagram in FIG. 31 shows the tracking operation at time t8. At time t8, the object (suspicious vessel 7000) has moved outside the platoon 1010's activity area, so the tracking operation ends and the watercraft return to the normal formation position at time t1. Note that if there is data (measurement data or object detection results) remaining from the unmanned watercraft 1000 to the overall control system 2000, the untransmitted data is transmitted to the overall control system 2000 at time t8, when the platoon's tracking operation ends.

[0211] (A-1-15. Detailed control of tracking and handover) Figure 32 is a diagram showing the state of time-series handover when tracking handover control is performed. The upper diagram of Figure 32 shows the positional relationship between each unmanned watercraft 1000 and the target object (suspicious ship 7000) at time t10 when the slave unit 10022a is tracking the target object (suspicious ship 7000). The range shown by the solid line in the figure indicates the monitorable range that can be measured by the measurement sensors 1110 of the slave units 10022a and 10022b, and the range shown by the dotted line in the figure indicates the trackable range in which the slave units 10022a and 10022b have determined that they can track the target object (suspicious ship 7000).

[0212] The monitoring range can be determined based on information on the measurable distance of the measurement sensors of the slave units (10022a, 10022b) that has been previously determined. Also, the tracking range can be determined by comparing the movement capability of the target (suspicious ship 7000) determined by the target analysis and determination unit 2200 with the movement capability of the slave units (10022a, 10022b) that has been previously determined.

[0213] At time t10, the overall control system 2000 determines whether the target (suspicious vessel 7000) is in a runaway warning state based on the movement capability of the target (suspicious vessel 7000) determined by the target analysis and determination unit 2200 and the movement capability of the sub-unit (10022a) that has been previously determined. If it is determined that the target is in a runaway warning state, it determines the predicted runaway position and predicted runaway time, determines another unmanned vessel 1000 (sub-unit 10022b) that can take over based on that information, and assigns the operational role of tracking to the sub-unit 10022b. The overall control system 2000 also determines the takeover execution position and time for taking over based on the information on the predicted runaway position and predicted runaway time determined, and the position, monitorable range, and trackable range of the sub-unit 10022b to which the operational role of tracking has been assigned.

[0214] The lower diagram of Figure 32 shows the positional relationship between each unmanned watercraft 1000 and the target (suspicious ship 7000) at time t11, when tracking is handed over from slave unit 10022a to slave unit 10022b. At time t11, tracking is handed over from slave unit 10022a to slave unit 10022b, provided that the target (suspicious ship 7000) has reached the handover execution position where handover is to be executed. At time t11 shown in the lower diagram of Figure 32, the target (suspicious ship 7000) is located within the monitoring range and tracking range of slave unit 10022a, and is also located within the monitoring range and tracking range of slave unit 10022b. In this way, by determining that the target object (suspicious ship 7000) is located within the monitoring range and tracking range of sub-unit 10022a and within the monitoring range and tracking range of sub-unit 10022b as the conditions for handover (handover execution location and handover execution time), the tracking operation can be handed over to another unmanned boat 1000 without being left behind by the target object (suspicious ship 7000) and without losing track.

[0215] (A-1-16. Position control in encirclement operations) Below, the operational states of the two squadrons 1010 over time from the time the target (suspicious ship 7000) is detected to the time the target is surrounded will be explained using Figures 33 to 36. Figures 33 and 34 show the operational states over time in the first surrounding operation, and Figures 35 and 36 show the operational states over time in the second surrounding operation.

[0216] (A-1-16-1. First Encirclement Movement) The time series of operational states during the first surrounding operation will be described using Figures 33 and 34. Figure 33 is a diagram showing the state of position control at times t20 and t21 when a plurality of unmanned watercraft 1000 are surrounding an object using the first surrounding operation.

[0217] The upper diagram of Figure 33 shows the planar arrangement of multiple unmanned vessels 1000 and the communication network configuration (solid lines) at time t20 when an object (suspicious vessel 7000) is detected by some of the unmanned vessels 1000. The lower diagram of Figure 33 shows the state in which the encirclement operation determination unit 2450 of the operation management unit 2400 assigns an encirclement operation to some or all of the unmanned vessels 1000 in the platoon, and further commands the target movement position and target movement time for the encirclement operation, and these unmanned vessels 1000 begin to execute the encirclement operation.

