Control system, control method, and program

Abstract

According to the present invention, when using multiple groups having multiple mobile bodies to carry out activities for the purpose of exploration, inspection, survey, etc., these activities can be carried out more safely or more efficiently. [Solution] A control system for controlling the operation of multiple groups, which include at least a first group having multiple mobile bodies and a second group having multiple other mobile bodies, comprising: an activity condition acquisition unit that acquires information on the activity conditions of the multiple mobile bodies; a group operation determination unit that makes decisions on at least one of the group organization, assigned operations, assigned areas, movement paths, and formations for each of the multiple groups based on the information acquired by the activity condition acquisition unit; and a group operation control unit that controls at least one of the group organization, assigned operations, operation execution in the assigned area, movement paths, and formations of the multiple groups according to the decisions made by the group operation determination unit.

Description

Technical Field

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

Background Art

[0002] For example, in a marine area, for the purpose of preventing nuisance acts and illegal fishing by ships sailing on the sea or divers diving in the sea, for the purpose of inspecting offshore infrastructure, or for the purpose of ecological surveys of marine organisms such as whales and dolphins, marine monitoring by manned ships has been conventionally carried out. However, since the range of the marine area to be monitored, inspected, or surveyed is extremely vast, there is a limit to the area where monitoring, inspection, and survey can be carried out by manned ships, and there is a need to perform monitoring, inspection, and survey more efficiently. Also, in such a background, in recent years, the utilization of moving bodies such as a plurality of unmanned ships has been studied and is expected to be utilized for the above-described monitoring, inspection, and survey.

[0003] As a technique for controlling a plurality of unmanned aerial vehicles, Patent Document 1 discloses a control device including: other - aircraft information acquisition means for acquiring information on the states of other aircraft while each aircraft constituting an unmanned - aircraft group autonomously makes an action selection to optimize the actions of the entire unmanned - aircraft group; action comparison means for acquiring information on the states of other aircraft from the other - aircraft information acquisition means, acquiring sensor signals including information on the state of its own aircraft, and calculating comparison values for a plurality of types of actions that its own aircraft should take using the acquired information on its own aircraft and other aircraft; action selection means for selecting an action that its own aircraft should take based on the comparison values of the plurality of types of actions calculated by the action comparison means; operation - amount calculation means for calculating the operation amount of its own aircraft using the information on the action selected by the action selection means and the information on the states of other aircraft obtained from the other - aircraft information acquisition means; and operation setting means for setting an operation setting value of an actuator for operating its own aircraft using the calculation result of the operation - amount calculation means.

Prior - Art Documents

Patent Documents

[0004] [Patent Document 1] Re-tabled publication No. 2018-105599 [Overview of the project] [Problems that the invention aims to solve]

[0005] In marine areas and other large target areas, deploying more mobile units to achieve objectives more efficiently is required. When determining and controlling the movements of such a large number of mobile units with limited resources, the units are divided into multiple groups, and operational roles and control are performed for each group.

[0006] Although Patent Document 1 discloses a method for controlling the operation of multiple unmanned aerial vehicles (UAVs), it does not consider dividing the UAVs into multiple groups and controlling the operation of each group separately. Furthermore, when controlling the operation of each group, it is necessary to avoid collisions with moving objects from other groups. Alternatively, when the purpose of the activities is to prevent nuisance activities or illegal fishing by ships navigating the sea or divers navigating underwater, to inspect offshore infrastructure, or to conduct ecological surveys of marine life such as whales and dolphins, it is necessary to improve the efficiency of monitoring, inspecting, and surveying multiple groups as a whole. In some cases, it may be desirable to change the group composition depending on the situation.

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

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

[0009] According to the present invention, when using multiple groups having multiple mobile bodies to carry out activities for the purpose of exploration, inspection, survey, etc., these activities can be carried out more safely or more efficiently. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of control system 1 according to one embodiment of the present invention. [Figure 2] This figure shows an example of an implementation image when the control system 1 is implemented in real space. [Figure 3] This is a diagram showing the stakeholders related to control system 1. [Figure 4] This is a diagram showing the configuration of group 1010, which consists of unmanned vessels 1000. [Figure 5] This is a conceptual diagram showing 1,000 unmanned vessels deployed in an ocean area monitoring 7,000 targets. [Figure 6] This is a functional block diagram showing the functional configuration of the unmanned vessel 1000. [Figure 7] This is a functional block diagram showing the functional configuration of the 2000 integrated control system. [Figure 8] This is a hardware configuration diagram of the 2000 integrated control system. [Figure 9] It is a flowchart showing the processing flow of the control system 1. [Figure 10] It is a sequence diagram showing the exchange of signals between systems within the control system 1. [Figure 11] It is a diagram showing an example of pre-acquisition information acquired by the information import unit 2100. [Figure 12] It is a diagram showing an example of activity condition information received from the user. [Figure 13] It is a flowchart showing an example of the operation plan determination process flow by the operation plan determination unit 2300. [Figure 14] It is a diagram showing an example of the operation plan determined by the operation plan determination unit 2300. [Figure 15] It is a diagram showing a list of operation roles assigned to multiple groups by the operation plan determination unit 2300. [Figure 16] It is a flowchart showing an example of the activity state determination process flow by the state determination unit 2400. [Figure 17] It is a diagram showing a list of the determination process contents of the internal state of the group by the group internal state determination unit 2410. [Figure 18] It is a state transition diagram of the internal state of the group determined by the group internal state determination unit 2410. [Figure 19] It is a flowchart showing an example of the operation determination process flow for each group by the group operation determination unit 2500. [Figure 20] It is a diagram showing an example of a collision avoidance operation for changing the movement path of the group. [Figure 21] It is a diagram showing an example of a collision avoidance operation for changing the formation shape of the group. [Figure 22] It is a diagram showing an example of a collision avoidance operation due to passing of the group. [Figure 23] It is a flowchart showing an example of the operation control process flow for each group by the group operation control unit 2600. [Figure 24]It is a diagram showing an example of how a group operation control unit 2600 cooperatively controls a plurality of groups. [Figure 25] It is a flowchart diagram of an operation control processing flow of the unmanned boat 1000 within each group by the in-group operation control unit 2640. [Figure 26] It is a diagram showing an example of how the in-group operation control unit 2640 controls the positions of a plurality of unmanned boats 1000 within a group. [Figure 27] It is a flowchart diagram showing an example of a control processing flow of a search operation for each group by the group operation control unit 2600. [Figure 28] It is a diagram showing an example of a determination result of a measurement density distribution by the measurement density adjustment operation control unit 2630. [Figure 29] It is a flowchart diagram showing an example of a control processing flow of a passing operation of a plurality of groups by the group operation control unit 2600. [Figure 30] It is a diagram showing an example of a branch connection formation, which is an example of a formation pattern of group 1010. [Figure 31] It is a diagram showing an example of a substantially V-shaped formation, which is an example of a formation pattern of group 1010. [Figure 32] It is a diagram showing a plurality of other examples of the substantially V-shaped formation of group 1010. [Figure 33] It is a diagram showing an example of a substantially rectangular formation, which is an example of a formation pattern of group 1010. [Figure 34] It is a diagram showing two examples of an avoidance formation, which is an example of a formation pattern of group 1010. [Figure 35] It is a diagram showing an example of a formation for narrow passages in the formation pattern of group 1010. [Figure 36] It is a diagram showing another example of a formation for narrow passages in the formation pattern of group 1010. [Figure 37] It is a diagram showing another example of a formation for narrow passages in the formation pattern of group 1010.

