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: According to an aspect of the present invention, there is provided an underwater object detection system including an unmanned watercraft including a sound wave measurement unit configured to measure a sound wave in water and configured to navigate on water or in water, an operation command unit configured to command execution of a first measurement operation using the sound wave measurement unit executed by the unmanned watercraft, a measurement data acquisition unit configured to acquire first measurement data measured by the sound wave measurement unit by executing the first measurement operation, and a first object determination unit configured to detect an underwater object based on the first measurement data. When the first object determination section detects the underwater object based on the first measurement data, the operation command section commands the unmanned boat to execute a second measurement operation different from the first measurement operation, or the measurement data acquisition section acquires second measurement data obtained by the second measurement operation.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 technology related to a mobile sonobuoy that can be self-sufficient in power, minimize the effects of thermocline layers (LD) and shadow zones, and reliably transmit information on the presence and location of underwater objects to a command center. In particular, it discloses technology that can detect sound waves from a distance without being affected by thermocline depths by lowering the sonar unit via cable to the deep-sea acoustic propagation layer underwater.

[0003] Marine surveillance using manned patrol vessels and research vessels has traditionally been conducted to prevent nuisance behavior by underwater divers and other pirates, as well as for the purpose of conducting ecological surveys of marine life. However, because the oceanic areas subject to surveillance or survey are extremely vast, there are limits to the areas that can be monitored or surveyed by manned patrol vessels and research vessels, resulting in areas that remain uncovered. Furthermore, when multiple manned patrol vessels are coordinated for surveillance or survey, it is difficult to quickly and manually control them, making it difficult to properly perform operations such as tracking monitored objects. Furthermore, it has not been easy to train personnel with the necessary skills to perform such control and management. Against this background, the use of unmanned vessels capable of autonomous navigation on the ocean has been considered in recent years, and it is expected that they will be used for the aforementioned surveillance of suspicious vessels and ecological surveys. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-88282 Summary of the Invention [Problem to be solved by the invention]

[0005] When monitoring or conducting ecological surveys of marine areas, it is necessary not only to detect underwater objects but also to properly determine whether or not the detected underwater objects are the targets of monitoring or survey, and it is necessary to understand in detail the characteristics and shape of the underwater objects. On the other hand, because monitoring or ecological surveys of marine areas cover extremely vast areas, it is necessary to monitor wider areas by moving unmanned vessels and the like based on a monitoring plan.

[0006] Patent Document 1 discloses a mobile sonobuoy that can detect sound waves from a distance without being affected by temperature and depth variations by lowering the sonar unit via a cable to the deep-sea acoustic propagation layer underwater. However, it does not consider moving the mobile sonobuoy to monitor or survey a wide area more efficiently. Therefore, there is a need not only to improve the accuracy of measuring underwater objects, but also to improve the efficiency of monitoring or surveying a wide area.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one object of the present invention is to provide a system or control method, etc., that improves the work efficiency of monitoring or investigating moving objects that move underwater, etc., using unmanned aircraft, or that achieves both improved work efficiency in monitoring or investigating and improved measurement accuracy. [Means for solving the problem]

[0008] According to the present invention, a control system is provided which comprises one or more unmanned boats which are equipped with an ultrasonic measurement unit which measures underwater ultrasonic waves and which navigate on or underwater, an operation command unit which commands the unmanned boat to perform a first measurement operation using the ultrasonic measurement unit, a measurement data acquisition unit which executes the first measurement operation and acquires first measurement data measured by the ultrasonic measurement unit, and a first object determination unit which detects underwater objects based on the first measurement data, and when the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned boat to perform a second measurement operation which is different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation. [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 platoon made up of unmanned boats 1000. [Figure 5] 1 is a conceptual diagram showing an unmanned boat 1000 deployed on the sea monitoring or investigating a monitored object 7000. FIG. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. [Figure 7] FIG. 1 is a conceptual diagram showing how an acoustic sensor is used to detect an object in water. [Figure 8] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 9]FIG. 10 is a diagram showing items to be determined by a primary detection determination unit 2310. [Figure 10] FIG. 10 is a diagram showing determination items to be determined by the secondary detail detection determination unit 2320. [Figure 11] 1 is a state transition diagram showing the operational status of the unmanned watercraft 1000. FIG. [Figure 12] FIG. 10 is a diagram showing candidate operation modes for a detailed measurement operation. [Figure 13] FIG. 10 is a diagram showing the state of measurement using the anchored active sonar mode. [Figure 14] FIG. 10 is a diagram showing the state of measurement in a disturbance reduction measurement mode using a separate sonar. [Figure 15] FIG. 10 is a diagram showing a state of measurement in a short-distance measurement mode using ship movement. [Figure 16] FIG. 10 is a diagram showing a state of measurement in a short-distance measurement mode using a separate sonar. [Figure 17] FIG. 10 is a diagram showing the state of measurement in a short-distance measurement mode using ship movement and a separate sonar. [Figure 18] FIG. 10 is a diagram showing a state of measurement in a multiple angle measurement mode using cooperation between multiple unmanned boats. [Figure 19] FIG. 10 is a diagram showing the state of measurement in a multiple angle measurement mode using a separate sonar lowered into the sea. [Figure 20] FIG. 10 is a diagram showing the state of measurement in a multi-angle measurement mode using a separate sonar positioned above the sea surface. [Figure 21] FIG. 10 is a diagram showing measurement in a multi-angle measurement mode using separate sonars positioned underwater and above the sea surface. [Figure 22] FIG. 2 is a hardware configuration diagram of an integrated control system 2000. [Figure 23] FIG. 2 is a flowchart showing the processing flow of the control system 1. [Figure 24] 3 is a sequence diagram showing the exchange of signals between systems in the control system 1. FIG. [Figure 25] FIG. 10 is a flowchart showing the flow of a process for generating a monitoring plan generated by a monitoring plan generating unit 2200. [Figure 26] 10 is a diagram showing the search rate of the monitoring area generated by the monitoring plan generating unit 2200. FIG. [Figure 27] FIG. 10 is a flowchart showing the flow of an initial detection determination process by a primary detection determination unit 2310. [Figure 28] FIG. 10 is a flowchart showing the flow of a detailed measurement operation determination process performed by a detailed measurement operation command unit 2440. [Figure 29] FIG. 10 is a flowchart showing the flow of detailed detection determination processing by the secondary detailed detection determination unit 2320. [Figure 30] FIG. 10 is a flowchart showing an example of the flow of an action decision process after detailed detection determination by the action command unit 2400. [Figure 31] FIG. 10 is a state transition diagram showing an example of a transition method of an operating state after detailed detection determination. [Figure 32] FIG. 10 is a diagram showing an example of a display screen of an initial detection determination result. [Figure 33] FIG. 10 is a diagram showing an example of a display screen for position capture lost occurrence information. [Figure 34] FIG. 10 is a diagram showing an example of a display screen for indeterminate and determined information of detailed detection determination. [Figure 35] FIG. 10 is a diagram showing an example of a display screen for a determination result of detailed detection. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] one or more unmanned vessels that are equipped with an acoustic wave measuring unit that measures underwater acoustic waves and that navigate on or underwater; an operation command unit that commands the unmanned watercraft to execute a first measurement operation using the sonic measurement unit; a measurement data acquisition unit that executes the first measurement operation and acquires first measurement data measured by the ultrasonic wave measurement unit; a first object determination unit that detects an underwater object based on the first measurement data, A control system in which, when the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned craft to perform a second measurement operation different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation. [Item 2] In the control system according to item 1, the first measurement operation is a measurement operation in which the ultrasonic measurement unit performs ultrasonic measurement while a propulsion device of the unmanned watercraft is driven, The second measurement operation is a measurement operation in which the propulsion device of the unmanned watercraft is stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion device in the first measurement operation, and the ultrasonic measurement unit is performed in that state. [Item 3] In the control system according to item 1 or 2, the sonic wave measurement unit has at least one of an active sonar or a passive sonar, the first measurement operation is a measurement operation that performs acoustic measurement using the active sonar or the passive sonar while driving at least one of the propulsion devices of the plurality of unmanned watercrafts, the second measurement operation is a measurement operation in which the propulsion devices of the plurality of unmanned watercraft are stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation, and acoustic measurement is performed using the active sonar. [Item 4] In the control system according to any one of items 1 to 3, the second measurement operation is a measurement operation in which the plurality of unmanned watercrafts are synchronized and acoustic measurements are performed using the plurality of active sonars while the propulsion devices are stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation. [Item 5] In the control system according to any one of items 1 to 4, the sonic wave measuring unit has an active sonar, The second measurement operation is a measurement operation that performs acoustic measurement using the active sonar while performing attitude angle maintenance control that maintains the attitude angle, including at least the yaw angle, of the unmanned craft constant or approximately constant, in a control system. [Item 6] In the control system according to any one of items 1 to 5, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, the first measurement operation is a measurement operation in which the ultrasonic measurement unit performs ultrasonic measurement while a propulsion device of the unmanned watercraft is driven, The second measurement operation is a measurement operation in which the separate sonar is positioned on or underwater at a position at least a predetermined distance away from the unmanned craft, and performs acoustic measurement. [Item 7] In the control system according to any one of items 1 to 6, When the relative distance between the unmanned craft and the underwater object when the first measurement operation is performed is defined as a first relative distance, The second measurement operation is a measurement operation in which the unmanned vessel is moved to a position where a second relative distance between the unmanned vessel and the underwater object is shorter than the first relative distance, and an ultrasonic measurement is performed using the ultrasonic measurement unit installed on the unmanned vessel, a control system. [Item 8] In the control system according to any one of items 1 to 7, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, When the relative distance between the ultrasonic wave measuring unit mounted on the unmanned watercraft and the underwater object when the first measurement operation is performed is defined as a first relative distance, A control system in which the second measurement operation performs acoustic measurement using the separated sonar while the separated sonar is located at a position above or underwater where a second relative distance between the separated sonar and the underwater object is shorter than the first relative distance. [Item 9] In the control system according to any one of items 1 to 8, the first measurement operation is a measurement operation in which the ultrasonic measurement unit provided on the unmanned watercraft performs ultrasonic measurement on the underwater object, A control system, wherein the second measurement operation is a measurement operation in which a plurality of the ultrasonic measurement units mounted on a plurality of the unmanned boats perform ultrasonic measurements of the underwater object from a plurality of different directions. [Item 10] In the control system according to any one of items 1 to 9, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, the first measurement operation is a measurement operation in which the ultrasonic measurement unit provided on the unmanned watercraft performs ultrasonic measurement of the underwater object, A control system in which the second measurement operation is a measurement operation in which acoustic measurements of the underwater object are performed from multiple different directions using multiple separate sonars mounted on one or more of the unmanned boats, or a measurement operation in which acoustic measurements of the underwater object are performed from multiple different directions using the acoustic measurement unit provided on the unmanned boat and the separate sonars. [Item 11] In the control system according to any one of items 1 to 10, A control system in which the second measurement operation includes, in addition to a measurement operation of acquiring the second measurement data using the ultrasonic measurement unit, a measurement operation of measuring optical image data, infrared image data, point cloud data, radar measurement data, or other sea state data for underwater, on the water surface, or airspace above the water surface. [Item 12] In the control system according to any one of items 1 to 11, A control system comprising a second object determination unit that determines information or a state of the underwater object based on the second measurement data. [Item 13] In the control system according to any one of items 1 to 12, The operation command unit determines whether or not the underwater object needs to be tracked by the unmanned craft depending on the determination result of the second object determination unit. [Item 14] In the control system according to any one of items 1 to 13, A control system in which the operation command unit commands the unmanned craft to perform the first measurement operation when it determines, based on the judgment result of the second object judgment unit, that tracking of the underwater object by the unmanned craft is unnecessary. [Item 15] In the control system according to any one of items 1 to 14, When the determination result of the information or state of the underwater object by the second object determination unit is indeterminate, The operation command unit commands the unmanned craft to re-execute the second measurement operation. [Item 16] In the control system according to any one of items 1 to 15, a notification unit that notifies or displays a determination result of the first object determination unit to a user, A control system in which, when the first object determination unit detects the underwater object, the notification unit notifies or displays at least one of the fact that the underwater object has been detected by the first object determination unit, information or status regarding the underwater object determined by the first object determination unit, and the first measurement data. [Item 17] In the control system according to any one of items 1 to 16, a notification unit that notifies or displays a determination result of at least one of the first object determination unit and the second object determination unit to a user, A control system in which, when the second object determination unit determines information or a state regarding the underwater object, the notification unit notifies or displays at least one of the information or a state regarding the underwater object determined by the second object determination unit and the second measurement data. [Item 18] In the control system according to any one of items 1 to 17, a user input receiving unit that receives input information from a user; The user input receiving unit receives request information regarding data transmission of the first measurement data or the second measurement data. [Item 19] In the control system according to any one of items 1 to 18, The request information received by the user input receiving unit includes request information for one of data transmission priority conditions: time priority transmission, detailed data priority transmission, and communication data capacity priority transmission. [Item 20] In the control system according to any one of items 1 to 19, a user input receiving unit that receives input information from a user; A control system in which the user input receiving unit receives requested information regarding additional measurement operations using the ultrasonic measurement unit or other measurement sensors mounted on the unmanned craft. [Item 21] In the control system according to any one of items 1 to 20, a user input receiving unit that receives input information from a user; The user input receiving unit is a control system that receives an input specifying a measurement area in which the ultrasonic measurement unit mounted on the unmanned watercraft will perform ultrasonic measurement. [Item 22] In the control system according to any one of items 1 to 21, a user input receiving unit that receives input information from a user; A control system in which, when information or a state regarding the underwater object is determined by the second object determination unit, the user input receiving unit receives request information to perform a third measurement operation different from the first measurement operation and the second measurement operation, or the first measurement operation. [Item 23] In the control system according to any one of items 1 to 22, A control system comprising a recording unit that records at least any of the first measurement data, the second measurement data, the determination result by the first object determination unit, the determination result by the second object determination unit that determines information or status about the underwater object based on the second measurement data, command information by the operation command unit, information received by a user input receiving unit that receives input information from a user, operation history information of the unmanned watercraft, information about detection loss of the underwater object, optical image data or infrared image data of underwater, above the water surface, or airspace above the water surface, or other sea state data. [Item 24] A control method for a system that detects underwater objects using an unmanned vessel traveling on or underwater, the system comprising an acoustic wave measuring unit that measures underwater acoustic waves, the method comprising: The computer a first measurement operation command step of commanding execution of a first measurement operation using the sonic measurement unit, which is executed by the unmanned watercraft; a first measurement data acquisition step of executing the first measurement operation and acquiring first measurement data measured by the ultrasonic wave measurement unit; a first object determination step of detecting an underwater object based on the first measurement data; A control method that executes a second measurement operation command step of commanding the unmanned vessel to perform a second measurement operation different from the first measurement operation when the underwater object is detected based on the first measurement data by the first object determination step, or a second measurement data acquisition step of acquiring second measurement data obtained by the second measurement operation. [Item 25] A program that can be used in a system that detects underwater objects using an unmanned vessel traveling on or underwater, the system comprising: an acoustic wave measuring unit that measures underwater acoustic waves; On the computer, a first measurement operation execution command that commands the unmanned watercraft to execute a first measurement operation using the sonic measurement unit; a first measurement data acquisition command for executing the first measurement operation and acquiring first measurement data measured by the ultrasonic wave measurement unit; A first object determination command for detecting an underwater object based on the first measurement data, When the first object determination command is executed and the underwater object is detected based on the first measurement data, a second measurement operation execution command for instructing the unmanned boat to execute a second measurement operation different from the first measurement operation, or a second measurement data acquisition command for acquiring second measurement data obtained by the second measurement operation, is executed. A program to make it happen.