[0218] Next, Figure 34 is a diagram showing position control at time t22 when a first encirclement operation is performed to encircle an object using multiple unmanned watercraft 1000. At time t22, the formation of the multiple unmanned watercraft 1000 is changed to surround the object, and the unmanned watercraft 1000 are moved so that the object is inside the formation of the multiple unmanned watercraft 1000. Note that "encirclement" here does not only mean placing unmanned watercraft in all directions around the object, but also includes the operation of placing multiple unmanned watercraft at least partially around the object, for example, in a range of 180 degrees or more.

[0219] (A-1-16-2. Second Encirclement Movement) The time series of operational states during the second surrounding operation will be described using Figures 35 and 36. Figure 35 is a diagram showing the state of position control at times t30 and t31 when multiple unmanned watercraft 1000 are surrounding an object using the second surrounding operation.

[0220] The upper diagram of Figure 35 shows the planar arrangement of multiple unmanned vessels 1000 and the communication network configuration (solid lines) at time t30 when an object (suspicious vessel 7000) is detected by some of the unmanned vessels 1000. The lower diagram of Figure 35 shows the state in which the encirclement operation determination unit 2450 of the operation management unit 2400 assigns an encirclement operation to some or all of the unmanned vessels 1000 in the platoon, and further commands the target movement position and target movement time for the encirclement operation, and these unmanned vessels 1000 begin to execute the encirclement operation.

[0221] Next, FIG. 36 shows position control at time t32 when a plurality of unmanned watercraft 1000 are used to surround an object using a second surrounding operation. At time t32, the formation of the plurality of unmanned watercraft 1000 is not changed, and the entire platoon 1010, which is made up of the plurality of unmanned watercraft 1000, is moved so that the object's position is within the area where the plurality of unmanned watercraft 1000 are deployed, or even closer to the center of the area where the unmanned watercraft 1000 are deployed. When the entire platoon 1010 is moved in this manner, the direction of movement of the platoon may be determined based on information determined by the object analysis and determination unit 2200, such as the object's past movement trajectory, the object's current direction of travel, the object's current heading direction, the object's predicted future path, and the object's predicted position at a future time. Note that the term "surrounding" as used here does not necessarily mean placing unmanned watercraft in all directions around the object, but also includes placing multiple unmanned watercraft at least partially around the object, for example, within a range of 180 degrees or more.

[0222] (A-1-17. Method of assigning actions to multiple unmanned vessels) The allocation method for allocating action roles to a plurality of unmanned watercrafts by the action allocation determination unit 2420 will be described below with reference to FIGS.

[0223] Fig. 37 shows what happens at times t40 and t41 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 38 shows what happens at times t42 and t43 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 39 shows what happens at times t44 and t45 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 40 shows what happens at times t46 and t47 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts.

[0224] First, the upper diagram in FIG. 37 shows the planar layout of multiple unmanned crafts 1000 and the communication network configuration (solid lines) at time t40 when some of the unmanned crafts 1000 detect an object (suspicious craft 7000).

[0225] Next, the lower diagram in Figure 37 shows the predicted future course of the object (suspicious ship 7000) predicted at time t41 by the course prediction determination unit 2240 of the object analysis determination unit 2200. Note that in this diagram, the predicted future course of the object predicted by the course prediction determination unit 2240 is shown as a straight line, but the predicted course does not necessarily have to be a straight line, and in cases such as when the movement trajectory determined by the motion state determination unit 2220 is curved, or when the current traveling direction or nose orientation of the object is changing, a curved course can be determined as the predicted course.

[0226] Furthermore, at time t41, not only is the predicted course determined by the course prediction determination unit 2240, but also the type of object determined by the type determination unit 2210, the past or present movement state determined by the movement state determination unit 2220, the predicted movement state other than the future predicted course determined by the course prediction determination unit 2240, the performance determination by the performance determination unit 2230, the navigation pattern determination by the navigation pattern determination unit 2250, and the behavior status determination by the behavior status determination unit 2260 are executed.