Embodiments for Carrying Out the Invention

[0011] The embodiments of the present invention are described below. The present invention has the following configuration. [Item 1] A control system for controlling the operation of multiple groups, which include at least a first group having multiple moving bodies and a second group having multiple other moving bodies, An activity condition acquisition unit that acquires information regarding the activity conditions of multiple aforementioned mobile bodies, A group action determination unit makes a decision regarding at least one of the following for each of the multiple groups, based on the information acquired by the activity condition acquisition unit: group organization, assigned actions, assigned areas, movement routes, and formations. A control system comprising a group action control unit that controls at least one of the following for the multiple groups: the group organization, the execution of the assigned action, the execution of the action in the assigned area, the movement path, and the formation, according to the decision of the group action determination unit. [Item 2] In the control system described in item 1, The group formation decision information by the group operation decision unit includes: A control system comprising: information for determining the number of multiple mobile bodies included in the first group or the second group; information for determining whether or not to change the organization of the first group or the second group; information for determining whether to increase or decrease the number of multiple mobile bodies included in the first group or the second group; or information for determining whether to move or swap multiple mobile bodies between the first group and the second group. [Item 3] In the control system described in item 1 or 2, The decision information regarding the assignment operation by the group operation determination unit includes: A control system that includes decision information to assign at least one of the following operations to at least one of the first group and the second group: object search, object tracking, object encirclement, object preemption, object handover, object tracking, communication relay, data analysis, data transmission, data storage, preparation, termination operation, standby, and recharge. [Item 4] In the control system described in any of items 1 to 3, The decision information by the group operation determination unit includes: Information for determining whether or not an avoidance action is necessary to avoid contact between the moving bodies belonging to the first group and the second group, Alternatively, as the avoidance action, decision information to bypass at least one of the movement paths of the first group and the second group, Alternatively, as the avoidance action, decision information to change the formation of at least one of the first group and the second group to an avoidance formation, Alternatively, a control system that includes decision information to perform a passing maneuver between the first group and the second group, such that at least a portion of the areas where the first group and the second group are deployed overlap, as the avoidance maneuver. [Item 5] In a control system described in any of items 1 to 4, The decision information by the group operation determination unit includes: A control system that includes determination information for at least one of the following: representative positions of the first group and the second group, or movement paths of the first group and the second group, formation, reduction or expansion of the distance between the moving bodies within the groups, so as to maintain a distance of at least a predetermined value between the moving bodies belonging to the first group and the second group. [Item 6] In a control system described in any of items 1 to 5, When searching for an object using measurement sensors mounted on multiple moving bodies included in the aforementioned group, the group operation determination unit determines the following: A control system that includes decision information regarding at least one of the movement paths, formations, and reductions or increases in the distance between moving objects within a group of at least one of the first group and the second group, such that the measurement density distribution calculated by the measurement sensors for each area satisfies a predetermined target value. [Item 7] In a control system described in any of items 1 to 6, The information regarding activity conditions acquired by the aforementioned activity condition acquisition unit includes: A control system that includes information on at least one of the following: the activity area of ​​a plurality of mobile bodies, the date and time of activity, information on objects detected by measuring sensors mounted on the mobile bodies, the alert level of the activity, and the measurement density distribution calculated by the measuring sensors for each area. [Item 8] In a control system described in any of items 1 to 7, The system includes an operation plan determination unit that generates operation plans for the multiple groups, including at least the first group and the second group, or a state determination unit that determines information regarding the state of the multiple groups, The group operation determination unit is a control system that makes decisions regarding at least one of the group organization, assigned operations, assigned areas, movement paths, and formations of the first group and the second group, based on the operation plans or states of the multiple groups. [Item 9] In a control system described in any of items 1 to 8, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes group internal states, which include at least one of the abnormal state, fault state, or charging state of the moving bodies belonging to the first group and the second group. [Item 10] In a control system described in any of items 1 to 9, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes the operating states of the mobile body, which include at least one of the following by the first group and the second group: searching for an object, tracking an object, surrounding an object, getting ahead of an object, taking over tracking of an object, relaying communications, analyzing data, transmitting data, storing data, preparation, termination, standby, and recharge. [Item 11] In a control system described in any of items 1 to 10, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes the measurement density distribution for each area, measured by measurement sensors mounted on the mobile bodies belonging to the first group and the second group. [Item 12] In a control system described in any of items 1 to 11, The group operation determination unit is a control system that determines a priority for each group based on the operation plans of the multiple groups generated by the operation plan determination unit, the current state of the multiple groups determined by the state determination unit, or information acquired by the activity condition acquisition unit. [Item 13] In a control system described in any of items 1 to 12, The group operation determination unit, when the priority of the second group is higher than the priority of the first group, A control system that determines the number of the moving bodies belonging to the second group to be greater than the number of the moving bodies belonging to the first group, or increases the number of the moving bodies belonging to the second group, or decides to move at least a portion of the moving bodies belonging to the first group to the second group. [Item 14] In a control system described in any of items 1 to 13, The group operation determination unit, when the priority of the second group is higher than the priority of the first group, A control system that decides to replace a mobile body belonging to the second group that is detected to be in an abnormal state, malfunction state, or insufficient charge state with a mobile body belonging to the first group. [Item 15] In a control system described in any of items 1 to 14, The group operation determination unit is a control system that, in accordance with the determination results of the assignment operations for the first group and the second group, determines the number of multiple mobile bodies belonging to the first group or the second group, determines whether or not to change the composition of the first group or the second group, determines whether to increase or decrease the number of multiple mobile bodies included in the first group or the second group, or determines whether to move or swap the multiple mobile bodies between the first group and the second group. [Item 16] In a control system described in any of items 1 to 15, When performing an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, and the priority of the second group is higher than the priority of the first group, A control system in which the group action determination unit determines the execution of at least one of the following as the avoidance action: changing the movement path of the first group, changing the formation of the first group as the avoidance action, or reducing or increasing the distance between moving objects within the group as the avoidance action. [Item 17] In a control system described in any of items 1 to 16, When searching for an object using measurement sensors mounted on multiple mobile bodies belonging to the aforementioned multiple groups, and external measurement sensors mounted on an external cooperative system, The group operation determination unit is a control system that generates a movement path capable of measuring the boundary area between the external search area and the activity area at a predetermined or greater frequency, based on information regarding the external search area and the activity area of ​​the multiple moving bodies provided by the cooperative system. [Item 18] In a control system described in any of items 1 to 17, The group operation determination unit is, As an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, when changing the formation of at least one of the first group and the second group, A control system that determines a formation to be changed to one of the following: a partially modified formation that deforms a part of at least one of the formations of the first group and the second group; a compressed formation that compresses the deployment area of ​​the formation; or a divided formation that divides the formation into two or more. [Item 19] In a control system described in any of items 1 to 18, As an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, when a passing maneuver is performed in which at least a portion of the areas of the first group and the second group overlap, The group operation determination unit is a control system that, as the passing operation, performs a passing maneuver so as to pass through the gap between at least some of the moving bodies belonging to the first group and the second group. [Item 20] In a control system described in any of items 1 to 19, The group operation determination unit is a control system that, as an avoidance operation to avoid contact between the moving bodies belonging to the first group and the second group, swaps the moving bodies belonging to the first group and the moving bodies belonging to the second group when the first group and the second group approach within a predetermined distance of each other. [Item 21] A control method for controlling the operation of multiple groups, which include at least a first group having multiple moving bodies and a second group having multiple other moving bodies, Computers An activity condition acquisition step to acquire information regarding the activity conditions of multiple mobile bodies, A group action determination step is performed based on the information obtained in the activity condition acquisition step, which determines at least one of the group composition, assigned actions, assigned areas, movement routes, and formations for each of the multiple groups. A group action control step controls at least one of the following for the multiple groups: the group organization, the execution of the assigned action, the execution of the action in the assigned area, the movement path, and the formation, according to the decision made in the group action determination step. A control method for execution. [Item 22] A program for controlling the operations of a plurality of groups including at least a first group having a plurality of moving bodies and a second group having a plurality of other moving bodies, to cause a computer an activity condition acquisition command for acquiring information on the activity conditions of the plurality of moving bodies, and a group operation determination command for making a determination regarding at least any one of the group formation, assigned operations, assigned areas, movement routes, and formations for each group of the plurality of groups based on the information acquired by the activity condition acquisition command, a group operation control command for controlling at least any one of the group formation, the assigned operations, the operations in the assigned area, the movement route, and the formation of the plurality of groups according to the determination content by the group operation determination command, a program for causing execution.