[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 able to communicate 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 the communication satellite 3000 and the ground base station 4000, and can receive the operation status and measurement data of the unmanned boat 1000.

[0015] The unmanned watercraft 1000 is equipped with a parent device 1001 capable of communicating with a communication satellite 3000, and a child device 1002 capable of communicating directly or indirectly with the parent device 1001, and a communication network is established between the multiple child devices 1002 and the parent device 1001. The multiple child devices 1002 and the parent device 1001 also have the function of detecting and measuring divers navigating underwater, marine life such as whales, immobile sunken ships, undersea cables, and other underwater infrastructure facilities using measurement sensors (sound wave sensors such as sonar, optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter wave sensors and microwave sensors, etc.) mounted on the device.

[0016] The detection determination results and measurement data of the object detected by the unmanned vessel 1000, as well as various information on the operational status of the unmanned vessel 1000, are transmitted to the overall control system 2000 via the communications satellite 3000 and the terrestrial base station 4000. The overall control system 2000 determines operational commands for the unmanned vessel 1000 based on information acquired from the unmanned vessel 1000 and pre-registered information. The generated information, such as the operational commands, is transmitted to the cooperative system 5000, and the system can also obtain intervention commands 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 including facilities related to external cooperative organizations such as marine research-related facilities and facilities related to private law enforcement organizations (including private security organizations, private rescue organizations, etc.), and further provided is an external system 6000 such as an AIS (Automatic Identification System) control center and AIS base station that manages information about ships navigating the ocean.

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

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

[0020] (A-1-2. Stakeholders regarding Control System 1) Fig. 3 is a diagram showing stakeholders related to the control system 1. As shown in Fig. 3, the control system 1 has an operator who operates the unmanned watercraft 1000 by inputting and outputting information via 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 mother ship at sea (not shown), the operator can manage the operation of the unmanned watercraft 1000 at the coastal field base or the manned mother ship.

[0021] In addition, the cooperative system 5000 has a monitoring manager at the private law enforcement organization-related facilities and monitors on the monitoring boats, who work together to monitor nuisance behavior in the marine area. The marine research-related facilities also have a monitoring manager and researchers on the research boats, who work together to investigate marine life in the marine area. The cooperative system 5000 may also include private security companies and private rescue organizations. The external system 6000's AIS control center also has a person in charge of generating, operating, and managing AIS information.

[0022] Furthermore, divers and marine life (such as whales) are examples of monitored objects 7000 that are the targets of monitoring and investigation by the control system 1 and the collaborative system 5000. The control system 1 can monitor or investigate the monitored objects 7000 more efficiently by communicating and coordinating with the collaborative 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 it to the communication satellite 3000, as well as transmitting information related to operational commands obtained from the satellite communication 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] 5 is a conceptual diagram showing how an unmanned vessel 1000 deployed on the sea monitors or investigates a monitored object 7000. As shown in FIG. 5, multiple unmanned vessels (parent vessel 1001, child vessels 10021, 10022, 10023) are deployed on the sea, and a measurement sensor 1110 mounted on each unmanned vessel 1000 can detect a monitored object 7000 that exists within a measurable range underwater. Measurement data and detection determination results of the detected monitored object 7000 are collected in the parent vessel 1001 via a communication network between the unmanned vessels 1000, transmitted from the parent vessel 1001 to a communication satellite 3000, and then transmitted to a terrestrial base station 4000 or to an internet line to an integrated control system 2000. In addition, each unmanned boat 1000 is equipped with a navigation unit 1300 that can navigate the unmanned boat in any direction, and based on operational commands generated by the overall control system 2000 or the parent unit 1001, it is possible to perform detailed measurement operations on the monitored object 7000 after the initial detection of the monitored object 7000.

[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. Configuration of Unmanned Boat 1000) Next, the functions and details implemented in the unmanned watercraft 1000 will be described with reference to Figures 6 and 7. In the present invention, an unmanned watercraft refers to a mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body including a mobile buoy equipped with a thrust generating unit.

[0028] (A-1-4-1. Configuration of Unmanned Boat 1000) Figure 6 is a functional block diagram showing the functional configuration of the unmanned watercraft 1000. Note that Figure 6 illustrates the functional block diagram of the unmanned watercraft 1000, but the parent unit 1001 and child unit 1002 of the unmanned watercraft 1000 can implement functions similar to those shown in Figure 6. The unmanned watercraft 1000 includes a measurement unit 1100, a vessel state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, a recording unit 1600, and a separation state control unit 1700.

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

[0030] The measurement sensor 1110 can be configured with an acoustic sensor (also called an acoustic measurement unit) including sonar. The acoustic sensor includes both active sonar, which generates acoustic waves and measures the acoustic waves that reverberate off underwater objects, and passive sonar, which measures the sounds generated by underwater objects. Active sonar can be configured, for example, as a side-scan sonar, multi-beam sonar, or single-beam sonar. Furthermore, the acoustic sensor may be equipped with a separate sonar that is connected to the unmanned watercraft 1000 by a cable and performs acoustic measurements at a location on the sea surface or underwater away from the unmanned watercraft 1000 by the separation state control unit 1700 (described later). The acoustic sensor may also be configured with a USBL transceiver, an acoustic communication modem, or the like.

[0031] In addition to the sonic sensor, the measurement sensor 1110 may also include optical sensors such as electro-optical sensors and infrared sensors (IR sensors) that acquire image data on or under the sea, laser sensors such as LiDAR and ToF (Time of Flight) sensors that acquire point cloud data, and radar sensors that detect millimeter waves and microwaves. The measurement sensor 1110 measures the periphery of the unmanned watercraft 1000 to acquire measurement data of monitored objects that exist within a measurable range on or under the sea.

[0032] 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 acoustic wave sensor, particularly an active sonar that emits acoustic waves itself, the measurement control unit 1120 can adjust the output of the generated acoustic waves to a desired control amount. The measurement control unit 1120 can also adjust the measurement sensitivity of the measurement sensor to a desired control amount. If the measurement sensor is an optical camera or an infrared camera, the measurement control unit 1120 can also change the zoom amount or resolution of the optical camera or infrared camera to a desired control amount.

[0033] Next, the unmanned watercraft state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state and internal and external states of the unmanned watercraft 1000. The navigation state determination unit 1210 determines the position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state of the unmanned watercraft. The internal state determination unit 1220 determines the remaining energy of the battery and fuel installed in the unmanned watercraft, the travelable distance that can be calculated based on the remaining energy, temporary abnormal states of equipment installed in the unmanned watercraft (temperature abnormality, communication abnormality, etc.), and equipment failure states. In addition, the external condition determination unit 1230 determines the communication conditions such as communication strength (dB value, etc.) and communication speed with other unmanned boats 1000 in the platoon 1010 with which it is communicating, as well as the ocean currents and tides (flow speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the aircraft.

[0034] The method by which the navigation state determination unit 1210 determines the position, moving speed, moving direction, and acceleration / deceleration of the aircraft itself is not particularly limited, but for example, the current position, moving speed, and moving direction of the aircraft itself can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Furthermore, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0035] The method for measuring the aircraft's heading is to determine the aircraft's heading at the current time using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the seabed shape. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and preferably may be attitude information around three axes: the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0036] Next, the navigation unit 1300 includes a thrust generating unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the parent unit 1001 in any direction according to operational commands received via the communication unit 1400. The thrust generating unit 1310 is configured, for example, with a propeller, and can generate thrust by driving the propeller using the power of an engine or an electric motor. The thrust generating unit 1310 can also be configured with a sail that receives wind to generate thrust, or with a wave glider that receives wave power to generate thrust.

[0037] The attitude control mechanism 1320 is composed of a rudder mounted on the aircraft body, a propeller attitude change mechanism that can change the attitude angle of the propeller (mainly the yaw angle around the Z axis), and the like, and by changing these angles it is possible to control the heading direction (yaw angle) of the unmanned watercraft 1000. In addition, a center of gravity position change mechanism that changes the position of a heavy object inside the aircraft body using an actuator can also control the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the aircraft.

[0038] The navigation control unit 1330 is a functional unit that controls the output from the thrust generation unit 1310 and the attitude control mechanism 1320 to control the navigation operation of the aircraft. The navigation control unit 1330 has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP), and is equipped with a processing unit that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0039] The processing unit includes a control module configured to control the navigation status of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, movement speed, movement acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by causing the aircraft to perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0040] 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.

[0041] Next, the determination unit 1500 is a functional unit that makes determinations regarding the monitored object 7000. The determination unit 1500 includes an object detection determination unit 1510 and an analysis necessity determination unit 1520. The object detection determination unit 1510 interprets measurement data acquired by the measurement sensor 1110 (particularly the sonic sensor) and determines the presence or absence of an object, the sound wave intensity, the size of a shadow, and the like.

[0042] The analysis necessity determination unit 1520 determines whether or not to transmit the measurement data to the integrated control system 2000 and perform an object analysis based on the information determined by the object detection determination unit 1510. For example, even if the object detection determination unit 1510 detects an object in the water, if the shadow is small and there is a high possibility that it is a marine organism such as a small fish, it can be determined that there is no need to transmit the measurement data to the integrated control system 2000. On the other hand, if the shadow of the underwater object detected by the object detection determination unit 1510 is large, there is a high possibility that it is a whale or the like, which is a target of monitoring, or if the sound wave intensity of the detected underwater object is strong, there is a high possibility that it is a diver's oxygen tank or part of a sunken ship, which is also a target of monitoring, and therefore it can be determined that there is a need to transmit the measurement data to the integrated control system 2000.

[0043] 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.

[0044] Next, the separated state control unit 1700 is a functional unit that switches between a state in which the separated sonar is separated from the body of the unmanned watercraft 1000 while maintaining the aforementioned state in which the separated sonar and the body of the unmanned watercraft 1000 are connected by a cable, and a state in which the separated sonar is stored in the unmanned watercraft 1000. The separated state control unit 1700 includes a cable winding unit 1710 and a winding control unit 1720.