[0227] Next, the upper diagram in Figure 38 shows how the operation allocation determination unit 2420 of the operation management unit 2400 assigns an operation role to each unmanned watercraft 1000 at time t42. As shown in this figure, the unmanned watercraft 1000 located within the tracking assignment area 10, indicated by a dotted arc within a predetermined range from the target (suspicious vessel 7000), is assigned the operation role of tracking. Furthermore, the unmanned watercraft 1000 located within the tracking takeover assignment area 20, which is set around the predicted course of the target, is assigned the operation role of tracking. Furthermore, the unmanned watercraft 1000 located within the tracking takeover assignment area 30, which is set further ahead of the tracking takeover assignment area 20 on the predicted course, is assigned the operation role of anticipation. Furthermore, the anticipation operation determination unit 2460 generates an anticipation target area 40 and instructs the unmanned watercraft 1000 assigned the anticipation operation role to use the anticipation target area 40 as the movement target area for the anticipation operation. Furthermore, the proactive operation determination unit 2460 may generate a proactive target time for moving to the proactive target area 40, and generate a movement command for moving to the proactive target area 40 by the proactive target time.

[0228] Note that unmanned watercraft 1000 that do not belong to any of the above-mentioned tracking assignment area 10, takeover tracking assignment area 20, or advance assignment area 30, and that are not assigned any of the operational roles of tracking, takeover tracking, or advance, are assigned other operational roles, such as relaying communications between multiple unmanned watercraft, storing measurement data, and performing analytical processing of the measurement data. In the example shown in the upper diagram of Figure 38, the primary connection slave device 10021 is assigned the role of relaying communications, and the other unmanned watercraft are assigned the roles of storing measurement data and performing analytical processing of the measurement data.

[0229] Next, the lower diagram in Figure 38 shows the movement state of the unmanned watercraft 1000 at time t43. In the example shown in this figure, the four unmanned watercraft 1000 assigned the advance operation role at time t42 have completed movement into the advance target area 40, which is the movement target area.

[0230] Next, the upper diagram in Figure 39 shows a state in which, at time t44, the unmanned vessel 1000 performing a tracking operation detects a change in the direction of travel (a sharp turn) of the target (suspicious vessel 7000). In this case, the course prediction state determination unit 2340 determines that the course prediction state is "course prediction abnormal," and the command to allocate a proactive operation to the unmanned vessel 1000 that was performing the proactive operation role at time t44 is canceled, and similarly, the command to allocate a tracking operation takeover to the unmanned vessel 1000 that was performing the tracking operation takeover role at time t44 is canceled.

[0231] 39, at time t45, the course prediction determination unit 2240 of the object analysis determination unit 2200 determines the predicted future course of the object (suspicious ship 7000) after the course change. Note that at time t45, not only is the course prediction determination unit 2240 determining the predicted course, but also the following are executed: determination of the type of object by the type determination unit 2210; determination of the past or present action state by the action state determination unit 2220; prediction and determination of a movement state other than the future predicted course by the course prediction determination unit 2240; performance determination by the performance determination unit 2230; determination of the navigation pattern by the navigation pattern determination unit 2250; and determination of the action status by the action status determination unit 2260.

[0232] Next, the upper diagram in FIG. 40 shows how the operation allocation determination unit 2420 of the operation management unit 2400 assigns an operation role to each unmanned watercraft 1000 at time t46. As shown in this diagram, the unmanned watercraft 1000 located within the takeover tracking assignment area 20, which is set around the predicted course of the target object, is assigned the operation role of takeover tracking. Furthermore, the two unmanned watercrafts 1000 located within the advance assignment area 30, which is set further ahead of the takeover tracking assignment area 20 on the predicted course, are assigned the operation role of advance. Furthermore, the advance operation determination unit 2460 generates an advance target area 40 and commands the unmanned watercraft 1000 assigned the advance operation role to use the advance target area 40 as a movement target area for the advance operation. Furthermore, the advance operation determination unit 2460 may generate an advance target time for movement to the advance target area 40 and generate a movement command to move to the advance target area 40 by the advance target time.

[0233] Next, the lower diagram of Figure 40 shows the movement state of the unmanned watercraft 1000 at time t47. In the example shown in this figure, at time t46, two unmanned watercraft 1000 assigned the advance operation role have completed movement into advance target area 40, which is the movement target area, and the unmanned watercraft 1000 assigned the takeover role at time t46 has taken over tracking.