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

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

[0014] ) (A-1-1-1. Outline of System Configuration) Figure 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "System 1") according to one embodiment of the present invention. As shown in Figure 1, the control system 1 comprises an unmanned vessel 1000 and a central control system 2000. The central control system 2000 is configured to communicate with an external cooperative system 5000 and an external system 6000 via an internet connection or the like, and can input and output information. The central control system 2000 can transmit control commands to the unmanned vessel 1000 deployed at sea via a ground base station 4000 and a communication satellite 3000, and can also receive the operating status and measurement data of the unmanned vessel 1000.

[0015] The unmanned vessel 1000 is equipped with a master unit 1001 that can communicate with the communication satellite 3000, and slave units 1002 that can communicate directly or indirectly with the master unit 1001, and a communication network is established between multiple slave units 1002 and the master unit 1001. In addition, the multiple slave units 1002 and the master unit 1001 have the function of measuring objects 7000, including ships, divers, floating objects, people adrift, marine life such as whales, breakwaters, harbor areas, offshore infrastructure facilities (wind power generation facilities, wave power generation facilities, offshore plants, offshore runways, etc.), floating buoys, fish farms, and other objects, using measurement sensors mounted on the vessel (optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter-wave sensors and microwave sensors, sound wave sensors such as sonar, etc.).

[0016] The detection results and measurement data of the objects 7000 detected by the unmanned vessel 1000, as well as various information on the operational status of the unmanned vessel 1000, are transmitted to the central control system 2000 via the communication satellite 3000 and the ground base station 4000. The central control system 2000 determines operational commands for the unmanned vessel 1000 based on the information acquired from the unmanned vessel 1000, pre-registered information, and user input information. The generated operational commands and other information are transmitted to the cooperative system 5000, and intervention commands can also be obtained from the cooperative system.

[0017] (A-1-1-2. Example of implementing control system 1 in real space) Figure 2 shows an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Figure 2, a ground base station 4000 and a central control system 2000 are provided on the ground side, as shown in the upper right of the diagram. In addition, a cooperative system 5000 is provided on the ground side, which includes facilities of external cooperating organizations such as private organizations (including private security organizations, marine research organizations, infrastructure inspection organizations, and private rescue organizations). Furthermore, an external system 6000 is provided, such as an AIS (Automatic Identification System) control center and AIS base stations, which acquire information about ships navigating the ocean via wireless communication and manage this ship information.

[0018] On the other hand, on the ocean side shown on the left of the diagram, a portion of the cooperative system 5000 is deployed, including the unmanned vessel 1000, the objects 7000 that are the targets for monitoring, inspection, or investigation, and research vessels operated by external cooperating organizations. The unmanned vessel 1000 also has multiple groups (1010a, 1010b, 1010c) consisting of a master unit and multiple slave units, and each group can communicate directly or via the communication satellite 3000. The unmanned vessel 1000 can also communicate with the research vessel directly or via the communication satellite 3000, and for example, detection information regarding the objects 7000 can be notified from the unmanned vessel 1000 to the research vessel. The unmanned vessel 1000 may also be connected to an AIS base station to acquire AIS information.

[0019] In the example shown in Figure 2, the central control system 2000 is shown to be implemented in a land-based facility. However, it is not limited to this, and all or part of the functions implemented in the central control system 2000 shown in this embodiment can be installed on other land-based coastal field bases or manned mother ships at sea (not shown), and the operation and management of the unmanned vessel 1000 can be performed at the coastal field bases or manned mother ships.

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

[0021] Furthermore, the Cooperative System 5000 includes systems for, for example, private security organizations, marine research organizations, infrastructure inspection organizations, private rescue organizations, and other external cooperative organizations. Private security organizations have monitoring supervisors at their facilities and monitoring personnel on their patrol boats, who work together to monitor suspicious vessels and disruptive activities in marine areas. Marine research organizations have research supervisors at their facilities and researchers on their research vessels, who work together to conduct surveys of marine life and other organisms in marine areas. Infrastructure inspection organizations have infrastructure inspection supervisors at their facilities and inspectors on their inspection vessels, who work together to inspect the facilities under inspection. In addition, the AIS control center of the External System 6000 has personnel responsible for generating, operating, and managing AIS information.

[0022] Furthermore, the objects 7000 that are monitored and investigated by the control system 1 and the coordination system 5000 include ships, divers, marine life (such as whales), offshore buoys, wind power generation facilities, fish farms, and other offshore equipment. By communicating and coordinating with the coordination system 5000 and the external system 6000, the control system 1 can more efficiently monitor, inspect, or investigate the objects 7000.

[0023] (A-1-3. Configuration of the 1000 unmanned vessels) Figure 4 is a diagram showing a group 1010 composed of unmanned vessels 1000. As shown in Figure 4, one or more groups 1010 (1010a, 1010b) are composed of unmanned vessels 1000. Each group 1010 includes at least one master unit 1001 and multiple slave units 1002. The master unit 1001 communicates with an external communication system such as a communication satellite 3000, aggregates information collected from the multiple slave units 1002 and transmits it to the communication satellite 3000, and also has the function of directly or indirectly transmitting information related to operation commands acquired from the communication satellite 3000 and information it generates itself to each slave unit 1002. Furthermore, the communication path between the ground-side central control system 2000 and group 1010 is not limited to the communication path via the communication satellite 3000 and the master unit 1001. For example, other communication paths may be used, such as a communication configuration in which the ground base station 4000 and each unmanned vessel (master unit and slave unit) are directly connected via wireless communication, or a communication configuration in which another communication satellite (such as a VDES satellite) connected to the ground base station 4000 is directly connected via wireless communication to each unmanned vessel (master unit and slave unit). Alternatively, these communication paths may be combined to create redundant communication paths.

[0024] Group 1010a, shown in Figure 4, comprises a primary connected slave unit 10021 that communicates with the master unit 1001, a secondary connected slave unit 10022 that communicates with the primary connected slave unit 10021, and a tertiary connected slave unit 1023 that communicates with the secondary connected slave unit 10022. Each slave unit (primary connected slave unit 10021, secondary connected slave unit 10022, and tertiary connected slave unit 1023) has the function of relaying information received from other master units 1001 or slave units 1002 to other master units 1001 or slave units 1002, thereby forming a communication network between the master unit 1001 and the multiple slave units 1002.

[0025] Here, Figures 1 to 4 illustrate a system configuration for conducting monitoring, inspection, and survey activities in a target area such as a marine area using multiple unmanned vessels 1000. However, in this invention, it is possible to use mobile bodies other than the unmanned vessels 1000, which are unmanned vessels that navigate on water. In other words, this invention can be applied to vehicles that can travel on land, aircraft that can fly in the air, underwater mobile bodies that can move underwater, and other mobile bodies. Furthermore, this invention can be applied to autonomously moving or remotely controlled unmanned aircraft as mobile bodies, but is not limited to these, and it is also possible to apply manned mobile bodies.

[0026] Figure 5 is a conceptual diagram showing how unmanned vessels 1000 deployed in an ocean area monitor objects 7000. As shown in Figure 5, multiple unmanned vessels (master unit 1001, slave units 10021, 10022, 10023) are deployed on the sea, and each unmanned vessel 1000 is equipped with a measurement sensor 1110 that can measure objects 7000 within its measurable range. Measurement data and detection judgment results of objects 7000 detected by the measurement sensor 1110 are collected by the master unit 1001 via a wireless communication network between the unmanned vessels 1000, transmitted from the master unit 1001 to the communication satellite 3000, and then transmitted to the central control system 2000 via a ground base station 4000 and the internet. Furthermore, each unmanned vessel 1000 is equipped with a navigation unit 1300 that allows it to navigate in any direction, and can perform detailed measurement operations on the target object 7000 based on operation commands generated by the overall control system 2000 or the master unit 1001.