[0045] The cable winding unit 1710 is composed of a cable reel or the like, and has the function of changing the length of the cable extending out from the body of the unmanned watercraft 1000 by rotating the reel using a motor or the like. The winding control unit 1720 can adjust the distance between the separate sonar and the body by controlling the amount of reel rotation caused by the motor of the cable winding unit 1710.

[0046] (A-1-4-2. Object detection using an ultrasonic sensor) Figure 7 is a conceptual diagram showing how an acoustic sensor is used to detect underwater objects. The example shown in Figure 7 shows how a side scan sonar is used to detect marine life such as whales and underwater divers, and how a USBL transceiver and an acoustic communication modem are used to detect the positions of underwater divers and other objects with which mutual communication is possible.

[0047] When using side scan sonar, the surface material, size, and location of underwater objects can be determined based on information about sound wave intensity and shadows obtained from sound waves reflected from underwater objects.

[0048] When using a USBL transceiver and an acoustic communication modem to detect the position of an underwater diver or the like capable of mutual communication, an acoustic signal (call) is sent from the USBL transceiver, and the acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver is received by the USBL transceiver, thereby detecting the diver's relative position to the unmanned vessel 1000. In addition, the diver's absolute position coordinates can be calculated based on the self-position coordinates calculated by the navigation state determination unit 1210 in the unmanned vessel 1000, and data including the diver's absolute position coordinates can be sent from the acoustic communication modem to the diver.

[0049] (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. 8. Fig. 8 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 8, the overall control system 2000 includes an information import unit 2100, a monitoring plan generation unit 2200, an object analysis unit 2300, an operation command unit 2400, a user interface unit 2500, a recording unit 2600, and a communication unit 2700.

[0050] (A-1-5-1. Information import unit 2100) The information import unit 2100 is a functional unit that imports information to be processed or used in each functional unit within the overall control system 2000 from the unmanned boat 1000, the cooperative system 5000, or the external system 6000. The information import unit 2100 includes a pre-setting information acquisition unit 2110, an unmanned boat performance information acquisition unit 2120, a measurement data acquisition unit 2130, an external information acquisition unit 2140, and an external intervention information acquisition unit 2150.

[0051] The preset information acquisition unit 2110 is a functional unit that acquires in advance the criteria for each determination made by the determination unit 1500 and the object analysis unit 2300 of the unmanned watercraft 1000. The preset information acquisition unit 2110 can acquire reference values ​​such as sound wave intensity and shadow size, for example, as the criteria for determining whether or not to perform object analysis by the analysis necessity determination unit 1520 of the determination unit 1500. The preset information acquisition unit 2110 can also acquire the criteria for each determination item made by the object analysis unit 2300 shown in FIGS. 9 and 10.

[0052] In addition, the pre-setting information acquisition unit 2110 may acquire information on the determination criteria for the operation commands determined by the operation command unit 2400, not limited to the judgment criteria for each judgment performed by the judgment unit 1500 and the object analysis unit 2300 of the unmanned boat 1000.

[0053] Furthermore, the preset information acquired by the preset information acquisition unit 2110 may include monitoring plan setting conditions that are used when the monitoring plan is generated by the monitoring plan generation unit 2200. In this case, the monitoring plan setting conditions include information about the monitoring area where monitoring measurements will be performed, a target value for the search rate of the monitoring area, and the like.

[0054] The unmanned watercraft performance information acquisition unit 2120 is a functional unit that acquires in advance information relating to the mobility performance of the unmanned watercraft 1000. The unmanned watercraft performance information acquisition unit 2120 can acquire, for example, the maximum travel speed, maximum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and travelable distance of the unmanned watercraft 1000 as mobility performance information. In addition to these, the unmanned watercraft performance information acquisition unit 2120 may also have performance information other than travel speed, such as an upper limit on the relative distance between unmanned watercrafts 1000 to maintain a communication network between the unmanned watercrafts 1000, the processing speed of the CPU within the unmanned watercraft 1000, and the transmission speed of measurement data.

[0055] The measurement data acquisition unit 2130 is a functional unit that acquires the determination results determined by the determination unit 1500 of the unmanned vessel 1000 and measurement data measured by the unmanned vessel 1000 via the communication satellite 3000, HAPS, terrestrial base station 4000, etc. The measurement data acquired by the measurement data acquisition unit 2130 includes first measurement data acquired by a monitoring measurement operation commanded to the unmanned vessel 1000 by a monitoring measurement operation command unit 2430 (described later), and second measurement data acquired by a detailed measurement operation commanded to the unmanned vessel 1000 by a detailed measurement operation command unit 2440 (described later).

[0056] The external information acquisition unit 2140 is a functional unit that acquires navigation information of ships in the ocean area where the unmanned watercraft 1000 is deployed or the surrounding area from the AIS control center of the external system 6000. The navigation information of ships may also be acquired from another VHF data exchange system included in the external system 6000. The external information acquisition unit 2140 may also acquire weather information for the ocean area where the unmanned watercraft 1000 is deployed or the surrounding area from the external system 6000, such as the Japan Meteorological Agency or a private weather information providing system.

[0057] The external intervention information acquisition unit 2150 is a functional unit that receives intervention command information from the collaboration system 5000. For example, it can receive, from the collaboration system 5000, intervention command information for candidate information of a measurement operation command sent to the collaboration system 5000 via the information communication unit 2700 (described later).

[0058] (A-1-5-2. Monitoring plan generation unit 2200) The monitoring plan generation unit 2200 is a functional unit that generates a monitoring plan for performing monitoring measurements based on preset information such as the monitoring area and target value for the search rate of monitoring measurements acquired by the preset information acquisition unit 2110, and performance information of the unmanned boat 1000 (including the measurable range, etc.) acquired by the unmanned boat performance information acquisition unit 2120.

[0059] The monitoring plan generated by the monitoring plan generation unit 2200 includes deployment positions and time-series movement plans for multiple unmanned watercraft so as to achieve a target value for the monitoring rate defined by parameters including area and time. The monitoring rate in this application can be defined, for example, as the total measurement time for each area. The monitoring rate may also be expressed as a coverage rate or monitoring density distribution.

[0060] The monitoring plan generation unit 2200 acquires historical information on the movement positions of each of the multiple unmanned watercraft 1000 and determines the search rate in the monitoring area taking into account factors such as the measurable range of the unmanned watercraft 1000. The monitoring plan generation unit 2200 also determines whether the search rate has reached a target value, and if there is an area where the target value has not been reached, the monitoring plan can be modified to increase the search rate in that area. For example, it is possible to modify the monitoring plan to have the unmanned watercraft anchored for a predetermined time in a location where the search rate is lower than the target value.

[0061] Note that there is a limit to the measurable distance of an ultrasonic sensor underwater, and when ultrasonic measurements are performed near the water surface, the measurable range is a hemispherical range. Therefore, the search rate for the underwater space must be set taking into account the measurable range. As an example, the search rate can be defined as the search rate near the water surface within a predetermined depth (e.g., about 50 m) from the water surface. As another example, the search rate can be defined for each depth.

[0062] As described above, since the target value of the search rate can be set for each depth, the monitoring plan generation unit 2200 determines the search rate for each depth in the monitoring area and generates a plan including deployment positions and time-series movement plans for multiple unmanned watercraft so that the target search rate for each depth is met. In this case, as a monitoring measurement operation, a separate sonar can be temporarily lowered into the water to perform acoustic measurement in order to improve the search rate at a specified depth.

[0063] Furthermore, when a command input for an area (position on a two-dimensional plane), depth (position in three-dimensional space), or time period for which the search rate is to be increased is received from the user via the user input receiving unit 2520, the monitoring plan can be changed so as to improve the search rate in the area, depth, and time period specified by the specified input information.

[0064] (A-1-5-3. Object Analysis Unit 2300) The object analysis unit 2300 is a functional unit that analyzes the object based on the detection information and measurement data of the object acquired by the detection data acquisition unit 2412, and determines information and the state of the object. The object analysis unit 2300 includes a primary detection determination unit 2310 and a secondary detailed detection determination unit 2320.

[0065] The primary detection and determination unit 2310 is a functional unit that detects underwater objects based on the first measurement data acquired by the monitoring and measurement operation commanded to the unmanned boat 1000 by the monitoring and measurement operation command unit 2430 described later, and determines information and conditions about the underwater object.

[0066] The secondary detailed detection determination unit 2320 is a functional unit that determines information and conditions regarding underwater objects based on second measurement data acquired by a detailed measurement operation commanded to the unmanned watercraft 1000 by a detailed measurement operation command unit 2440, which will be described later. The second measurement data used by the secondary detailed detection determination unit 2320 is more accurate or has higher resolution than the first measurement data used by the primary detection determination unit 2310, and therefore the secondary detailed detection determination unit 2320 can determine more items and has higher determination accuracy than the primary detection determination unit 2310.

[0067] The object detection determination by the primary detection determination unit 2310 will be described below with reference to FIG. 9. FIG. 9 is a diagram showing the determination items by the primary detection determination unit 2310. As shown in FIG. 9, the object analysis unit 2300 can determine the type, shape, size, orientation, and material of an object as the object feature determination items. In addition, the object analysis unit 2300 can determine the relative distance, relative orientation, and position coordinates of an object as the static state determination items. In addition, the dynamic state determination can determine the moving state / stationary state, moving direction, moving speed, past moving route history, future predicted route, etc.

[0068] Here, an example of a method for determining each item of object feature determination will be described. For example, when a side-scan sonar is used as the active sonar, the surface material of the detected object can be determined based on the magnitude of the received sound wave intensity obtained as measurement data, and the type, shape, size, and orientation of the detected object can be determined based on shadow information obtained from the measurement data. Note that if the measurement data is not of sufficiently high resolution, the shadow information may not be able to accurately determine the type, shape, or orientation, but it can at least determine the approximate size of the detected object. As another example, when a passive sonar is used, the type of detected object can also be determined based on a sound print obtained by frequency analysis of the sound contained in the measurement data.

[0069] Next, an example of a method for determining the static state will be described. First, the relative distance between the unmanned vessel 1000 and the object is determined from the difference between the detection time of the reflected sound waves included in the measurement data and the time the sound waves were launched. The relative orientation between the unmanned vessel 1000 and the object can also be determined from the orientation in which the reflected sound waves were detected. Furthermore, the position coordinates of the object can be calculated based on the information on the self-position coordinates detected by the vessel's own state determination unit 1200 and the above-mentioned relative orientation and relative distance information. 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 on the height direction.

[0070] Next, an example of a method for determining a dynamic state will be described. Based on a change analysis of measurement data obtained by performing measurements multiple times in a time series, it is possible to determine whether the vehicle is moving or stationary, and to determine the direction and speed of movement. In addition, it is possible to determine the history of past movement routes based on past measurement data. Furthermore, it is possible to determine a predicted future route based on the results of determining the past movement history, current movement direction, orientation, etc.

[0071] The object detection determination by the secondary detail detection determination unit 2320 will be described below with reference to Fig. 10. Fig. 10 is a diagram showing the determination items by the secondary detail detection determination unit 2320. The determination items by the secondary detail detection determination unit 2320 include all of the determination items by the primary detection determination unit 2310, and can also determine items related to the information and state of the detected object, as shown below.

[0072] The secondary detailed detection determination unit 2320 can determine the dynamic state, including the moving / stationary state, moving direction, moving speed, past moving route history, and future predicted route, as well as the turning radius, response speed, acceleration, and deceleration.

[0073] The determination items of the secondary detailed detection determination unit 2320 may also include the movement performance of the detected object. The movement performance includes, for example, the maximum movement speed, maximum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and possible movement distance. Note that the movement performance can be estimated based on the type and size of the determined detected object, but it can also be estimated based on the movement speed, turning radius, response speed, acceleration, deceleration, and movement distance actually measured in the past or at the present.

[0074] Furthermore, the detailed measurement operation for acquiring the second measurement data includes a measurement operation for measuring optical image data, infrared image data, point cloud data, radar measurement data, or other oceanographic data for underwater, above-water, or airspace above the water surface. Therefore, the secondary detailed detection determination unit 2320 can more accurately determine object characteristics based on optical image data or infrared image data. Furthermore, the oceanographic data can determine the wave height, tidal current, and weather conditions at the location where the detected object was detected. Note that, in this application, oceanographic data includes wave height, tidal current, weather, air temperature, water temperature, wind speed, air pressure, humidity, solar radiation, luminosity, salinity, pH value, etc.

[0075] The secondary detailed detection determination unit 2320 may also have a function of determining the navigation pattern of the monitored object, which is the target. As an example, the secondary detailed detection determination unit 2320 can determine the navigation pattern of the target, such as a status regarding the speed and acceleration / deceleration pattern of the target, a status regarding the navigation path of the target, a status regarding the tracking disruption navigation of the target, or an escape behavior status of the target.

[0076] Furthermore, when obtaining second measurement data using the detailed measurement operation, such as the anchored active sonar mode, anchored state maintenance mode, or detached sonar mode described below, in order to accurately calculate the relative speed and relative orientation with respect to the underwater object, it is desirable to detect (or predict) the ocean current movement speed around the unmanned vessel 1000 or the ocean current movement speed around the detached sonar, and calculate the speed and orientation of the underwater object by subtracting the speed of the ocean current movement speed.