[0234] (A-1-18. Relative distance control method during tracking) 41 to 44, a method for controlling the relative distances between multiple unmanned watercraft by the tracking operation determination unit 2430 when the overall operation command is determined to be tracking will be described below. FIG. 41 shows what happens at times t50 and t51 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 42 shows what happens at times t52 and t53 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 43 shows what happens at times t54 and t55 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 44 shows what happens at times t56 and t57 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft.

[0235] First, the upper diagram of Fig. 41 shows a state where multiple slave units (10022a, 10022b, 10022c, 10022d) are tracking an object (suspicious ship 7000) at time t50. At time t50, the tracking operation determination unit 2430 controls the movement speed of each tracking slave unit in accordance with the movement speed of the object so that each tracking slave unit does not get separated from the object.

[0236] Next, the lower diagram of FIG. 41 shows a state in which at time t51, at least one of the tracking slave units (10022a, 10022b, 10022c, 10022d) detects a sudden deceleration of the target (suspicious ship 7000).

[0237] Next, the upper diagram of Figure 42 shows how, at time t52, the rearmost tracking sub-machines (10022a, 10022c) decelerate in response to the deceleration of the object. Furthermore, the lower diagram of Figure 42 shows how, at time t53, the frontmost tracking sub-machines (10022b, 10022d) decelerate in response to the deceleration of the object. In this way, when multiple unmanned watercraft 1000 being tracked are decelerated in response to the deceleration of the object being tracked, by causing the unmanned watercraft 1000 traveling at the rear in the direction of travel to decelerate first, it is possible to prevent the unmanned watercraft 1000 from getting too close to each other and colliding with each other.

[0238] Next, the upper diagram of FIG. 43 shows a state in which at time t54, at least one of the tracking slave units (10022a, 10022b, 10022c, 10022d) detects a sudden acceleration of the target object (suspicious ship 7000).

[0239] Next, the lower diagram of FIG. 43 shows how, at time t55, the slave units (10022b, 10022d) located in the front among the slave units being tracked accelerate in response to the acceleration of the target object.

[0240] 44 shows how, at time t56, the rearmost tracking sub-machines (10022a, 10022c) accelerate in response to the acceleration of the object. In this way, when multiple tracking unmanned crafts 1000 are accelerated in response to the acceleration of the object being tracked, by accelerating the unmanned craft 1000 traveling in front in the direction of travel first, it is possible to prevent the unmanned crafts 1000 from getting too close to each other and colliding.

[0241] 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.

[0242] [A-2. Effects of this embodiment] The above-described embodiment can improve the performance of monitoring and tracking a moving object using multiple unmanned aerial vehicles in a marine area, etc. For example, even if the object being monitored or tracked flees at high speed or flees in a direction where there are fewer or no unmanned vessels deployed, monitoring and tracking can be continued or can be performed for a longer period of time. [Explanation of symbols]

[0243] 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 connection sub-unit 1010...Platoon 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 1510: Object detection determination unit 1511: Initial detection unit 1512...Detailed measurement determination unit 1513...Detailed detection unit 1514...Object applicability determination unit 1520: Object analysis unit 1521: Position determination unit 1522...Performance evaluation unit 1523...Future course prediction unit 1600...Recording section 1610...Measurement data recording section 1620...Own aircraft status recording section 1630...Determination information recording section 1700...Other action execution section 2000...Comprehensive control system 2100: Information import unit 2110: Detection condition acquisition unit 2120: Detection information acquisition unit 2130: External information acquisition unit 2140...External user input information acquisition unit 2200...Object Analysis and Judgment Department 2210: Type determination unit 2220: Operation state determination unit 2230...Performance determination unit 2240...Course prediction determination unit 2250...Navigation pattern determination unit 2260...Action status determination unit 2300...System status determination unit 2310...Unmanned vessel status determination unit 2320... Acquisition loss prediction unit 2330... Tracking state determination unit 2340...Course prediction status determination unit 2400...Motion management unit 2410...Overall motion determination unit 2420: Action allocation determination unit 2430: Tracking action determination unit 2440…Tracking break-off response action decision section 2450... Surrounding action determination unit 2460... Preemptive action determination unit 2470...Operation command confirmation section 2500...User interface section 2510: Display unit 2520: User input reception unit 2600…Operation command unit 2700…Ministry of Information and Communications 3000...Communication satellite 4000...Ground base station 5000... Collaborative system 6000... External system 7000...Suspicious ship