[0027] As described in Figures 1 to 5, the configuration of this embodiment describes an example in which a non-terrestrial network using a communication satellite 3000 or other communication satellites placed in geosynchronous orbit, medium orbit (MEO), low Earth orbit, or other orbits is used as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned craft 1000. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aerial vehicle called a HAPS (High Altitude Platform Station) can also be used. In this case, for example, an unmanned aerial vehicle that circles at an altitude of about 8 to 50 km can be used. Furthermore, as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned craft 1000, it is also possible to use a communication network that directly connects the ground base station 4000 to the unmanned craft 1000 via wireless communication, without going through the communication satellite 3000 or HAPS. Note that the ground base station 4000 is not limited to a stationary fixed base station, but may also consist of a mobile base station.

[0028] Furthermore, as the communication network for sending and receiving information between the central control system 2000 and the unmanned vessel 1000, any of the above-mentioned communication networks (non-terrestrial network using communication satellites, non-terrestrial network using unmanned aircraft, and communication network directly connecting the ground base station 4000 to the unmanned vessel 1000 via wireless communication) can be applied, but is not limited to these. It is also possible to combine the above-mentioned communication networks to create redundancy in the communication path using multiple communication networks.

[0029] (A-1-4. Configuration of the 1000 unmanned vessels) Next, using Figure 6, the functions implemented in the unmanned vessel 1000 and their contents will be explained. In this invention, the unmanned vessel 1000 is a mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and can also be composed of a mobile buoy equipped with a thrust generating unit.

[0030] Figure 6 is a functional block diagram showing the functional configuration of the unmanned vessel 1000. Although Figure 6 describes the functional block diagram of the unmanned vessel 1000, the master unit 1001 and slave unit 1002 of the unmanned vessel 1000 can implement the same functions as shown in Figure 6. The unmanned vessel 1000 is equipped with a measurement unit 1100, a self-state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0031] The measurement unit 1100 is a functional unit that detects objects 7000 that exist within the measurable range around the unmanned vessel 1000 using a measurement sensor 1110 and acquires measurement information about the objects 7000. The measurement unit 1100 comprises a measurement sensor 1110 and a measurement control unit 1120.

[0032] #A011002# The measurement sensor 1110 may include one (monocular) or more electro-optical sensors for acquiring image data on the sea surface, optical sensors such as optical cameras, infrared sensors (IR sensors), and stereo cameras, laser sensors such as LiDAR for acquiring point cloud data, optical distance measuring sensors such as ToF sensors (Time of Flight sensors), and radar sensors for detecting millimeter waves and microwaves. By measuring the area around the unmanned vessel 1000, the measurement sensor 1110 acquires measurement data for 7000 objects within the measurable range on the sea surface. Furthermore, each of the above sensors can be used as a distance measuring sensor to measure the distance to an object based on the measurement data.

[0033] Furthermore, the measurement sensor 1110 may also have an acoustic wave sensor (also called an acoustic wave measurement unit) that includes a sonar that utilizes sound waves such as ultrasound, in addition to the sensors described above. The acoustic wave sensor can be used not only underwater but also in the air above the water. When the acoustic wave sensor is used in the air, it can be used as a distance measuring sensor to measure the distance to an object by measuring the sound waves that are reflected back from the object after being generated. When the acoustic wave sensor is used underwater, it may be either an active sonar that generates sound waves and measures the sound waves that resonate from objects in the water, or a passive sonar that measures the sound emitted from objects in the water. The active sonar can be configured as, for example, a side-scan sonar, a multi-beam sonar, or a single-beam sonar. The acoustic wave sensor may also be configured as a USBL transceiver or an acoustic communication modem.

[0034] Furthermore, the measurement control unit 1120 controls the attitude angle of at least one of the three axes of the measurement sensor 1110 relative to the unmanned vessel 1000 by operating a sensor attitude changing device that can change the attitude of the measurement sensor 1110. Also, for example, if the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. Also, if the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiating laser. Also, if the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. Also, if the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

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

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

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

[0038] Next, the navigation unit 1300 comprises a thrust generation unit, an attitude control mechanism, and a navigation control unit, and is a functional unit that navigates the master unit 1001 in any direction according to operation commands received via the communication unit 1400. The thrust generation unit is composed of, for example, a propeller, and can generate thrust by driving the propeller using the power of an engine or electric motor. The thrust generation unit 1310 can also be composed of a sail that generates thrust by receiving wind, or it can be composed of a wave glider that generates thrust by receiving wave force.

[0039] The attitude control mechanism consists of a rudder plate mounted on the aircraft and a propeller attitude change mechanism that can change the attitude angle of the propeller (mainly the yaw angle around the Z axis). By changing these angles, the direction of the nose (yaw angle) of the unmanned vessel 1000 can be controlled. In addition, the attitude angles of the aircraft, namely the roll angle around the X axis and the pitch angle around the Y axis, can also be controlled by a center of gravity position change mechanism that changes the position of heavy objects inside the aircraft using actuators.

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

[0041] The processing unit includes a control module configured to control the aircraft's navigation state. For example, the control module adjusts the aircraft's position on the sea surface, speed, acceleration / deceleration, heading, turning speed, and attitude angles around the three axes. In other words, the navigation control unit 1330 controls the aircraft's navigation by causing it to perform various actions such as moving forward, backward, accelerating, decelerating, and turning.

[0042] Next, the communications unit 1400 comprises an inter-unmanned vessel communications unit 1410, a satellite communications unit 1420, and an external communications unit 1430, and is a functional unit that communicates with other unmanned vessels 1000 within group 1010, a communications satellite 3000, and external aircraft 8100, submarines 8200, patrol boats, and AIS base stations. The inter-unmanned vessel communications unit 1410 is equipped with a communications antenna for inter-unmanned vessel communications and communicates with other unmanned vessels 1000 within group 1010. The satellite communications unit 1420 is equipped with a satellite communications antenna and communicates with the communications satellite 3000. The external communications unit 1430 is equipped with an AIS antenna and a VHF antenna and communicates with external patrol boats and AIS base stations.

[0043] Next, the determination unit 1500 is a functional unit that performs determinations regarding the object 7000. The determination unit 1500 reads the measurement data acquired by the measurement sensor 1110 and determines the presence or absence of the object, the size of the object, and so on.

[0044] The determination unit 1500 determines whether or not to transmit the measurement data to the integrated control system 2000 and perform object analysis based on the interpretation information of the measurement data. For example, even if the determination unit 1500 detects an object, if it determines that the estimated size of the object is smaller than a predetermined value and that there is a high probability that it is an object other than the target object 7000, or that it is not an object that the unmanned vessel 1000 should avoid colliding with, it can determine that it is unnecessary to transmit the measurement data to the integrated control system 2000. On the other hand, if the estimated size of the object detected by the determination unit 1500 is larger than a predetermined standard, it can determine that there is a high probability that it is a ship, marine organism, etc., which is the target object 7000, and therefore it is necessary to transmit the measurement data to the integrated control system 2000. Alternatively, if there is a high probability that it is an object that the unmanned vessel 1000 should avoid colliding with, it can also determine that it is necessary to transmit the measurement data to the integrated control system 2000.

[0045] Next, the recording unit 1600 comprises a measurement data recording unit 1610, a self-operated machine status recording unit 1620, and a judgment information recording unit 1630. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The self-operated machine status recording unit 1620 records various status information about the self-operated machine determined by the self-operated machine status determination unit 1200. The judgment information recording unit 1630 records various judgment information determined by the determination unit 1500.

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

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

[0048] The external information acquisition unit 2110 is a functional unit that acquires ship navigation information and other data from the AIS control center of the external system 6000 in the activity area where the unmanned vessel 1000 is deployed or in the surrounding area. Here, the activity area is the area in which various activities such as monitoring, surveying, or inspection are carried out by a mobile body such as the unmanned vessel 1000, and includes the airspace area when an aerial vehicle is used as the mobile body, the ground area when a vehicle is used, and the underwater area when an underwater mobile body is used. The ship navigation information may include not only real-time ship navigation information but also information on the location and traffic volume of navigation lanes. Furthermore, ship navigation information may be acquired from other VHF data exchange systems included in the external system 6000. In addition, the external information acquisition unit 2110 may acquire weather information for the ocean area where the unmanned vessel 1000 is deployed or in the surrounding area from the Japan Meteorological Agency or private weather information provision systems, which are part of the external system 6000. Furthermore, the external information acquisition unit 2110 may acquire information such as the installation locations of ground base stations 4000 and communication coverage areas from an external system 6000, which is a communication infrastructure system.