[0077] Here, the type determination of detected objects by the primary detection determination unit 2310 and the secondary detailed detection determination unit 2320 can determine, for example, underwater divers in the water or under the sea, marine life (whales, dolphins, schools of fish, etc.), sunken ships, underwater infrastructure (submarine cables, etc.), etc. In this way, by detecting and determining the type of sunken ships, etc., it can also be used for the purpose of rescue and disaster response, such as rescue following sinking or undersea accidents, marine accidents, drifting, and rescue and search after tsunamis.

[0078] (A-1-5-4. Operation command section 2400) The operation command unit 2400 is a functional unit that determines the state of the unmanned watercraft 1000, determines the measurement mode to be executed by the unmanned watercraft from a plurality of candidate measurement modes, and outputs a measurement operation command for the determined measurement mode to the unmanned watercraft 1000. The operation command unit 2400 includes a system state determination unit 2410, a measurement mode determination unit 2420, a monitoring measurement operation command unit 2430, a detailed measurement operation command unit 2440, and an other operation command unit 2450.

[0079] The system state determination unit 2410 is a functional unit that determines the current state or current operating status of the unmanned watercraft 1000. The system state determination unit 2410 can determine, as the current state of the unmanned watercraft 1000, at least any of the following, for example: the positions of multiple unmanned watercraft, formation, number of watercraft, movement direction, movement speed, possible movement distance, remaining energy, an estimated value of the movement capability including the movement speed or possible movement distance of the unmanned watercraft under the external environment such as waves, wind, and currents in the unmanned watercraft's activity area, a predicted position at a future time, and a position capture lost state.

[0080] A method for determining the current operating status by the system state determination unit 2410 will be described below with reference to Fig. 11. Fig. 11 is a state transition diagram showing the operating status of the unmanned watercraft 1000. In the example shown in Fig. 11, the operating status of the unmanned watercraft 1000 includes a monitoring navigation state in which a monitoring measurement operation is being performed, a state in which the determination unit 1500 of the unmanned watercraft 1000 has detected an underwater object that is a candidate for a monitoring target, an initial detection determination state of the monitoring target by the primary detection determination unit 2310, a detailed measurement execution state, a detailed detection determination state by the secondary detailed detection determination unit 2320, a re-detailed measurement state in which detailed measurement is performed again after a detailed detection determination, a position capture lost state in which the unmanned watercraft 1000 has lost position capture of the monitoring target, a re-capture monitoring state for again capturing the position of the monitoring target, a continuous capture navigation state in which measurement and capture are performed after a detailed detection determination, an execution state of another operation different from each of the above operations, and a monitoring measurement end state.

[0081] The system state determination unit 2410 determines the operation status shown in Figure 11 based on the information obtained from the unmanned boat 1000's own aircraft state determination unit 1200, the determination result of the object analysis unit 2300, the operation command output state from the operation command unit 2400, and input information from the user input reception unit 2520.

[0082] In addition, the system state determination unit 2410 may have the function of determining, in addition to the current state or current operating status of the unmanned vessel 1000 described above, the future state of the unmanned vessel 1000, or the current or future relative operating state of the unmanned vessel 1000 and the monitored object.

[0083] The measurement mode determination unit 2420 is a functional unit that determines whether the measurement operation is a monitoring measurement operation, a detailed measurement operation, or another measurement operation, based on the operating status of the unmanned watercraft 1000 shown in Fig. 11, the determination result regarding the object by the object analysis unit 2300, and input information from the user input reception unit 2520. As an example, if the primary detection determination unit 2310 of the object analysis unit 2300 detects an object in water based on first measurement data measured by the monitoring measurement operation, the measurement mode determination unit 2420 determines to execute a detailed measurement operation, which is a measurement operation different from the monitoring measurement operation and can provide more accurate or highly precise measurements. When the measurement mode determination unit 2420 determines to execute the detailed measurement operation, the detailed measurement operation command unit 2440 sends an execution command for the detailed measurement operation to the unmanned watercraft 1000, and the measurement data acquisition unit 2130 acquires the second measurement data obtained by the detailed measurement operation.

[0084] Furthermore, if the result of the detailed detection determination by the secondary detailed detection determination unit 2320 is indeterminate, the measurement mode determination unit 2420 decides to perform the detailed measurement operation again, and a command regarding the detailed measurement operation is output by the detailed measurement operation command unit 2440 described later.

[0085] Furthermore, the measurement mode determination unit 2420 can determine whether or not it is necessary to track the detected object by the unmanned watercraft 1000, depending on the determination result of the secondary detailed detection determination unit 2320. If the measurement mode determination unit 2420 determines that it is necessary to track the detected object, an other operation command unit 2450 (described later) outputs a command related to a tracking operation (continuous acquisition operation), whereas if the measurement mode determination unit 2420 determines that it is not necessary to track the detected object, it determines to perform a monitoring measurement operation (monitoring navigation), and an command related to the monitoring measurement operation is output by the monitoring measurement operation command unit 2430 (described later).

[0086] Furthermore, if the measurement mode determination unit 2420 determines that the initial detection determination result by the primary detection determination unit 2310 is indeterminate, it decides to perform the monitoring measurement operation again, and if it determines that this is the case, it decides to perform the monitoring measurement operation (monitoring navigation), and a command regarding the monitoring measurement operation is output by the monitoring measurement operation command unit 2430 described later.

[0087] Furthermore, if a position acquisition lost (also called "detection lost") event, in which the position of a monitoring target cannot be acquired, is detected during the execution of each operation such as a detailed measurement operation, detailed re-measurement operation, or tracking operation (continuous acquisition operation), the information on the occurrence of the position acquisition lost event is notified or displayed on the display unit 2510 (described later), and a selection input of monitoring for reacquisition, normal monitoring navigation, or the next operation status to be executed after the end of monitoring measurement can be accepted. Furthermore, when monitoring for reacquisition is executed and the monitoring target can be reacquired, the operation transitions to the status of candidate monitoring target detection, whereas if reacquisition is not possible and the detection lost state continues, the operation transitions to the status of normal monitoring navigation.

[0088] So far, we have explained a method for determining whether the measurement operation is a monitoring measurement operation, a detailed measurement operation, or other measurement operation based on the operation status shown in Figure 11, but the measurement operation can also be determined whether it is a monitoring measurement operation, a detailed measurement operation, or other measurement operation based on the desired monitoring mode (including covert mode, wide-area monitoring mode, deep underwater monitoring mode, ambush standby mode, etc.) specified by the user via the user input receiving unit 2520.

[0089] The monitoring and measurement operation command unit 2430 is a functional unit that, when the measurement mode determination unit 2420 determines that a monitoring and measurement operation should be performed, determines the content of the monitoring and measurement operation and outputs a command to the unmanned vessel to perform the monitoring and measurement operation. The monitoring and measurement operation command unit 2430 commands the unmanned vessel to perform the monitoring and measurement operation according to the monitoring plan generated by the monitoring plan generation unit 2200. That is, the monitoring and measurement operation command unit 2430 executes a monitoring and measurement operation to acquire first measurement data using a measurement sensor such as a sonic sensor while patrolling or mooring the unmanned vessel 1000 according to the deployment position and time-series movement plan of the unmanned vessel 1000 included in the monitoring plan generated by the monitoring plan generation unit 2200. If the speed of the ocean current or tidal current is faster than a predetermined value and the unmanned vessel cannot remain at the deployment position of the monitoring plan while moored, the thrust generation unit 1310 is used to control the unmanned vessel to remain at the deployment position of the monitoring plan.

[0090] The detailed measurement operation command unit 2440 is a functional unit that, when the measurement mode decision unit 2420 decides to perform a detailed measurement operation, decides the content of the detailed measurement operation and outputs a command to execute the detailed measurement operation to the unmanned boat.

[0091] The detailed measurement operation command unit 2440 can select one measurement operation from multiple candidate detailed measurement operations. In this case, the measurement operation may be automatically determined based on the setting information set by the presetting information acquisition unit 2110, or the measurement operation may be selected according to user input information received from the user input reception unit 2520.

[0092] When using active sonar, if the underwater object is stationary, even if the unmanned vessel or separate sonar performs measurements while stationary, the measurement data required for detailed detection analysis cannot be obtained. Therefore, it is desirable to perform measurements when the relative speed between the sonic sensor and the underwater object is within a predetermined range. Therefore, based on the speed information of the underwater object determined by initial detection by the primary detection determination unit 2310, a measurement mode for detailed measurement operation in which the relative speed between the sonic sensor and the underwater object is within a predetermined range can be selected. In other words, if the speed of the underwater object is stationary or slow, a detailed measurement operation that allows sonic measurement while moving can be selected. If the speed of the underwater object is above a predetermined speed, an anchored active sonar mode or anchored state maintenance mode that performs measurements while the object is at anchor can be selected as the detailed measurement operation.

[0093] Below, measurement mode candidates for the detailed measurement operation will be explained using FIGS.

[0094] Fig. 12 is a diagram showing candidate operation modes for detailed measurement operations. As shown in Fig. 12, the operation modes for detailed measurement operations can be classified into three types: disturbance reduction measurement mode, short-distance measurement mode, and multiple-angle measurement mode.

[0095] First, the disturbance reduction measurement mode is a measurement mode that suppresses the effects of external disturbances such as external noise and waves and currents that affect the position and attitude of the unmanned vessel, and is equipped with an anchoring active sonar mode, an anchoring state maintenance mode, and a separate sonar mode.

[0096] First, the anchoring active sonar mode will be explained. Figure 13 is a diagram showing the state of measurement using the anchoring active sonar mode. Figure 13 shows the state of measurement at time t1 when monitoring measurement operation is performed, and the state of measurement at time t2 when detailed measurement operation is performed using the anchoring active sonar mode.

[0097] 13, at time t1, drive sound (noise) is generated from the thrust generating unit 1310 of the unmanned vessel 1000, but at time t2, when the unmanned vessel 1000 is in mooring active sonar mode, sound measurement is performed using an acoustic sensor (active sonar) with the thrust generating unit 1310 of the unmanned vessel 1000 stopped, nearly stopped, or driven at a smaller drive amount than the drive amount of the thrust generating unit 1310 during monitoring and measurement operation. This measurement operation reduces the drive sound (noise) from the thrust generating unit compared to during monitoring and measurement operation (operation in which the thrust generating unit 1310 is driven to perform measurements while sailing), enabling more accurate sound measurement with less noise.

[0098] The anchored active sonar mode can also be applied to more detailed measurements using multiple unmanned watercraft 1000. In this case, acoustic measurement is performed using an acoustic sensor (active sonar) with the thrust generating units 1310 of the multiple unmanned watercraft 1000 stopped, nearly stopped, or driven at a smaller drive amount than the drive amount of the thrust generating units 1310 in monitoring measurement operation. Furthermore, this is a measurement operation in which the multiple unmanned watercrafts 1000 are synchronized with the thrust generating units 1310 of the multiple unmanned watercrafts 1000 stopped, nearly stopped, or driven at a smaller drive amount than the drive amount of the thrust generating units 1310 in monitoring measurement operation, and acoustic measurement is performed using the multiple active sonars in this state. In this measurement operation, the driving sound (noise) from the thrust generating units can be reduced compared to the monitoring measurement operation (operation in which at least some of the thrust generating units 1310 of multiple unmanned boats are driven to perform acoustic measurements while sailing), making it possible to perform more accurate acoustic measurements with less noise.

[0099] Next, the berthing state maintenance mode will be described. The berthing state maintenance mode is a measurement operation in which acoustic measurement is performed using active sonar while maintaining attitude angle maintenance control (controlled by the navigation unit 1300) that maintains the attitude angle (which may include pitch angle and roll angle), including at least the yaw angle (angle around the Z axis) of the unmanned watercraft 1000, constant or approximately constant. Note that in this measurement operation, in addition to maintaining the attitude angle, it is desirable that the navigation unit 1300 also control the position of the unmanned watercraft to maintain a constant position, or that the thrust generation unit 1310 be approximately stopped. In this measurement operation, the orientation of the unmanned watercraft 1000 can be maintained constant, allowing for more accurate detection of the shape and size of underwater objects when underwater measurements are performed using active sonar (such as side scan sonar).

[0100] Next, the disturbance reduction measurement mode using a separate sonar will be described. Fig. 14 is a diagram showing the state of measurement in the disturbance reduction measurement mode using a separate sonar. Fig. 14 shows the separate sonar positioned on the water at a predetermined distance or more from the unmanned boat 1000, and the state of being positioned underwater.

[0101] 14, in the disturbance reduction measurement mode using the separate sonar, acoustic measurement is performed with the separate sonar positioned on or underwater at a predetermined distance or more from the unmanned watercraft 1000. Therefore, the separate sonar can perform acoustic measurement from a position sufficiently far away from the noise generated by the thrust generation unit 1310 of the unmanned watercraft 1000, enabling more accurate acoustic measurement with less noise.