Claims

1. A system for detecting an object using a plurality of unmanned watercraft that can navigate on or above the water surface, a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned watercraft; an object detection determination unit that processes the measurement data and detects the object; an object analysis / determination unit that determines at least one of the type, operating state, and dynamic performance of the detected object; an unmanned watercraft operation management unit that issues operation commands to the plurality of unmanned watercraft; Equipped with The unmanned watercraft operation management unit determines the command content of the operation command to the plurality of unmanned watercrafts in accordance with the determination result by the object analysis and determination unit.

2. 2. The control system of claim 1, The unmanned watercraft operation management unit determines the assignment of an operation role to each of the plurality of unmanned watercraft, and issues the operation command to the plurality of unmanned watercraft to perform the assigned operation role.

3. 3. The control system of claim 2, A control system in which the operational roles assigned to the plurality of unmanned vessels by the unmanned vessel operation management unit include at least one of the following roles: a role of tracking the object, a role of taking over tracking of the object, a role of anticipating the destination of the object, a role of surrounding the object, a role of relaying communications between the plurality of unmanned vessels, a role of storing the measurement data, and a role of performing analytical processing of the measurement data.

4. 2. The control system of claim 1, The operating state or dynamic performance of the object determined by the object analysis and determination unit includes: past or current movement states of the object, including at least one of a past movement trajectory, a current traveling direction, a current heading direction, a current movement speed, a current acceleration, and a current deceleration; or a predicted future moving state including at least one of a predicted future course of the object, a predicted position at a future time, a predicted speed at a future time, and a predicted direction of travel at a future time; Or, the control system includes dynamic performance including at least one of the maximum movement speed, maximum turning speed, maximum acceleration, maximum deceleration, and movable distance of the object.

5. 2. The control system of claim 1, When the type of the object determined by the object analysis and determination unit corresponds to a predetermined type, or when the current moving speed of the object is equal to or less than a predetermined value, The unmanned boat operation management unit issues an operation command to at least one of the plurality of unmanned boats for an encirclement operation that moves the unmanned boat so that the target object is inside the formation of the plurality of unmanned boats, a control system.

6. 5. The control system of claim 4, When the unmanned watercraft operation management unit issues a movement command for a proactive operation to a destination of the object, The unmanned watercraft operation management unit, for at least some of the plurality of unmanned watercraft, A control system that issues the operational command to move the unmanned watercraft to at least one of the positions or areas determined by the object analysis and determination unit, including an extension of the object's past movement trajectory or the surrounding area of ​​that extension, forward in the object's current direction of travel or the surrounding area, forward in the object's current heading direction or the surrounding area, on the object's predicted future path or the surrounding area of ​​that predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position.

7. 2. The control system of claim 1, The object includes an object moving on the water surface, in the water, or in the air; The object analysis and determination unit determines the navigation pattern of the object, which includes at least one of: stopped, where the object is stopped or almost stopped; navigation within the object's steady speed range; navigation faster than the steady speed range; navigation slower than the steady speed range; accelerating navigation; decelerating navigation; repeated acceleration and deceleration; zigzag navigation, where the object navigates a zigzag path; turning course change, where the object changes course by making a turn; U-turn navigation; and figure-of-eight navigation, where the object navigates a figure-of-eight path.

8. 2. The control system of claim 1, The object analysis and determination unit determines the escape behavior state of the object, which includes at least one of the following behaviors: behavior to shake off pursuit, behavior to avoid being pursued, behavior to move away from an approaching unmanned vessel, behavior to prevent a course prediction, behavior to avoid an unmanned vessel moving ahead, and behavior to avoid being surrounded.

9. 2. The control system of claim 1, a system state determination unit that determines the current or future states of the plurality of unmanned watercraft, or the current or future relative operating states of the plurality of unmanned watercraft and the object; The unmanned watercraft operation management unit determines the operation commands for the plurality of unmanned watercrafts in accordance with the determination result by the system state determination unit.