[0049] Furthermore, the external information acquisition unit 2110 can acquire information regarding the activity area from an external geographic information provision system. Here, the activity area is the area in which various activities such as monitoring, surveying, or inspection are carried out by a mobile body such as the unmanned vessel 1000. If an aerial vehicle is used as the mobile body, it may include an airspace area; if a vehicle is used, it may include a ground area; and if an underwater mobile body is used, it may include an underwater area. In addition, the external information acquisition unit 2110 can acquire information regarding the activity area of ​​the unmanned vessel 1000. Information regarding the activity area may include information regarding the location, area, and shape of the activity area, geographic information within the activity area (offshore infrastructure facilities such as islands, shoals, breakwaters, and wind power generation facilities, and fisheries-related facilities such as aquaculture farms and fish pens), the width of the sea area through which the activity area is traversed, the width between navigational roads through which the activity area is traversed, and navigational road information (location, traffic volume by time of day, and passability by time of day).

[0050] The formation pattern acquisition unit 2120 is a functional unit that acquires information regarding the formation patterns of a group 1010 of multiple unmanned vessels. The formation pattern acquisition unit 2120 can acquire information regarding multiple formation patterns, such as branched, roughly V-shaped, roughly square, separated, compressed, partially extended, narrow passage, and multi-row shapes. The formation pattern acquisition unit 2120 can acquire information regarding formation patterns from users of the integrated control system 2000 or external coordinating systems 5000 via the activity condition acquisition unit 2200, which will be described later. Specific examples of the formation patterns described above will be described later.

[0051] Furthermore, the formation pattern acquisition unit 2120 can acquire information regarding formation patterns when multiple groups 1010 pass each other in such a way that their deployment areas overlap, and information regarding group formation changes due to the exchange of unmanned vessels. It can also acquire information regarding formation patterns when multiple groups 1010 avoid each other in such a way that their deployment areas do not overlap.

[0052] Furthermore, the formation pattern acquisition unit 2120 can acquire not only information about the formation pattern described above, but also information about the formation pattern modification process. Information about the formation pattern modification process may include, for example, a formation modification process that sequentially extends or reduces the distance between the unmanned vessels 1000 starting from near the center of the group or near the master unit 1001, or conversely, a formation modification process that sequentially extends or reduces the distance between the unmanned vessels 1000 starting from near the outside of the group.

[0053] Furthermore, as another example of information regarding the formation pattern change process, information regarding the switching process of the wireless communication network between the unmanned vessels 1000 within the group that is changed along with the formation pattern change may also be included. The wireless communication network switching process can be, for example, a process of changing the communication configuration to switch the unmanned vessel connected to the first unmanned vessel by the wireless communication network from the second unmanned vessel to the third unmanned vessel, so as not to interrupt communication between the unmanned vessels 1000 during the switching of the wireless communication network. This process involves connecting the wireless communication between the first unmanned vessel and the third unmanned vessel when both the second and third unmanned vessels are within wireless communication range of the first unmanned vessel, and then disconnecting the wireless communication between the first and second unmanned vessels. In other words, the process can be one in which the communication switching is performed with the first unmanned vessel overlapping with the communication range of the second and third unmanned vessels.

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

[0055] As an example of the priority group determination conditions acquired by the priority group determination condition acquisition unit 2130, the priority group determination conditions can be set in the following order, with priority gradually decreasing: post-discovery action, fault detection, anomaly detection, communication compensation, anchoring search, patrol search, and low SOC state. Depending on the detailed operation content of the post-discovery action, it is also possible to set the priority group determination conditions in the following order, with priority gradually decreasing: tracking, preemptive action, handover tracking, encirclement, and ambush. Furthermore, depending on the detailed operation content of the low SOC state, it is also possible to set the priority group determination conditions in the following order, with priority gradually decreasing: low SOC state recovery charging operation, patrol, anchoring, movement, deployment, and unmanned vessel recovery.

[0056] The unmanned vessel information acquisition unit 2140 is a functional unit that acquires information regarding the self-state of an unmanned vessel 1000, such as judgment results determined by judgment units 1500 of multiple unmanned vessels 1000 via communication satellites 3000, HAPS, ground base stations 4000, measurement data measured by multiple unmanned vessels 1000, or the self-state determination unit 1200 of an unmanned vessel 1000. The measurement data acquired by the unmanned vessel information acquisition unit 2140 is measurement data measured by measurement sensors mounted on the unmanned vessel 1000, and includes measurement data measured by one (monocular) or multiple electro-optical sensors that acquire image data of the sea, optical cameras, infrared sensors (IR sensors), stereo cameras and other optical sensors, laser sensors such as LiDAR that acquire point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. Furthermore, the information regarding the self-equipment status acquired by the unmanned vessel information acquisition unit 2140 includes information determining the navigation status, internal state, and external state of the unmanned vessel.

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

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

[0059] The external user input acquisition unit 2220 is a functional unit that receives user input information from external sources such as the cooperative system 5000. For example, the external user input acquisition unit 2220 can receive the activity conditions described above from the cooperative system 5000 via the communication unit 2740, which will be described later. It can also receive intervention command information from the cooperative system 5000 regarding action candidates such as group formation, changes in formation and course, and post-detection actions, which are sent to the cooperative system 5000 via the communication unit 2740, which will be described later.

[0060] (A-1-5-3. Action Plan Determination Unit 2300) The motion plan determination unit 2300 is a functional unit that pre-determines the operation plan, including the organization and configuration of multiple groups 1010, the assignment of operational roles, and movement routes, before the start of the activity. The motion plan determination unit 2300 comprises an overall organization determination unit 2310, a group role assignment unit 2320, a collision avoidance motion plan unit 2330, and a measurement density plan determination unit 2340.

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

[0062] The group role assignment unit 2320 is a functional unit that pre-determines the assignment of actions for each group based on the information acquired by the activity condition acquisition unit 2200. For example, the group role assignment unit 2320 assigns various actions to each group, such as searching for the target object 7000 (patrol search, anchored search), actions after the target object 7000 is found (tracking, tracking handover, anticipation, encirclement, ambush), communication relay, data analysis, data transmission, data storage, preparation (deployment, movement), completion actions (return, retrieval), standby, and recovery charging.

[0063] The group role assignment unit 2320 may also have a function to determine the corresponding alert level according to the action assignment for each group as described above. Furthermore, the group role assignment unit 2320 may determine the action role for each group according to the determined alert level or the alert level acquired by the activity condition acquisition unit 2200. For example, if the alert level of a certain group decreases, it may be decided to change the action role assigned to that group from tracking to encirclement.

[0064] Furthermore, the group role assignment unit 2320 may not be limited to assigning the various operations described above, but may also assign activity areas (search areas) to each group. Alternatively, as a method for assigning activity areas (search areas) to each group, the activity area (search area) may be determined for each group according to the determined alert level or the alert level acquired by the activity condition acquisition unit 2200.

[0065] The collision avoidance action planning unit 2330 is a functional unit that predetermines collision avoidance actions to prevent the unmanned vessel 1000 from colliding with other groups or with obstacles in the activity area. For example, the collision avoidance action planning unit 2330 can determine whether or not to perform an avoidance action to prevent contact between unmanned vessels 1000 belonging to multiple groups, or to detour the movement path of at least one of the multiple groups as an avoidance action, or to change the formation of at least one of the multiple groups into an avoidance formation as an avoidance action, or to perform a passing action between multiple groups while at least a portion of the areas in which the multiple groups are deployed overlap as an avoidance action. Here, an avoidance formation includes a separation formation that separates the group into two, a deformation formation that deforms the formation of at least a portion of the group, a compression formation that compresses at least a portion of the group's deployment area, and a reduction or expansion of the distance between unmanned vessels within a group.

[0066] Furthermore, when the collision avoidance operation planning unit 2330 detours or changes the shape of the movement paths to prevent multiple groups from getting too close together, it can determine a plan to reduce or increase the movement path, formation, and distance between unmanned vessels 1000 within each group so that the distance between representative positions of multiple groups (approximately the centroid, the position of the master unit, or any other position within the group deployment area), or between unmanned vessels 1000 belonging to another group, remains above a predetermined value.