[0102] Here, the determination of whether the separate sonar is placed above water or below water can be made based on the desired monitoring mode specified by the user. For example, if the desired monitoring mode is a wide-area monitoring mode, the separate sonar is placed above water to perform detailed measurements, and if the desired monitoring mode is a deep-sea monitoring mode, the separate sonar is placed below water to perform detailed measurements. Furthermore, after placing the separate sonar above water to perform detailed measurements, the separate sonar may be placed below water to perform additional detailed measurements. Conversely, after placing the separate sonar below water to perform detailed measurements, the separate sonar may be placed above water to perform additional detailed measurements.

[0103] Next, the short-distance measurement mode is a measurement mode in which acoustic measurements are performed from a position where the relative distance to the underwater object being measured is smaller, and there are two modes: a mode that uses a moving ship and a mode that uses a separate sonar.

[0104] First, the short-distance measurement mode using a moving unmanned boat will be described. Fig. 15 is a diagram showing the state of measurement in the short-distance measurement mode using a moving unmanned boat. Fig. 15 shows the state of measurement at time t1 when a monitoring measurement operation is performed and the state of measurement at time t2 when a detailed measurement operation is performed in the short-distance measurement mode.

[0105] 15, in the detailed measurement operation, the position of the unmanned vessel 1000 above the sea surface is moved and acoustic measurements are performed using the acoustic sensor mounted on the unmanned vessel 1000 so that the relative distance between the unmanned vessel 1000 and the underwater object at time t2 when the detailed measurement operation is performed in the close-range measurement mode is shorter than the relative distance between the unmanned vessel 1000 and the underwater object at time t1 when the monitoring measurement operation is performed. Therefore, at time t2 when the detailed measurement operation is performed, acoustic measurements of the object can be performed from a position where the relative distance is closer, and more detailed measurement data can be obtained.

[0106] Next, the short-distance measurement mode using a separate sonar will be described. Fig. 16 is a diagram showing the state of measurement in the short-distance measurement mode using a separate sonar. Fig. 17 is a diagram showing the state of measurement in the short-distance measurement mode using an unmanned boat moving and a separate sonar. Figs. 16 and 17 show the state of measurement at time t1 when a monitoring measurement operation is performed and the state of measurement at time t2 when a detailed measurement operation is performed in the short-distance measurement mode.

[0107] 16, the relative distance between the unmanned watercraft 1000 and the underwater object at time t2 when the detailed measurement operation is performed in close-range measurement mode using the separate sonar is shorter than the relative distance between the unmanned watercraft 1000 and the underwater object at time t1 when the monitoring measurement operation is performed. Therefore, at time t2 when the detailed measurement operation is performed, acoustic measurement of the object can be performed from a position where the relative distance is closer, and more detailed measurement data can be obtained. Note that the water depth position at which the separate sonar is placed can be determined based on the water depth position of the underwater object determined by the initial detection determination by the primary detection determination unit 2310.

[0108] 16 shows an example in which the separate sonar is submerged in the sea to shorten the relative distance, but acoustic measurement may also be performed by placing the separate sonar at a position on the water surface where the relative distance to the target is shorter than that of the unmanned boat 1000. Also, as shown in FIG. 17, detailed measurement operations may be performed using both a moving unmanned boat and a separate sonar to shorten the relative distance between the separate sonar and the target.

[0109] Next, the multiple angle measurement mode is a measurement mode that uses multiple unmanned boats or separate sonars to perform acoustic measurements of the same object from multiple directions, and includes a mode in which multiple unmanned boats operate in coordination and a mode that uses separate sonars.

[0110] First, the multiple angle measurement mode using cooperation between multiple unmanned vessels will be explained. Figure 18 is a diagram showing how measurements are performed in the multiple angle measurement mode using cooperation between multiple unmanned vessels. Figure 18 shows how the same object is ultrasonically measured by multiple unmanned vessels 1000 deployed at multiple positions on the sea surface.

[0111] 18, by performing acoustic measurements from multiple unmanned vessels 1000 deployed at multiple positions on the sea surface, acoustic measurements can be performed from multiple different directions as viewed from the target object, and therefore, when using active sonar, for example, it is possible to measure the shape of the target object as viewed from different directions, allowing for more accurate measurement of the shape of the target. Note that when acoustic measurements are performed using multiple unmanned vessels 1000 in this way, the multiple unmanned vessels 1000 may perform measurements asynchronously or synchronously.

[0112] Next, the multiple angle measurement mode using a separate sonar will be described. Figures 19 to 21 are diagrams showing how measurements are performed in the multiple angle measurement mode using a separate sonar. Figure 19 is a diagram showing how measurements are performed in the multiple angle measurement mode using a separate sonar lowered into the sea. Figure 20 is a diagram showing how measurements are performed in the multiple angle measurement mode using a separate sonar positioned above the sea surface. Figure 21 is a diagram showing how measurements are performed in the multiple angle measurement mode using separate sonars positioned both underwater and above the sea surface.

[0113] In the example shown in Fig. 19, acoustic measurements can be performed from a plurality of different directions as seen from the target object using a separate sonar lowered into the sea and an acoustic sensor mounted on the unmanned boat 1000. Similarly, in the example shown in Fig. 20, acoustic measurements can be performed from a plurality of different directions as seen from the target object using a separate sonar positioned above the sea surface and an acoustic sensor mounted on the unmanned boat 1000. Similarly, in the example shown in Fig. 21, acoustic measurements can be performed from a plurality of different directions as seen from the target object using a separate sonar lowered into the sea, a separate sonar positioned above the sea surface, and an acoustic sensor mounted on the unmanned boat 1000.

[0114] In this way, in the multiple angle measurement mode using a separate sonar, it is possible to measure the object using acoustic waves from different directions, so that the shape of the object viewed from different directions can be measured, which cannot be grasped when measuring from one direction from the unmanned boat 1000 during monitoring measurement operations, and the shape of the object can be measured more accurately.

[0115] Also, while Figures 19 to 21 show an example of using a single unmanned boat 1000 and a separate sonar, it is also possible to use multiple separate sonars connected to multiple unmanned boats 1000 to perform acoustic measurement of an object from multiple different directions.

[0116] So far, we have described measurement operations using a sonic sensor as detailed measurement operations, but the detailed measurement operation command unit 2440 may include, in addition to or instead of the measurement operations using the sonic sensor described above, a measurement operation that measures optical image data or infrared image data of underwater, above the water surface, or the airspace above the water surface, or sea state data (wave height, tidal current, weather, etc.) in the sea area around the unmanned craft 1000. Furthermore, the optical image data, infrared image data, and sea state data described above may be measured prior to the measurement operations using the sonic sensor.

[0117] The other operation command unit 2450 issues commands relating to the tracking operation when the measurement mode determination unit 2420 determines that the unmanned watercraft 1000 needs to track the detected object.

[0118] In addition, when the other operation command unit 2450 acquires data transmission priority conditions for the first measurement data or the second measurement data as requested information from the user via the user input receiving unit 2520, it outputs a data transmission command to the unmanned watercraft 1000 in accordance with the data transmission priority conditions.

[0119] When the other operation command unit 2450 receives time-priority transmission as the data transmission priority condition, it calculates the processing time required to process the measurement data at the unmanned vessel 1000 and the overall control system 2000, and the data transmission time for multiple communication paths from the unmanned vessel 1000 to the overall control system 2000, selects the transmission path with the shortest total data processing and transmission time, and outputs a data transmission command for that transmission path to the unmanned vessel 1000. Here, the multiple communication paths from the unmanned vessel 1000 to the overall control system 2000 include, for example, a communication path via the communication satellite 3000, a communication path via the HAPS, a communication path for direct communication from the unmanned vessel 1000 to the terrestrial base station 4000, and a communication path that utilizes multi-hop communication between multiple unmanned vessels 1000 and direct communication with the terrestrial base station 4000.

[0120] In addition, if detailed data priority transmission is accepted as a data transmission priority condition, a communication path capable of transmitting large amounts of measurement data without reducing resolution is selected, and a data transmission command via that transmission path is output to the unmanned watercraft 1000.

[0121] In addition, if communication data capacity priority is accepted as a data transmission priority condition, a data transmission command is output to the unmanned vessel 1000 to transmit measurement data with reduced data volume by performing compression processing on the measurement data in the unmanned vessel 1000, etc., so as not to put a strain on the communication capacity between the unmanned vessel 1000 and the overall control system 2000.

[0122] (A-1-5-5. User interface unit 2500) The user interface unit 2500 is a functional unit that notifies or displays the determination results, etc., made by the object analysis unit 2300 to the user and receives user input information from the user, such as commands for the measurement operation of the unmanned watercraft. The user interface unit 2500 includes a display unit 2510 and a user input receiving unit 2520. The user interface unit 2500 may be a portable mobile terminal such as a smartphone, tablet terminal, or laptop PC.

[0123] The display unit 2510 is a functional unit that notifies or displays to the user the determination result by the object analysis unit 2300. When notifying the user, the display unit 2510 can notify the user not only by display output but also by sound, light emission, or vibration. For example, the display unit 2510 can display and output the first and second measurement data measured by the unmanned vessel 1000, the search rate of the monitoring measurement determined by the monitoring plan generation unit 2200, the determination results by the determination unit 1500, the primary detection determination unit 2310, and the secondary detailed detection determination unit 2320 of the unmanned vessel 1000, information on the operation command generated by the operation command unit 2400, user input information received by the user input receiving unit 2520, the current operating status (including tracking, takeover tracking, anticipation, encirclement, etc.) and operation history information of the unmanned vessel 1000 determined by the system status determination unit 2410, information on the loss of detection of detected objects, and even optical image data or infrared image data of underwater, above the water surface, or the airspace above the water surface measured by the unmanned vessel 1000, or other sea state data, and notification information to the outside such as the cooperative system 5000.

[0124] When an underwater object is detected by the primary detection determination unit 2310, the display unit 2510 can notify the user or display on the screen at least one of the following information: the fact that the underwater object has been detected by the primary detection determination unit 2310, information or status regarding the underwater object determined by the primary detection determination unit 2310, and the first measurement data.

[0125] When the secondary detail detection determination unit 2320 determines information or a state regarding an underwater object, the display unit 2510 can notify the user or display on the screen at least one of the information or a state regarding the underwater object determined by the secondary detail detection determination unit 2320 and the second measurement data.

[0126] In addition, when information about an object is sent to the collaborative system 5000 or other external systems using the information communication unit 2700 described below, information such as the destination's contact details, contact method, location, etc. may be displayed on the display unit 2510.

[0127] The user input receiving unit 2520 is a functional unit that receives user input for each piece of information displayed by the display unit 2510. User input information can also be received via operation buttons provided on the display screen of the display unit 2510.

[0128] The user input receiving unit 2520 can receive, for example, request information regarding the sending of the first measurement data and the second measurement data as user input information. In other words, it can receive input information regarding a transmission request to send the first measurement data and the second measurement data measured by the unmanned watercraft 1000 from the unmanned watercraft 1000 to the overall control system 2000 via a wireless communication network.

[0129] Furthermore, as described above, when request information regarding the sending of the first measurement data or the second measurement data is received, the request information can include data sending priority conditions including time priority sending, detailed data priority sending, or communication data capacity priority sending.

[0130] The user input accepting unit 2520 can accept, for example, request information regarding additional measurement operations using a sonic sensor or other measurement sensors mounted on the unmanned watercraft 1000. Here, an example of an additional measurement operation may be when a user, having confirmed the determination result of the secondary detailed detection and determination unit 2320 on the display unit 2510, requests that a detailed measurement operation be performed again. Another example may be when a user, having confirmed the determination result of the primary detection and determination unit 2310 on the display unit 2510, requests a measurement operation using a measurement sensor of a type other than a sonic sensor. This is not limited to the above cases, and the user can input a request for an additional measurement operation at any time.

[0131] As the request information for the additional measurement operations described above, it is possible to input a command to acquire measurement data from a different angle, a command to acquire close-range images (including the close-range measurement mode of FIG. 12), a command to measure multiple angles simultaneously (including the multiple unmanned vessel cooperative mode of FIG. 12), a command to acquire high-quality measurement images (including the disturbance reduction measurement mode of FIG. 12), and a command to acquire optical image data, infrared image data, or oceanographic data for underwater, above the water surface, or the airspace above the water surface. For example, if a suspicious diver or the like is discovered, it is likely that there are other divers in the vicinity, so it is desirable to take optical or infrared images of the underwater, above the water surface, and above the air within a certain distance range of 360 degrees.