10. 10. The control system of claim 9, A control system in which the system state determination unit determines at least one of the positions of the multiple unmanned vessels, the number of vessels, the direction of movement, the movement speed, the possible movement distance, the remaining energy, and an estimated value of the movement capability including the movement speed or the possible movement distance of the unmanned vessel in the external environment of the activity area of ​​the unmanned vessel.

11. 10. The control system of claim 9, The system state determination unit determines a relative motion state including at least one of a tracking state in which the unmanned vessel is tracking the object, a shake-off indication state in which the unmanned vessel being tracked is showing signs of being shaken off due to the object's fleeing behavior, a shake-off occurrence state in which the unmanned vessel being tracked has been shaken off due to the object's fleeing behavior, and a position capture lost state in which the unmanned vessel has lost track of the object's position.

12. 12. The control system of claim 11, The system state determination unit performs a runaway prediction determination to predict at least one of a runaway predicted position and a runaway predicted time at which the unmanned watercraft being tracked will be runaway.

13. 12. The control system of claim 11, The system state determination unit determines that the runaway state has occurred when the relative distance between the unmanned craft being tracked and the target object is equal to or greater than a predetermined distance.

14. 12. The control system of claim 11, The system state determination unit determines that the state corresponds to the run-out symptom state when the movement speed of the unmanned vessel being tracked is slower than the movement speed of the target object, or when the relative distance between the unmanned vessel being tracked and the target object is increasing over time, or when the movement distance of the unmanned vessel being tracked is shorter than the movement distance of the target object, or when the remaining energy of the unmanned vessel being tracked is less than the remaining energy of the target object, or when the maximum movement speed of the unmanned vessel being tracked is slower than the maximum movement speed of the target object.

15. 13. The control system of claim 12, A control system in which, when making the runaway prediction determination, the system state determination unit determines at least one of the runaway predicted position and the runaway predicted time at which the unmanned vessel to be tracked will be runaway, based on status information regarding the unmanned vessel to be tracked, including at least one of the movement speed, movement direction, and position of the unmanned vessel, and status information regarding the object, including at least one of the movement speed, movement direction, and position of the object.

16. 13. The control system of claim 12, When the system state determination unit determines that the state corresponds to the swing-out symptom state, the swing-out occurrence state, or the position capture lost state, The unmanned vessel operation management unit determines whether to assign a role of taking over the tracking operation to another unmanned vessel different from the unmanned vessel performing the tracking.

17. 17. The control system of claim 16, When the unmanned watercraft operation management unit assigns a role of taking over tracking to another unmanned watercraft different from the unmanned watercraft that is tracking, The unmanned boat operation management unit performs at least one of the following on the unmanned boat: selecting the unmanned boat to be assigned the role of taking over the tracking of the target object; issuing an operation command to move the unmanned boat to the predicted runout position; and issuing an operation command to move the unmanned boat to the predicted runout position by the predicted runout time.

18. 12. The control system of claim 11, The system state determination unit determines that the state corresponds to the swing-out symptom state or the swing-out occurrence state, When the object analysis and determination unit determines at least one of the past movement trajectory, the current traveling direction, the current heading direction, the future predicted course, and the future predicted position of the object, The unmanned watercraft operation management unit, for at least some of the plurality of unmanned watercraft, A control system that issues the operation command for a proactive operation to move the unmanned watercraft to at least one of the following positions or areas: an extension of the past movement trajectory of the object determined by the object analysis and determination unit or the surrounding area of ​​the extension, forward in the current direction of travel of the object or the surrounding area, forward in the current direction of the object's nose or the surrounding area, on the future predicted path of the object or the surrounding area of ​​the predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position.

19. 13. The control system of claim 12, When the system state determination unit determines that the state corresponds to the swing-out symptom state, The unmanned watercraft operation management unit issues the operation command to the unmanned watercraft, which command includes at least one of attaching paint to the object and attaching a transmitter to the object.