[0067] The measurement density planning unit 2340 is a functional unit that, when searching for an object 7000 using measurement sensors 1110 mounted on multiple unmanned vessels 1000 belonging to multiple groups, determines whether to reduce or increase the movement path, formation, and distance between moving objects within a group in order that the measurement density distribution calculated by the measurement sensors 1110 for each area satisfies a predetermined target value. Here, the measurement density distribution (also called the search rate) can be obtained, for example, by calculating the length of measurement time measured by the measurement sensors 1110 of the unmanned vessels 1000 for each area. In other words, the measurement density distribution will be high in areas where the total measurement time by the unmanned vessels 1000 equipped with measurement sensors 1110 is long, and low in areas where the total measurement time by the unmanned vessels 1000 is short. The measurement density distribution can also be calculated as the coverage rate of the movement area of ​​the unmanned vessels 1000 within the activity area of ​​the unmanned vessels 1000. Furthermore, the measurement density distribution may be calculated based on the movement record and measurement area for each 1000 unmanned vessels, or it may be calculated based on the movement record and measurement area for each group.

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

[0069] The group internal state determination unit 2410 is a functional unit that determines the group internal state of multiple unmanned vessels 1000 belonging to a group, including at least one of an abnormal state, a fault state, or a charged state. Here, an abnormal state includes reversible or temporary equipment malfunctions, such as temperature abnormalities, communication abnormalities, and operational abnormalities caused by vibration. A fault state, unlike an abnormal state, includes irreversible equipment failures, such as damage to the propeller or airframe, and breakage of wired communication lines. A charged state refers to the charge state of the battery installed in the unmanned vessel 1000, such as SOC or SOH.

[0070] The Group Action Status Determination Unit 2420 is a functional unit that determines the current operating status of each group. The Group Action Status Determination Unit 2420 can determine various operations as the current operating status for each group, such as search operations (patrol search, anchored search), operations after the discovery of the target object 7000 (tracking, tracking handover, intercepting, surrounding, ambush), communication relay, data analysis, data transmission, data storage, preparation (deployment, movement), completion operations (return, retrieval), standby, and recovery charging. The Group Action Status Determination Unit 2420 can determine the current operating status for each group as described above based on the information on the self-operation status of the unmanned vessels 1000 belonging to each group, which is acquired by the unmanned vessel information acquisition unit 2140.

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

[0072] The surrounding object determination unit 2440 is a functional unit that determines whether there are moving objects (such as ships), stationary objects (such as breakwaters), or restricted areas such as roads present around each group, based on measurement data acquired by the unmanned vessel information acquisition unit 2140, the determination results of the determination unit 1500, and ship navigation information and ship road information acquired by the external information acquisition unit 2110.

[0073] The surrounding object determination unit 2440 can determine whether an object needs to be avoided in contact with the unmanned vessel 1000, for example, by determining whether an object needs to be avoided and determining whether an object needs to be avoided, based on the type of detected object, whether it is moving or stationary, its shape, size, orientation, and relative distance from the unmanned vessel 1000, using pre-set avoidance requirements and object feature determination. Objects that need to be avoided can include, for example, the monitored objects mentioned above, and furthermore, in addition to monitored objects, objects of a certain size or larger (such as buoys, driftwood, rubble, jetties, breakwaters, harbor areas, land, straits, coastlines, small islands, and offshore facilities (wind power plants, offshore plants, offshore runways)) can also be determined to be objects that need to be avoided.

[0074] The surrounding object determination unit 2440 can further determine whether the object 7000 to be searched (for example, ships, fleets, suspicious vessels, divers, marine life (such as whales), buoys, wind power generation facilities, fish farms, and other offshore equipment) is one of the objects 7000 to be searched, etc., based on the measurement data acquired by the unmanned vessel information acquisition unit 2140 and the predetermined determination conditions for the objects 7000. The surrounding object determination unit 2440 may also have a function to automatically determine the alert level according to the object 7000.

[0075] Furthermore, the surrounding object detection unit 2440 is not limited to detecting objects, but can also determine areas that should be avoided by the unmanned vessel 1000, such as planned shipping routes and areas of busy shipping lanes, based on ship navigation information and shipping lane information acquired by the external information acquisition unit 2110.

[0076] (A-1-5-5. Group operation determination unit 2500) The Group Operation Decision Unit 2500 is a functional unit that makes decisions regarding at least one of the following for each of the multiple groups, based on the information acquired by the Activity Condition Acquisition Unit 2200: group organization, assigned operations, assigned areas, movement paths, and formations. In addition to, or instead of, the Group Operation Decision Unit 2500 makes decisions regarding at least one of the following for each of the multiple groups, based on the operation plan of the multiple groups determined by the Operation Plan Decision Unit 2300, or the state of the multiple groups determined by the State Determination Unit 2400. The Group Operation Decision Unit 2500 comprises a Priority Decision Unit 2510, a Group Organization Decision Unit 2520, a Collision Avoidance Operation Decision Unit 2530, and a Measurement Density Adjustment Operation Decision Unit 2540.

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

[0078] For example, the priority determination unit 2510 can determine the priority according to the charging status of multiple groups of unmanned vessels 1000 determined by the status determination unit 2400. Another example is that the priority determination unit 2510 can also determine the priority based on priority specification input information obtained from the user by the activity condition acquisition unit 2200.

[0079] The group formation determination unit 2520 is a functional unit that determines the formation configuration of a group composed of multiple unmanned vessels 1000. The group formation determination information determined by the group formation determination unit 2520 includes, for example, information on the number of multiple unmanned vessels 1000 included in some groups (first group) or other parts of the group (second group) within the multiple groups, information on whether or not the formation of the first group or the second group needs to be changed, information on whether or not to increase or decrease the number of multiple unmanned vessels 1000 included in the first group or the second group, or information on whether or not to move or swap multiple unmanned vessels 1000 between the first group and the second group.

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

[0081] As another example, if the priority of some groups (the first group) within a group is higher than that of some other groups (the second group), the group formation determination unit 2520 can decide, for example, to replace an unmanned vessel 1000 belonging to the second group that has been detected to be in an abnormal state, malfunction state, or insufficient charge state with a mobile unit belonging to the first group. In other words, the group formation can be changed by replacing an unmanned vessel 1000 belonging to a group with a relatively higher priority among the multiple groups that has activity constraints such as abnormality, malfunction, or insufficient charge with an unmanned vessel 1000 belonging to a lower priority group.

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

[0083] Furthermore, the group formation determination unit 2520 may have a function to update the assignment of operational roles and action areas for each group determined by the group role assignment unit 2320, based on information acquired by the activity condition acquisition unit 2200 and determination information by the status determination unit 2400. For example, when the status determination unit 2400 detects an object 7000, it can determine the assignment of operational roles so that post-detection actions of the object 7000 (including tracking, surrounding, intercepting, and handing over tracking) are divided and executed by multiple groups.

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

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

[0086] The collision avoidance action determination unit 2530 is a functional unit that determines avoidance actions to prevent collision between unmanned vessels 1000 belonging to some groups (first group) within a group of multiple groups and unmanned vessels 1000 belonging to other groups (second group).

[0087] For example, the collision avoidance action determination unit 2530 can determine whether or not an avoidance action is necessary to avoid contact between the unmanned vessels 1000 belonging to the first group and the second group, or to detour at least one of the movement paths of the first group and the second group as a collision avoidance action between the unmanned vessels 1000, or to change at least one of the formations of the first group and the second group to an avoidance formation as a collision avoidance action between the unmanned vessels 1000, or to perform a passing action between the first group and the second group when at least a part of the areas in which the first group and the second group are deployed overlap as a collision avoidance action between the unmanned vessels 1000.

[0088] Furthermore, for example, the collision avoidance action determination unit 2530 can determine at least one of the following as collision avoidance actions between the unmanned vessels 1000: the representative positions of the first group and the second group, or the movement paths and formations of the first group and the second group, or the reduction or expansion of the distance between the unmanned vessels 1000 within the group, in order to maintain a distance of at least a predetermined value between the unmanned vessels 1000 belonging to the first group and the second group.