[0132] The user input accepting unit 2520 can accept input specifying a measurement area in which measurements will be taken by the sonic sensor mounted on the unmanned watercraft 1000. Therefore, the user can specify any area as the measurement area based on information such as the detected position of the underwater object displayed on the display unit 2510. Furthermore, if the underwater object is a suspicious diver or the like, the user can input a specification to place the unmanned watercraft ahead in the direction of travel or in a position that is easily noticed by the underwater object (diver), thereby making the underwater object (diver) aware that it is being monitored, tracked, or surrounded, and encouraging it to leave on its own accord.

[0133] The user input receiving unit 2520 can receive a measurement operation different from the monitoring measurement operation and the detailed measurement operation, or a request to resume the monitoring measurement operation, for example, when information or a state regarding an underwater object is determined by the secondary detail detection determination unit 2320. That is, the user can input a measurement operation (monitoring area, unmanned boat formation, etc.) that the user sets arbitrarily, such as tracking measurement of a detected object or measurement concentrated in a specific area, depending on the determination result by the secondary detail detection determination unit 2320. Furthermore, if the user determines from the determination result by the secondary detail detection determination unit 2320 that the detected object is not a target for monitoring or tracking, the user can input an instruction to return to the monitoring measurement operation before the object was detected.

[0134] In addition, the user input receiving unit 2520 can input commands for the area (position on a two-dimensional plane), depth (position in three-dimensional space), and time period in which to increase the search rate, based on the information on the search rate of the monitoring measurement determined by the monitoring plan generating unit 2200, which is displayed on the display unit 2510 in real time or periodically.

[0135] 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 prioritized display of measurement data, such as time-priority display that prioritizes displaying measurement data that can be displayed early, detailed image-priority display that prioritizes displaying detailed measurement data, or area-designated-priority display that prioritizes displaying measurement data of an area designated by the user, may be provided. Furthermore, when the above-mentioned request for priority display of measurement data is accepted, the display unit 2510 may display a predicted display time for the measurement data according to the designated priority display.

[0136] Furthermore, when displaying measurement data on the display unit 2510, the user input accepting unit 2520 can accept from the user a display mode that includes displaying the latest measurement data or displaying measurement data at a specified time in the past that is recorded in a recording unit, which will be described later. 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. Furthermore, when a request to display past measurement data is accepted, an estimated time required for displaying the data may be displayed.

[0137] (A-1-5-6. Recording unit 2600) The recording unit 2600 records at least one of the first measurement data and second measurement data measured by the unmanned vessel 1000, the judgment results by the judgment unit 1500, the primary detection judgment unit 2310, and the secondary detailed detection judgment unit 2320 of the unmanned vessel 1000, information on the operation commands generated by the operation command unit 2400, user input information received by the user input receiving unit 2520, operation history information of the unmanned vessel 1000 judged by the system state judgment unit 2410, information on detection loss of detected objects, and optical image data or infrared image data of underwater, above the water surface, or the airspace above the water surface measured by the unmanned vessel 1000, or other sea state data.

[0138] In addition to the above information, the recording unit 2600 may also include historical information on the data transmitted and received between the unmanned watercraft 1000 and the overall control system 2000, and user input information related to data transmission and reception.

[0139] (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 monitoring plan and search rate information generated by the monitoring plan generation unit 2200, the determination results regarding the object by the object analysis unit 2300, and the operation commands generated by the operation command unit 2400, to the collaborative system 5000, the external system 6000, or other external systems.

[0140] The information communication unit 2700 can transmit, for example, operation command candidates for detailed measurement operations generated by the detailed measurement operation command unit 2440 to the cooperative system 5000. In addition, the information communication unit 2700 can transmit, for example, candidates for higher-level measurement modes determined by the measurement mode determination unit 2420 to the cooperative system 5000.

[0141] The functions implemented in the unmanned watercraft 1000 and the overall control system 2000 described above using Figures 6 and 8 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 Figure 6 (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 8 (mainly at least one of the information import unit 2100, monitoring plan generation unit 2200, object analysis unit 2300, and operation command unit 2400) can also be implemented in the unmanned watercraft 1000. In addition, in this embodiment, an example has been described in which the first object determination function for detecting underwater objects based on the first measurement data is implemented in the determination unit 1500 on the unmanned boat 1000 side and the primary detection determination unit 2310 on the overall control system 2000 side, but it is also possible to implement all of this first object determination function on the unmanned boat side, and conversely, it is also possible to implement all of the first object determination function on the overall control system 2000 side.

[0142] (A-1-6. Hardware Configuration) 22 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.

[0143] 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.

[0144] 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.

[0145] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing calculations.

[0146] 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.

[0147] 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.

[0148] (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. 23 is a flowchart showing the processing flow of the control system 1.

[0149] First, the information import unit 2100 acquires information from the external system 6000 (step 101).

[0150] Next, the monitoring plan generation unit 2200 determines the monitoring plan (step 102).

[0151] Next, the monitoring and measuring operation command unit 2430 transmits a measuring operation command for the monitoring and measuring operation to the unmanned watercraft 1000 to cause the unmanned watercraft 1000 to execute the monitoring and measuring operation (step 103).

[0152] Next, the determining unit 1500 determines the processing step to transition to depending on whether or not a monitoring target candidate has been detected (step 104). If a monitoring target candidate has been detected in this step, the processing transitions to step 105, whereas if a monitoring target candidate has not been detected, the processing returns to step 103.

[0153] Next, the primary detection determination unit 2310 performs an initial detection determination of the monitoring target (step 105).

[0154] Next, the detailed measurement operation command unit 2440 transmits a measurement operation command for the detailed measurement operation to the unmanned watercraft 1000 to cause the detailed measurement operation to be executed (step 106).

[0155] #A014016# Next, the secondary detailed detection determination unit 2320 performs detailed detection determination of the monitored object (step 107).

[0156] Next, the action command unit 2400 determines the action to be taken after the detailed detection and determination, and executes the action (step 108).

[0157] (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. 24 is a sequence diagram showing the exchange of signals between the systems in the control system 1.

[0158] First, external information is transmitted from the external system 6000 to the integrated control system 2000 .

[0159] Next, a monitoring plan is generated by the monitoring plan generation unit 2200 of the overall control system 2000, and a monitoring measurement command based on the monitoring plan is transmitted by the detailed measurement operation command unit 2440 to the parent device 1001. Upon receiving the monitoring measurement command, the parent device 1001 relays the monitoring measurement command to the child device 1002 as well, and the parent device 1001 and the child device 1002 execute the monitoring measurement operation.

[0160] Next, when a monitoring target candidate is detected by the slave device 1002, the slave device 1002 transmits first measurement data of the monitoring target candidate to the master device 1001. The master device 1001 relays the received first measurement data to the integrated control system 2000.

[0161] The overall control system 2000 performs an initial detection determination of the object based on the received first measurement data using the primary detection determination unit 2310, and if a monitored object is detected, the detailed measurement operation command unit 2440 determines candidate operation commands for the detailed measurement operation and transmits them to the collaborative system 5000 using the information communication unit 2700.

[0162] When the external intervention information acquisition unit 2150 receives intervention command information from the cooperative system 5000, the overall control system 2000 determines an operation command for the unmanned boat 1000 in consideration of the intervention command information, and transmits the operation command to the parent unit 1001. In the example shown in this figure, a detailed measurement command is transmitted.

[0163] The parent device 1001 receives the detailed measurement command, relays the detailed measurement command to the child device 1002, and either or both of the parent device 1001 and the child device 1002 execute the detailed measurement operation.

[0164] The slave device 1002 transmits the second measurement data obtained by the detailed measurement operation to the master device 1001 , and the master device 1001 relays the received second measurement data to the integrated control system 2000 .

[0165] The overall control system 2000 performs detailed detection determination of the object based on the received second measurement data using the secondary detailed detection determination unit 2320, and determines action command candidates based on the detailed analysis results of the monitored object using the action command unit 2400. In addition, the overall control system 2000 transmits the action command candidates to the collaboration system 5000 using the information communication unit 2700.

[0166] When the external intervention information acquisition unit 2150 receives intervention command information from the cooperative system 5000, the overall control system 2000 determines an operation command for the unmanned boat 1000 taking into consideration the intervention command information and transmits the operation command to the parent unit 1001.

[0167] The parent device 1001 receives the operation command, relays the operation command to the child device 1002, and either or both of the parent device 1001 and the child device 1002 execute an operation according to the operation command.

[0168] (A-1-9. Generation of monitoring plan) A method for generating a monitoring plan by the monitoring plan generating unit 2200 will be described below with reference to FIGS.

[0169] (A-1-9-1. Monitoring plan generation process flow) 25 is a flowchart showing the processing flow for generating a monitoring plan generated by the monitoring plan generating unit 2200. In particular, it shows the detailed processing flow of step 102 in the flowchart shown in FIG.

[0170] First, the preset information acquisition unit 2110 acquires preset information such as the monitoring area where monitoring measurement is to be performed and the target search rate of the monitoring measurement (step 201).

[0171] Next, the unmanned watercraft performance information acquisition unit 2120 acquires performance information of the unmanned watercraft 1000 (step 202).

[0172] Next, the monitoring plan generating unit 2200 generates a monitoring plan for the designated area based on the acquired information (step 203).

[0173] Next, the information import unit 2100 acquires information on the movement position history of each unmanned watercraft 1000 from the unmanned watercraft 1000 (step 204).

[0174] Next, the monitoring plan generating unit 2200 determines the search rate in the monitoring area based on the information on the movement position history of the unmanned watercraft (step 205).

[0175] Next, the monitoring plan generation unit 2200 determines the processing step to transition to depending on whether the search rate in the monitoring area is below the target search rate (step 206). If the search rate is below the target search rate in this step, the processing transitions to step 207, and if the search rate is not below the target search rate, the processing transitions to step 208.

[0176] Next, in step 206, if it is determined that the search rate is lower than the target search rate, the monitoring plan generation unit 2200 updates the monitoring plan (step 207).

[0177] Next, if it is determined in step 206 that the search rate is not below the target search rate, the monitoring plan is not updated and is maintained (step 208).

[0178] (A-1-9-2. Search rate of surveillance area) 26 is a diagram showing the search rate of the monitoring area generated by the monitoring plan generating unit 2200. In particular, it shows the determination result of the search rate in step 205 shown in FIG.

[0179] In the example shown in FIG. 26, information about the monitoring area acquired by the preset information acquisition unit 2110 is displayed on a two-dimensional map, and the search rate (search rate in areas where the water depth is shallower than a predetermined depth) at each position of the monitoring area divided into a mesh is expressed by shades of color. In this figure, darker colors indicate positions with higher search rates, and lighter colors indicate positions with lower search rates. Furthermore, since the measurable distance of the sonic sensor is approximately 100 meters to several hundred meters, the search rate can be determined for each water depth (for example, every 50 meters). Therefore, when displayed on a two-dimensional map as shown in FIG. 26, a water depth switching input may be received to switch the display of the search rate for each depth. Alternatively, the search rate may be displayed on a three-dimensional map that also includes the depth direction below the water surface.

[0180] 26, the monitoring plan generation unit 2200 can determine whether the search rate target has been achieved for each of the divided positions, and if the number of positions where the search rate target has not been achieved is more than a predetermined value or the degree of non-achievement is lower than a lower limit, the monitoring plan generation unit 2200 determines that a change to the monitoring plan is necessary and updates the monitoring plan so as to improve the search rate for positions where the search rate target has not been achieved. Note that in an ocean surface area monitoring a deep underwater region (e.g., an underwater region with a water depth of 150 m), multiple unmanned vehicles 1000 are placed at relatively close intervals (i.e., high density), and in an ocean surface area monitoring a shallow underwater region (e.g., an underwater region with a water depth of 50 m), multiple unmanned vehicles are placed at relatively wide intervals (i.e., low density).

[0181] Note that while this figure shows the results of determining the search rate on a two-dimensional plane, the search rate determination is not limited to two dimensions. It is also possible to determine the search rate in three dimensions, including the ocean depth direction, and determine whether or not to update the monitoring plan based on a comparison of the three-dimensional search rate with a target value.

[0182] (A-1-10. Processing flow for initial detection determination) Next, a method for initial detection determination of a monitoring target will be described with reference to Fig. 27. Fig. 27 is a flowchart showing the initial detection determination processing flow by the primary detection determination unit 2310. This diagram particularly shows the detailed processing flow of step 105 in the flowchart shown in Fig. 23.

[0183] First, the measurement data acquisition unit 2130 acquires first measurement data acquired by the monitoring measurement operation (step 301). Note that this step may include processing by the primary detection determination unit 2310 to create a mosaic image from the sound wave data acquired as the first measurement data.

[0184] Next, the primary detection determination unit 2310 determines the object characteristics based on the first measurement data (step 302). In this step, the object characteristics such as type, shape, size, orientation, and material shown in FIG. 9 are determined.

[0185] Next, the primary detection determination unit 2310 determines the static state based on the first measurement data (step 303). In this step, the relative distance, relative direction, position coordinates, etc., which are the static state shown in FIG.

[0186] Next, the primary detection determination unit 2310 determines the dynamic state based on the first measurement data (step 304). In this step, the dynamic state shown in Fig. 9, i.e., moving state / stationary state, moving direction, moving speed, past moving route history, and future predicted route, is determined.