20. 12. The control system of claim 11, When the system state determination unit determines that the state corresponds to the swing-out state or the position capture lost state, The unmanned boat operation management unit issues the operation command to the unmanned boat that has entered the runaway state or position capture lost state, assigning an operation role to the unmanned boat that includes at least one of the following: taking over tracking of the target object, anticipating the target object's destination, surrounding the target object, relaying communications between the multiple unmanned boats, storing the measurement data, and analyzing the measurement data.

21. 10. The control system of claim 9, The system state determination unit determines at least one of the following: whether or not a capture loss has occurred, in which the plurality of unmanned vessels have lost track of the target object due to the target object fleeing; whether or not a capture loss will occur in the future; a predicted location where the capture loss will occur; an area where the target object can be captured; a predicted time when the capture loss will occur; and a time period during which the target object can be captured.

22. 22. The control system of claim 21, When the system state determination unit determines that the acquisition loss has occurred or predicts that the acquisition loss will occur in the future, A control system comprising an information output unit that outputs information including at least one of information on the occurrence of the capture loss, the predicted lost position, the predicted lost time, and information on the target object to an external system.

23. 2. The control system of claim 1, The object analysis and determination unit determines a predicted future course or a predicted position at a future time of the object; When the object analysis and determination unit determines the navigation pattern of the object, which includes at least one of: stopped (where the object is stopped or nearly stopped), navigation within the object's steady speed range, navigation faster than the steady speed range, navigation slower than the steady speed range, accelerating navigation, decelerating navigation, repeated acceleration and deceleration, zigzag navigation traveling a zigzag path, turning course change traveling a course by turning, U-turn navigation, and figure-of-eight navigation, or the escape behavior state of the object, which includes at least one of behaviors of shaking off pursuit, avoiding behavior of a leading unmanned vessel, behavior disrupting course prediction, avoiding behavior of being surrounded, and behavior of moving away from an approaching unmanned vessel, The system state determination unit determines the validity of the determined future predicted path or the predicted position at a future time, depending on the navigation pattern or the escape behavior state.

24. 2. The control system of claim 1, When the unmanned watercraft operation management unit issues an operation command for tracking the target object, The unmanned boat operation management unit issues the operation command including information regarding the tracking formation of the multiple unmanned boats, including at least one of tracking from behind the object's direction of travel, tracking from two directions (left and right) relative to the object's direction of travel, tracking from three directions (left and right and behind) relative to the object's direction of travel, tracking from four directions (front, back, left and right) relative to the object's direction of travel, and tracking from ahead of the object's direction of travel.

25. 2. The control system of claim 1, When the unmanned watercraft operation management unit issues an operation command for tracking the target object, The unmanned boat operation management unit issues the operation command, which includes information regarding at least one of the tracking operations: an operation to prevent collision between multiple unmanned boats that are tracking the target object, an operation to prevent collision between the target object and the unmanned boat, an operation to shorten the distance between the unmanned boat and the target object, and an operation to increase the distance between the unmanned boat and the target object.

26. 2. The control system of claim 1, a user interface unit that displays candidate information for the operation command generated by the unmanned watercraft operation management unit and receives user input information for the operation command from a user; When the user input information is received by the user interface unit, The unmanned watercraft operation management unit determines the operation command in accordance with the user input information.

27. A control method for a system that detects an object using a plurality of unmanned watercraft that can navigate on or above the water surface, comprising: The computer a measurement step of acquiring measurement data by measurement sensors mounted on the plurality of unmanned watercraft; an object detection step of processing the measurement data to detect the object; an object analysis step of determining at least one of a type, an operating state, and a dynamic performance of the detected object; a command determination step of determining operation command contents for the plurality of unmanned watercrafts in accordance with the determination result of the object analysis step; an operation command step of issuing commands to the plurality of unmanned watercraft based on the operation command; A control method for performing the above.

28. A program for controlling a system that detects objects using a plurality of unmanned watercraft that can navigate on or above the water surface, On the computer, a measurement command to acquire measurement data by measurement sensors mounted on the plurality of unmanned watercraft; an object detection command for processing the measurement data to detect the object; an object analysis command for determining at least one of the type, operating state, and dynamic performance of the detected object; a command determination command that determines the content of an operation command to be issued to the plurality of unmanned watercrafts in accordance with a determination result based on the object analysis command; an operation execution command to issue a command to the plurality of unmanned watercrafts based on the operation command; A program that executes the following.

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