[0089] For example, when performing an evasive maneuver to avoid collision between unmanned vessels 1000 belonging to the first group and the second group, if the priority of the second group is higher than the priority of the first group determined by the priority determination unit 2510, the collision avoidance maneuver determination unit 2530 can decide to perform at least one of the following as an evasive maneuver: changing the movement path or formation of the first group, or reducing or increasing the distance between moving bodies within the group.

[0090] Furthermore, the collision avoidance action determination unit 2530 can determine the formation to be changed to one of the following when changing the formation of at least one of the first group and the second group as an avoidance action to avoid contact between the unmanned boats 1000 belonging to the first group and the second group: a partially modified formation which deforms a part of at least one of the formations of the first group and the second group; a compressed formation which compresses the deployment area of ​​the formation; or a divided formation which divides the formation into two or more.

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

[0092] Furthermore, the collision avoidance action determination unit 2530 can determine, as an avoidance action to avoid contact between the unmanned boats 1000 belonging to the first group and the second group, to swap the unmanned boats 1000 belonging to the first group and the unmanned boats 1000 belonging to the second group when the first group and the second group approach each other beyond a predetermined distance.

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

[0094] For example, when searching for an object 7000 using measurement sensors 1110 mounted on multiple unmanned vessels 1000 belonging to multiple groups, the measurement density adjustment operation determination unit 2540 can make decisions regarding at least one of the following regarding the movement paths, formations, reduction or expansion of the distance between moving objects within a group, for at least one of the groups (first group) and other groups (second group) within the multiple groups, so that the measurement density distribution calculated by the measurement sensors 1110 for each area satisfies a predetermined target value.

[0095] For example, the collision avoidance operation determination unit 2530 and the measurement density adjustment operation determination unit 2540 can determine at least one of the following: the representative positions of the first group and the second group, or the movement paths of the first group and the second group, the formation, or the reduction or expansion of the distance between the unmanned vessels 1000 within the group, so that the measurement density distribution calculated by the measurement sensors 1110 for each area satisfies a predetermined target value.

[0096] Furthermore, for example, when searching for an object using measurement sensors mounted on multiple mobile bodies belonging to multiple groups and external measurement sensors mounted on an external cooperative system, the measurement density adjustment operation determination unit 2540 can generate a group movement path that allows the boundary area between the cooperative system 5000's external search area and the group's activity area to be measured at a predetermined or greater frequency, based on information regarding the external search area searched by the cooperative system 5000 and the activity area of ​​the multiple unmanned vessels 1000.

[0097] As described above, when the collision avoidance operation determination unit 2530 or the measurement density adjustment operation determination unit 2540 changes the formation of a group or reduces or increases the distance between unmanned vessels 1000 within the group, it makes a decision to change the formation or reduce or increase the distance between unmanned vessels 1000 based on the number of aircraft (formation) belonging to the group and information on the wireless communication range of the unmanned vessels 1000 acquired in advance, within a range where the wireless communication network within the group is not interrupted. Similarly, it determines a formation change process that does not interrupt the wireless communication network within the group.

[0098] (A-1-5-6. Group Operation Control Unit 2600) The group operation control unit 2600 is a functional unit that controls at least one of the following: group organization of multiple groups, execution of assigned operations, execution of operations in assigned areas, movement paths, and formation, according to the decisions made by the group operation determination unit 2500. The group operation control unit 2600 comprises a formation change control unit 2610, a collision avoidance operation control unit 2620, a measurement density adjustment operation control unit 2630, and an in-group operation control unit 2640.

[0099] The formation change control unit 2610 is a functional unit that changes the formation configuration, including the unmanned vessels 1000 belonging to a group and their number, according to the group formation determined by the group formation determination unit 2520. The formation change control unit 2610 may also have a function to control the formation changes of each group.

[0100] Furthermore, for example, the formation change control unit 2610 can, in real time according to the state determined by the state determination unit 2400, control the increase or decrease in the number of unmanned vessels 1000 included in the first group or the second group, or the movement or swapping of multiple unmanned vessels 1000 between the first group and the second group. In addition, the formation change control unit 2610 can, not limited to changes in the formation configuration, determine, in real time according to the state determined by the state determination unit 2400, the assignment operation for each unmanned vessel 1000 within the multiple groups. The assignment operation determined here includes deployment (movement or deployment of the unmanned vessels 1000), recovery of the unmanned vessels 1000, recovery charging, search, and post-discovery actions.

[0101] The collision avoidance action control unit 2620 is a functional unit that controls collision avoidance actions in each group according to the collision avoidance actions for each group determined by the collision avoidance action determination unit 2530. For example, the collision avoidance action control unit 2620 can prevent groups from getting too close to each other or prevent unmanned vessels 1000 belonging to a group from making contact by adjusting the attractive and repulsive force control parameters between multiple groups.

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

[0103] Furthermore, the collision avoidance control unit 2620 can prevent groups from getting too close to each other or for the unmanned vessels 1000 belonging to a group to collide by communicating the representative position of multiple groups, or the position information of each unmanned vessel 1000 belonging to multiple groups, via a communication network between the groups. Here, the representative position of multiple groups may be the position of any unmanned vessel 1000 belonging to a group, or it may be any position within the group's deployment area regardless of the position of the unmanned vessel 1000.

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

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

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

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

[0108] (A-1-5-7. Information Input / Output Unit 2700) The information input / output unit 2700 is a functional unit that acquires information input to the integrated control system 2000 from users or external systems, and outputs commands or displays information generated by each functional unit within the integrated control system 2000. The information input / output unit 2700 comprises a display unit 2710, a user input reception unit 2720, a control command output unit 2730, and a communication unit 2740.

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

[0110] The display unit 2710 can, for example, display information on the behavioral status (such as assigned roles) of each group as determined by the group behavioral status determination unit 2420. In addition to current status information, it can also display past history information. Furthermore, if an object 7000 is detected, it can also display the determination result regarding the detected object 7000.

[0111] Furthermore, the display unit 2710 may display information regarding the status of multiple deployed groups, integrated with a map of the activity area and actual images (latest or past data). The display unit 2710 may also display contact information, means of contact, or location information for external systems 6000 and cooperative systems 5000. Additionally, for users manually inputting operation commands for groups, the display unit 2710 may display information such as the current measurement density distribution, along with recommended information on operation content and activity areas.

[0112] The user input reception unit 2720 is a functional unit that receives arbitrary user input information from the user, either related to the various information displayed on the display unit 2710 or unrelated to the displayed information. User input information may include intervention control commands from the user to the unmanned vessel 1000 or group 1010. The user input reception unit 2720 may be a portable mobile device such as a smartphone, tablet, or notebook PC. User input information can also be received via operation buttons provided on the display screen of the display unit 2710.

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

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

[0115] The functions implemented in the unmanned vessel 1000 and the integrated control system 2000, as described using Figures 6 and 7, 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 vessel 1000 shown in Figure 6 (mainly the functions of the determination unit 1500) can be implemented in the integrated control system 2000. Also, some of the functions implemented in the integrated control system 2000 shown in Figure 7 can be implemented in the unmanned vessel 1000. Furthermore, in this embodiment, the function of initial object detection based on measurement data was shown as being implemented in the determination unit 1500 on the unmanned vessel 1000 side, but this initial detection and determination function can also be distributed and implemented on both the unmanned vessel 1000 side and the integrated control system 2000 side, and it is also possible to implement the entire initial detection and determination function on the integrated control system 2000 side.

[0116] (A-1-6. Hardware Configuration) Figure 8 is a hardware configuration diagram of the integrated control system 2000. Here, the integrated control system 2000 in the present invention is an information processing device such as a server or a PC. As shown in the figure, the integrated control system 2000 includes an input device 100, an output device 200, a processing device 300, a main memory 400, an auxiliary memory 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

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

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

[0119] The processing unit 300 is, for example, a device that performs arithmetic processing. Specifically, the processing unit 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor device capable of performing calculations.