[0187] Next, the primary detection determination unit 2310 determines the processing step to transition to depending on whether the determination results from the above steps satisfy a predetermined condition (step 305). If it is determined in this step that the predetermined condition is satisfied, the process transitions to step 307; on the other hand, if it is determined that the predetermined condition is not satisfied, the process transitions to step 306. The predetermined condition in this step may be, for example, that the object corresponds to a predetermined material, is equal to or larger than a predetermined size, or is in a moving state. Furthermore, if a similar monitored object is detected from the first measurement data acquired by multiple unmanned watercraft 1000, it can also be determined that the predetermined condition in this step is satisfied.

[0188] Next, if it is determined in step 305 that the predetermined condition is not satisfied, the determination result of the initial detection process by primary detection determination unit 2310 is determined to be indeterminate detection (step 306). After this step, the process proceeds to step 308.

[0189] Next, if it is determined in step 305 that the predetermined condition is satisfied, the determination result of the initial detection process by the primary detection determination unit 2310 is confirmed as detection of a monitored object (step 307).

[0190] Next, the determination results of the initial detection processing determined in steps 306 and 307 are recorded and notified or displayed on the display unit 2510 of the user interface unit 2500 (step 308).

[0191] (A-1-11. Detailed measurement operation decision processing flow) Next, a method for determining a detailed measurement operation will be described with reference to Fig. 28. Fig. 28 is a flowchart showing the flow of the process for determining a detailed measurement operation by the detailed measurement operation command unit 2440. This diagram particularly shows the detailed processing flow of step 106 in the flowchart shown in Fig. 23.

[0192] First, the detailed measurement operation command unit 2440 determines a candidate detailed measurement operation (step 401). In this step, for example, a candidate detailed measurement operation is selected from a plurality of detailed measurement operations shown in FIG.

[0193] Next, the selected candidate for the detailed measurement operation is displayed on the display unit 2510 of the user interface unit 2500 (step 402). In this step, instead of or in addition to displaying the candidate for the detailed measurement operation on the display unit 2510, the candidate for the detailed measurement operation may be notified to the cooperative system 5000 via the information communication unit 2700.

[0194] Next, the user input information for the candidate information of the detailed measurement operation is received by the user input receiving unit 2520 of the user interface unit 2500 (step 403). In this step, instead of or in addition to receiving the user input information by the user input receiving unit 2520, input information from the collaborative system 5000 may be received by the external intervention information acquisition unit 2150.

[0195] Next, the detailed measurement operation command unit 2440 determines the detailed measurement operation based on the presence or absence of input information received by the user input receiving unit 2520 or the external intervention information acquiring unit 2150, or the content of the input information (step 404).

[0196] Next, the detailed measurement operation command unit 2440 transmits an operation command for the determined detailed measurement operation to the unmanned watercraft 1000 (step 405).

[0197] (A-1-12. Detailed detection judgment processing flow) Next, a method for performing detailed detection determination of a monitored object will be described with reference to Fig. 29. Fig. 29 is a flowchart showing the detailed detection determination processing flow by the secondary detailed detection determination unit 2320. This diagram particularly shows the detailed processing flow of step 107 in the flowchart shown in Fig. 23.

[0198] First, the measurement data acquisition unit 2130 acquires second measurement data acquired by the detailed measurement operation (step 501).

[0199] Next, the secondary detailed detection determination unit 2320 determines the object characteristics based on the second measurement data (step 502). In this step, the object characteristics such as type, shape, size, orientation, and material shown in Fig. 10 are determined. Note that these determination items are the same as those in the initial detection determination, but a more detailed determination is performed than in the initial detection determination.

[0200] Next, the secondary detailed detection determination unit 2320 performs a static state determination based on the second measurement data (step 503). In this step, the relative distance, relative direction, position coordinates, etc., which are static states shown in Fig. 10, are determined. Note that these determination items are the same as those in the initial detection determination, but a more detailed determination is performed than in the initial detection determination.

[0201] Next, the secondary detailed detection determination unit 2320 determines the dynamic state based on the second measurement data (step 504). In this step, the dynamic state shown in Fig. 10, including moving state / stationary state, moving direction, moving speed, past moving route history, future predicted route, turning radius, response speed, acceleration, and deceleration, is determined.

[0202] Next, the secondary detailed detection determination unit 2320 determines the movement performance of the target object based on the second measurement data (step 505). In this step, the movement performance shown in Fig. 10, including the maximum movement speed, maximum turning speed, minimum turning radius, maximum acceleration, maximum deceleration, and possible movement distance (possible following distance), is determined.

[0203] Next, the secondary detailed detection determination unit 2320 determines the sea state in the area surrounding the position of the monitored object based on the sea state data acquired as the second measurement data (step 506).

[0204] Next, the processing step to transition to is determined depending on whether a position capture lost state has occurred, in which the position capture of the monitored object has been lost due to the detailed measurement operation by the unmanned watercraft 1000 (step 507). If a position capture lost state is not detected in this step, the processing transitions to step 508, and if a position capture lost state is detected, the processing transitions to step 511.

[0205] Next, if position capture loss is not detected in step 507, the process step to transition to is determined depending on whether the determination made in the above step satisfies a predetermined condition (step 508). If it is determined that the predetermined condition is satisfied in this step, the process transitions to step 510, and on the other hand, if it is determined that the predetermined condition is not satisfied, the process transitions to step 509. The predetermined condition in this step may be, for example, that the object corresponds to a predetermined type or a predetermined shape.

[0206] Next, if it is determined in step 508 that the predetermined conditions are not satisfied, the determination result of the detail detection process by the secondary detail detection determination unit 2320 is determined to be indeterminate detection (step 509). After this step, the process proceeds to step 511.

[0207] Next, if it is determined in step 508 that the predetermined conditions are met, the result of the detailed detection process by the secondary detailed detection determination unit 2320 is determined to be the detection of a monitored object (step 510).

[0208] Next, the determination results of the detailed detection process determined in steps 509 and 510 and whether or not position acquisition was lost are recorded, and are notified or displayed on the display unit 2510 of the user interface unit 2500 (step 511).

[0209] (A-1-13. Operational Determination After Detailed Detection Determination) Hereinafter, a number of patterns of the motion determination method after detailed detection determination will be described with reference to FIGS.

[0210] (A-1-13-1. Example of action decision after detailed detection judgment) 30 is a flowchart showing an example of the action decision processing flow after detailed detection determination by the action command unit 2400. This diagram particularly shows an example of detailed processing of step 108 in the flowchart shown in FIG.

[0211] First, the process step to transition to is determined depending on whether or not a position capture lost state has occurred, in which the position capture of the monitored object has been lost (step 601). In this step, if a position capture lost state is not detected, the process transitions to step 603, whereas if a position capture lost state is detected, the process transitions to step 602.

[0212] Next, in step 601, if a position acquisition loss is detected, a monitoring operation for reacquiring the position is determined as an operation to be executed (step 602). After this step is completed, the process proceeds to step 606.

[0213] Next, if position acquisition loss is not detected in step 601, the process step to transition to is determined depending on whether the determination result of the detailed detection determination process is indeterminate (step 603). In this step, if the determination result of the detailed detection determination process is indeterminate, the process transitions to step 604, and on the other hand, if the determination result of the detailed detection determination process is not indeterminate, the process transitions to step 605.

[0214] Next, in step 603, if the determination result of the detailed detection determination process is indefinite, an operation to re-acquire the second measurement data by a detailed measurement operation is determined as the operation to be executed (step 604). Note that in this step, the operation may be to re-acquire the measurement data using the same method as the previously executed detailed measurement operation, or another detailed measurement operation that can acquire more detailed measurement data than the previously acquired measurement data may be selected from the candidate detailed measurement operations shown in FIG. 12. Also, in this step, a notification that the determination result of the detailed detection determination has become indefinite may be sent to the display unit 2510 of the user interface unit 2500 or the cooperative system 5000, and an input from the user may be accepted. After this step is completed, the process proceeds to step 606.

[0215] Next, if the result of the detailed detection determination process is not indefinite, the operation to be performed is determined according to the result of the detailed detection determination (step 605). After this step is completed, the process proceeds to step 606.

[0216] Next, the execution actions determined in steps 602, 604, and 605 are notified or displayed on the display unit 2510 of the user interface unit 2500, and input information from the user is accepted (step 606).

[0217] (A-1-13-2. Another example of action determination after detailed detection judgment) 31 is a state transition diagram showing an example of a method for transitioning the operating state after detailed detection determination. This diagram particularly shows an example of a state transition that determines the operating state of the unmanned watercraft 1000 in step 108 of the flowchart shown in FIG.

[0218] As shown in Figure 31, once the detailed detection determination by the secondary detailed detection determination unit 2320 is complete, the operation command unit 2400 performs an operation determination for the unmanned watercraft 1000. At this time, the operation determination is performed according to the type of monitored object and the alert level (level 0, 1, 2, 3, 4, 5, etc.) determined in the detailed detection determination. Here, the alert level can be determined according to the type of object, its size, detection date and time (time zone), detection position, measured movement speed, acceleration, past movement trajectory, etc. Furthermore, if the alert level determination is indeterminate, the detailed measurement operation is executed again and the alert level determination is performed again. As a result, the alert level (level 0, 1, 2, 3, 4, 5, etc.) is determined from the indeterminate state of the alert level determination, and the operation mode transitions according to the level.

[0219] For example, if the determined alert level is a relatively low level (levels 0 to 3), the operation state will transition to normal surveillance navigation (surveillance measurement operation), surveillance navigation for alert level 1, surveillance navigation for alert level 2, or surveillance navigation for alert level 3, depending on the alert level. If surveillance navigation is no longer necessary, surveillance measurement will be terminated.

[0220] If the determined alert level is relatively high (level 4-5) or if the monitored object is of a specific type that requires vigilance, the system will transition to a continuous acquisition or tracking operation state. If the system enters a position acquisition lost state, it will perform reacquisition monitoring, and if tracking or acquisition ends, it will perform an operation determination again.

[0221] (A-1-14. Display screen for users) 32 to 35, the display information displayed on the display unit 2510 and the display device of the collaborative system 5000, and the input reception screen of the user input reception unit 2520 will be described below.

[0222] (A-1-14-1. Initial detection result display screen) Fig. 32 is a diagram showing an example of a display screen for the initial detection determination result. Fig. 32 particularly shows an example of a display screen when the initial detection determination result by primary detection determination unit 2310 is displayed on display unit 2510. Note that similar information may also be displayed on the display device of cooperative system 5000.

[0223] As shown in Figure 32, the initial detection result, that an object has been detected in the sea, is highlighted at the top of the screen. Proposal information for detailed measurement operations after the initial detection judgment is also displayed. Buttons for inputting the user's response to the proposed information for detailed measurement operations are also provided on the display screen. In the example shown in this figure, two input buttons are displayed: "Approve measurement operation" and "Specify other measurement operations."

[0224] An image of the measurement data is also displayed in the lower left of the display screen. In this figure, an image of the shadow of an object detected by active sonar is displayed. In addition, detailed detection information such as the type, size, movement speed, position coordinates, water depth position, and direction of the detected object is displayed in the lower right of the display screen. Note that, since the position coordinate information of the detected object is important in initial detection judgment, at least the position coordinate information is displayed on the display screen of the initial detection results.

[0225] (A-1-14-2. Display screen when position acquisition is lost) Fig. 33 is a diagram showing an example of a display screen for information on the occurrence of position capture loss. Fig. 33 particularly shows an example of a display screen that is displayed on the display unit 2510 when position capture loss occurs during execution of a detailed measurement operation. Note that similar information may also be displayed on the display device of the cooperative system 5000.

[0226] As shown in Figure 33, the fact that the position of the detected object has been lost is highlighted at the top of the screen. In addition, recapture monitoring is suggested as a response action. Buttons for inputting the user's response to the response action suggestion are provided on the display screen. In the example shown in this figure, two input buttons are displayed: "Accept response action" and "Specify another action."

[0227] Also, at the bottom left of the display screen, there are displayed an input button for accepting the designation of the search area for reacquisition, and a map of the on-site sea area for commanding the search area. The on-site sea area map can display information (arc in the figure) about the communication range when the terrestrial base station 4000 and the unmanned watercraft 1000 communicate directly by radio. This display allows the user to designate and input the search area for reacquisition, taking into account the area where communication with the terrestrial base station 4000 is possible.

[0228] Furthermore, one or more predicted paths or predicted movement areas of the object determined by the object analysis unit 2300 can be displayed on the local sea area map. Such a display allows the user to specify and input a search area for recapture, taking into account the predicted movement path of the detected object whose position capture has been lost.

[0229] Also, in the lower right corner of the display screen, similar to FIG. 32, detailed detection information such as the type, size, moving speed, position coordinates, water depth position, and direction of the detected object is displayed.

[0230] (A-1-14-3. Display screen when detection is uncertain) Fig. 34 is a diagram showing an example of a display screen for indeterminate information of the detailed detection determination. Fig. 34 particularly shows an example of a display screen displayed on the display unit 2510 when the result of the detailed detection determination by the secondary detailed detection determination unit 2320 is indeterminate. Note that similar information may also be displayed on the display device of the cooperative system 5000.

[0231] As shown in Fig. 34, the fact that the result of the detailed detection judgment is indeterminate is highlighted at the top of the screen. In addition, a re-measurement operation is suggested and displayed as suggested information for the corresponding operation. In addition, buttons for inputting the user's response to the suggested information for the corresponding operation are provided on the display screen. In the example shown in this figure, two input buttons are displayed: "Approve measurement operation" and "Specify another measurement operation."

[0232] An image of the measurement data is displayed in the lower left of the display screen. In this figure, an image of the shadow of an object detected by the active sonar is displayed. In addition, detailed detection information such as the type, size, movement speed, position coordinates, water depth, and direction of the detected object is displayed in the lower right of the display screen.

[0233] (A-1-14-4. Detailed detection result display screen) Fig. 35 is a diagram showing an example of a display screen for the detailed detection determination results. Fig. 35 particularly shows an example of a display screen that is displayed on the display unit 2510 when the detection of a whale is confirmed as a result of the detailed detection determination by the secondary detailed detection determination unit 2320. Note that similar information may also be displayed on the display device of the cooperative system 5000.

[0234] As shown in Figure 35, the result of the detailed detection determination, which indicates that a whale has been detected, is highlighted at the top of the screen. Furthermore, as suggested information on countermeasures, an action to continue capturing is suggested and displayed. Furthermore, buttons for inputting the user's response to the suggested information on countermeasures are provided on the display screen. In the example shown in this figure, two input buttons are displayed: "Accept countermeasure" and "Specify another action."

[0235] An image of the measurement data is displayed in the lower left of the display screen. In this figure, an image of the shadow of a whale detected by active sonar is displayed. In addition, detailed detection information such as the type, size, movement speed, position coordinates, water depth, and direction of the detected object is displayed in the lower right of the display screen.

[0236] 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.

[0237] [A-2. Effects of this embodiment] The above-described embodiment can improve the efficiency of monitoring or investigating moving objects that move underwater, etc., using an unmanned vehicle, or can simultaneously improve the efficiency of monitoring or investigating and improve measurement accuracy. As an example, the device has at least two measurement operation modes: initial measurement, which allows measurement operations to be performed while moving, and detailed measurement, which acquires more detailed measurement data using coordinated or separate sonar by anchored or multiple unmanned vehicles, and by executing detailed measurement when a target object is initially detected by the initial measurement, it can simultaneously meet the two requirements of monitoring or investigating a vast area and performing detailed analysis of the detected object.

[0238] Furthermore, with this embodiment, there is no need to perform detailed detection operations, which take time from the time of initial detection measurement, and detailed measurements can be performed only when necessary, making it possible to perform operations using unmanned watercraft such as tracking, anticipating, and surrounding detected objects. [Explanation of symbols]

[0239] 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 section 1310...Thrust generation section 1320: Attitude control mechanism 1330: Navigation control unit 1400...Communication unit 1410...Unmanned vehicle communication unit 1420...Satellite communication unit 1430...External communication unit 1500: Determination unit 1510: Object detection determination unit 1520…Analysis necessity determination section 1600...Recording section 1610...Measurement data recording section 1620...Own aircraft status recording section 1630...Determination information recording section 1700: Separation state control unit 1710: Cable winding unit 1720... Winding control section 2000...Comprehensive control system 2100: Information import unit 2110: Pre-setting information acquisition unit 2120: Unmanned boat performance information acquisition unit 2130: Measurement data acquisition unit 2140…External information acquisition unit 2150…External intervention information acquisition unit 2200...Monitoring plan generation unit 2300...Object analysis unit 2310...Primary detection and determination unit 2320...Secondary detailed detection determination unit 2400...Operation command unit 2410...System state determination unit 2420... Measurement mode determination unit 2430... Monitoring and measurement operation command unit 2440…Detailed measurement operation command unit 2450...Other operation control unit 2500...User interface section 2510: Display unit 2520: User input reception unit 2600...Recording section 2700…Ministry of Information and Communications 3000...Communication satellite 4000...Ground base station 5000... Collaborative system 6000... External system 7000...Monitored objects

Claims

1. one or more unmanned vessels that are equipped with an acoustic wave measuring unit that measures underwater acoustic waves and that navigate on or underwater; an operation command unit that commands the unmanned watercraft to execute a first measurement operation using the sonic measurement unit; a measurement data acquisition unit that executes the first measurement operation and acquires first measurement data measured by the ultrasonic wave measurement unit; a first object determination unit that detects an underwater object based on the first measurement data, A control system in which, when the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned craft to perform a second measurement operation different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation.

2. 2. The control system of claim 1, the first measurement operation is a measurement operation in which the ultrasonic measurement unit performs ultrasonic measurement while a propulsion device of the unmanned watercraft is driven, The second measurement operation is a measurement operation in which the propulsion device of the unmanned watercraft is stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion device in the first measurement operation, and the ultrasonic measurement unit is performed in that state.

3. 3. The control system of claim 2, the sonic wave measurement unit has at least one of an active sonar or a passive sonar, the first measurement operation is a measurement operation that performs acoustic measurement using the active sonar or the passive sonar while driving at least one of the propulsion devices of the plurality of unmanned watercrafts, the second measurement operation is a measurement operation in which the propulsion devices of the plurality of unmanned watercraft are stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation, and acoustic measurement is performed using the active sonar.

4. 4. The control system of claim 3, the second measurement operation is a measurement operation in which the plurality of unmanned watercrafts are synchronized and acoustic measurements are performed using the plurality of active sonars while the propulsion devices are stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation.

5. 2. The control system of claim 1, the sonic wave measuring unit has an active sonar, The second measurement operation is a measurement operation that performs acoustic measurement using the active sonar while performing attitude angle maintenance control that maintains the attitude angle, including at least the yaw angle, of the unmanned craft constant or approximately constant, in a control system.

6. 2. The control system of claim 1, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, the first measurement operation is a measurement operation in which the ultrasonic measurement unit performs ultrasonic measurement while a propulsion device of the unmanned watercraft is driven, The second measurement operation is a measurement operation in which the separate sonar is positioned on or underwater at a position at least a predetermined distance away from the unmanned craft, and performs acoustic measurement.

7. 2. The control system of claim 1, When the relative distance between the unmanned craft and the underwater object when the first measurement operation is performed is defined as a first relative distance, The second measurement operation is a measurement operation in which the unmanned vessel is moved to a position where a second relative distance between the unmanned vessel and the underwater object is shorter than the first relative distance, and an ultrasonic measurement is performed using the ultrasonic measurement unit installed on the unmanned vessel, a control system.

8. 2. The control system of claim 1, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, When the relative distance between the ultrasonic wave measuring unit mounted on the unmanned watercraft and the underwater object when the first measurement operation is performed is defined as a first relative distance, A control system in which the second measurement operation performs acoustic measurement using the separated sonar while the separated sonar is located at a position above or underwater where a second relative distance between the separated sonar and the underwater object is shorter than the first relative distance.

9. 2. The control system of claim 1, the first measurement operation is a measurement operation in which the ultrasonic measurement unit provided on the unmanned watercraft performs ultrasonic measurement on the underwater object, A control system, wherein the second measurement operation is a measurement operation in which a plurality of the ultrasonic measurement units mounted on a plurality of the unmanned boats perform ultrasonic measurements of the underwater object from a plurality of different directions.

10. 2. The control system of claim 1, the sonic measurement unit has a detachable sonar that is detachable from the unmanned watercraft while being connected to the unmanned watercraft by a cable, the first measurement operation is a measurement operation in which the ultrasonic measurement unit provided on the unmanned watercraft performs ultrasonic measurement of the underwater object, A control system in which the second measurement operation is a measurement operation in which acoustic measurements of the underwater object are performed from multiple different directions using multiple separate sonars mounted on one or more of the unmanned boats, or a measurement operation in which acoustic measurements of the underwater object are performed from multiple different directions using the acoustic measurement unit provided on the unmanned boat and the separate sonars.

11. 2. The control system of claim 1, A control system in which the second measurement operation includes, in addition to a measurement operation of acquiring the second measurement data using the ultrasonic measurement unit, a measurement operation of measuring optical image data, infrared image data, point cloud data, radar measurement data, or other sea state data for underwater, on the water surface, or airspace above the water surface.

12. 2. The control system of claim 1, A control system comprising a second object determination unit that determines information or a state of the underwater object based on the second measurement data.

13. 13. The control system of claim 12, The operation command unit determines whether or not the underwater object needs to be tracked by the unmanned craft depending on the determination result of the second object determination unit.

14. 13. The control system of claim 12, A control system in which the operation command unit commands the unmanned craft to perform the first measurement operation when it determines, based on the judgment result of the second object judgment unit, that tracking of the underwater object by the unmanned craft is unnecessary.

15. 13. The control system of claim 12, When the determination result of the information or state of the underwater object by the second object determination unit is indeterminate, The operation command unit commands the unmanned craft to re-execute the second measurement operation.

16. 2. The control system of claim 1, a notification unit that notifies or displays a determination result of the first object determination unit to a user, A control system in which, when the first object determination unit detects the underwater object, the notification unit notifies or displays at least one of the fact that the underwater object has been detected by the first object determination unit, information or status regarding the underwater object determined by the first object determination unit, and the first measurement data.

17. 13. The control system of claim 12, a notification unit that notifies or displays a determination result of at least one of the first object determination unit and the second object determination unit to a user, A control system in which, when the second object determination unit determines information or a state regarding the underwater object, the notification unit notifies or displays at least one of the information or a state regarding the underwater object determined by the second object determination unit and the second measurement data.

18. 2. The control system of claim 1, a user input receiving unit that receives input information from a user; The user input receiving unit receives request information regarding data transmission of the first measurement data or the second measurement data.

19. 20. The control system of claim 18, The request information received by the user input receiving unit includes request information for one of data transmission priority conditions: time priority transmission, detailed data priority transmission, and communication data capacity priority transmission.

20. 2. The control system of claim 1, a user input receiving unit that receives input information from a user; A control system in which the user input receiving unit receives requested information regarding additional measurement operations using the ultrasonic measurement unit or other measurement sensors mounted on the unmanned craft.

21. 2. The control system of claim 1, a user input receiving unit that receives input information from a user; The user input receiving unit is a control system that receives an input specifying a measurement area in which the ultrasonic measurement unit mounted on the unmanned watercraft will perform ultrasonic measurement.

22. 13. The control system of claim 12, a user input receiving unit that receives input information from a user; A control system in which, when information or a state regarding the underwater object is determined by the second object determination unit, the user input receiving unit receives request information to perform a third measurement operation different from the first measurement operation and the second measurement operation, or the first measurement operation.

23. 2. The control system of claim 1, A control system comprising a recording unit that records at least any of the first measurement data, the second measurement data, the determination result by the first object determination unit, the determination result by the second object determination unit that determines information or status about the underwater object based on the second measurement data, command information by the operation command unit, information received by a user input receiving unit that receives input information from a user, operation history information of the unmanned watercraft, information about detection loss of the underwater object, optical image data or infrared image data of underwater, above the water surface, or airspace above the water surface, or other sea state data.

24. A control method for a system that detects underwater objects using an unmanned vessel traveling on or underwater, the system comprising an acoustic wave measuring unit that measures underwater acoustic waves, the method comprising: The computer a first measurement operation command step of commanding execution of a first measurement operation using the sonic measurement unit, which is executed by the unmanned watercraft; a first measurement data acquisition step of executing the first measurement operation and acquiring first measurement data measured by the ultrasonic wave measurement unit; a first object determination step of detecting an underwater object based on the first measurement data; A control method that executes a second measurement operation command step of commanding the unmanned vessel to perform a second measurement operation different from the first measurement operation when the underwater object is detected based on the first measurement data by the first object determination step, or a second measurement data acquisition step of acquiring second measurement data obtained by the second measurement operation.

25. A program that can be used in a system that detects underwater objects using an unmanned vessel traveling on or underwater, the system comprising: an acoustic wave measuring unit that measures underwater acoustic waves; On the computer, a first measurement operation execution command that commands the unmanned watercraft to execute a first measurement operation using the sonic measurement unit; a first measurement data acquisition command for executing the first measurement operation and acquiring first measurement data measured by the ultrasonic wave measurement unit; a first object determination command for detecting an underwater object based on the first measurement data; A program that executes the first object determination command, and when the underwater object is detected based on the first measurement data, executes a second measurement operation execution command that instructs the unmanned vessel to execute a second measurement operation different from the first measurement operation, or a second measurement data acquisition command that acquires second measurement data obtained by the second measurement operation.

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