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

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

[0122] (A-1-7. Control flow of control system 1) Next, we will explain the control flow of the entire control system 1. Figure 9 is a flowchart showing the processing flow of the control system 1.

[0123] First, the information import unit 2100 acquires preliminary information from an external system 6000 or the like (step 101). In this step, for example, geographic information about the activity area where the unmanned vessel 1000 is deployed, road information and navigation information of vessels in the activity area and its surrounding area, information about multiple formation change patterns of group 1010, judgment condition information for determining the priority group, and detection information detected by the unmanned vessel 1000 are acquired.

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

[0125] Next, the operation plan determination unit 2300 determines the operation plan in advance of the start of activities by the unmanned vessel 1000, including the organization of multiple groups 1010, the assignment of operational roles, and the movement routes (step 103). The detailed processing of this step will be described later.

[0126] Next, multiple groups consisting of 1000 unmanned vessels begin activities such as searching for 7000 targets (Step 104).

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

[0128] Next, the group action determination unit 2500 makes a decision regarding at least one of the following for each of the multiple groups, based on the information acquired by the activity condition acquisition unit 2200: group organization, assigned actions, assigned areas, movement routes, and formations (step 106). In this step, in addition to, or instead of, the information acquired by the activity condition acquisition unit 2200, decisions regarding the group organization for each of the multiple groups may also be made according to the action plan for the multiple groups determined by the action plan determination unit 2300, or the status of the multiple groups determined by the status determination unit 2400.

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

[0130] Next, the group operation control unit 2600 controls at least one of the following according to the decision of the group operation determination unit 2500: group organization of multiple groups, execution of assigned operations, execution of operations in the assigned area, movement path, and formation (step 107). The detailed processing of this step will be described later.

[0131] (A-1-8. Control sequence within control system 1) Next, we will explain the control sequences between each system within control system 1. Figure 10 is a sequence diagram showing the signal exchange between systems within control system 1.

[0132] First, preliminary information (such as AIS information and highway information) is transmitted from external systems 6000 to the central control system 2000. Furthermore, information regarding activity conditions (such as the activity areas of multiple unmanned vessels 1000, activity dates and times, designated information of target objects 7000 to be detected by measurement sensors mounted on the unmanned vessels 1000, alert levels for activities by the unmanned vessels 1000, and measurement density distribution calculated by measurement sensors for each area) is transmitted from cooperative systems 5000 to the central control system 2000.

[0133] Next, the central control system 2000 makes preliminary decisions, such as operational plans for multiple groups 1010, based on the received prior information and information regarding activity conditions, and transmits role assignment commands to the master unit 1001 of the multiple groups, including group A and group B. The master unit 1001 transmits the received activity start command to the other slave units 1002 within the group, and each group begins its activities.

[0134] Next, in multiple groups including Group A and Group B, various status information of the unmanned vessels 1000 belonging to each group is collected by the self-determination unit 1200, and the status information is transmitted to the central control system 2000.

[0135] Next, the status determination unit 2400 of the integrated control system 2000 determines the activity status of multiple groups, the group operation determination unit 2500 determines the operation of multiple groups, and transmits candidate operation commands for each group to the cooperative system 5000.

[0136] Next, the external user input acquisition unit 2220 of the integrated control system 2000 receives input information from external users regarding candidate operation commands for each group from the cooperative system 5000.

[0137] Next, the central control system 2000 determines the operation commands for each group based on the input information received from the external user, and transmits the operation commands to the master unit 1001 of the multiple groups, including group A and group B.

[0138] (A-1-9. Example of information obtained in advance) Figure 11 shows an example of pre-acquired information obtained by the information import unit 2100. As shown in Figure 11, the pre-acquired information obtained by the information import unit 2100 includes ship-related information and geographical information obtained by the external information acquisition unit 2110, and pre-configured information obtained by the formation pattern acquisition unit 2120 and the priority group determination condition acquisition unit 2130.

[0139] The ship-related information acquired by the external information acquisition unit 2110 includes the ship's highway information and AIS information. In addition, the pre-configured information acquired by the formation pattern acquisition unit 2120 includes the formation pattern, formation change process, and passing pattern.

[0140] (A-1-10. Example of activity conditions information) Figure 12 shows an example of activity condition information received from the user. As shown in Figure 12, the activity condition information received from the user includes the target area for operating the unmanned vessel 1000, the date and time of the activity, the type of activity, the object to be detected, the target measurement density distribution, and the alert level.

[0141] The target area includes location information such as position coordinates that can identify the area where the unmanned vessel 1000 will operate. The activity date and time include the start and end dates and times of the unmanned vessel 1000's activity. The activity type includes information that can identify the type of activity using the unmanned vessel 1000, such as survey, observation, or search. The detected objects include information that can identify objects that the unmanned vessel 1000 will measure, such as wrecked vessels, distressed persons, marine life, divers, buoys, and surface structures.

[0142] The target measurement density distribution includes the target value of the measurement density distribution calculated for each area based on the length of measurement time measured by the measurement sensor 1110. The alert level includes information that allows specifying multiple alert levels when performing different types of activities.

[0143] (A-1-11. Action plan determination process) Figure 13 is a flowchart showing an example of the process flow for determining the motion plan by the motion plan determination unit 2300. The flowchart in Figure 13 shows, in particular, the detailed processing of step 103 in the flowchart shown in Figure 9.

[0144] First, the overall organization determination unit 2310 determines the overall organization configuration of multiple groups necessary to satisfy the activity conditions, according to the activity conditions (step 201).

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

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

[0147] Next, the group role assignment unit 2320 assigns an alert level to each of the multiple groups according to the assigned operational role (step 204). In this step, the alert level for each group is automatically set based on the alert level setting information for the pre-configured operational roles.

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

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

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

[0151] For groups 1010a and 1010b, which are assigned to search for the target object 7000 by patrolling, the patrol route and the formation shape (branching and connection shape, etc.) during patrol searching are determined. For group 1010c, which is assigned to relay communication with the ground base station 4000 and search for the target object 7000 by anchoring, the formation shape for anchored searching is determined. For example, for group 1010c, the formation shape is determined to be elongated along the coastal area where the ground base station 4000 is installed, with at least some of the unmanned vessels 1000 within the group located within the communication range of the ground base station 4000.

[0152] (A-1-11-2. List of assigned operational roles) Figure 15 shows a list of operational roles assigned to multiple groups by the operation plan determination unit 2300. As shown in Figure 15, the operational role items include search, communication relay, data analysis, data transmission, data storage, post-discovery actions, preparation, termination operations, standby, and recovery charging.

[0153] Search is the operation of discovering the target object 7000 using the measurement sensor 1110 mounted on the unmanned vessel 1000. Communication relay is the operation of relaying communication between unmanned vessels 1000 within the group. Data analysis is the operation of analyzing the measurement data from the measurement sensor 1110. Data transmission is the operation of transmitting measurement data, etc., from the unmanned vessel 1000 to the ground base station 4000. Data storage is the operation of storing the measurement data in memory. Post-discovery actions are actions performed after discovering the target object 7000, including tracking, surrounding, intercepting, and handing over the tracking. Pre-departure preparations are preparatory actions before the start of the mission, including deploying and moving the unmanned vessel 1000 to the target area. Completion actions are actions performed after the end of the activity, including returning to base or recovering the unmanned vessel 1000. Standby is the operation of having the unmanned vessel 1000 and the group moored and waiting at the current location. Rechargeable charging is the process of charging the battery using solar panels installed on the unmanned vessel 1000.

[0154] (A-1-12. Determination of activity status) Figure 16 is a flowchart showing an example of the activity status determination process flow by the status determination unit 2400. The flowchart in Figure 16 shows the detailed processing of step 105 in the flowchart shown in Figure 9.

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

[0156] Next, the surrounding object detection unit 2440 detects the target object 7000 from the measurement data (step 302).

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

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

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

[0160] (A-1-12-1. List of criteria for determining the internal state of a group) Figure 17 is a diagram showing a list of the group's internal state determination process performed by the group internal state determination unit 2410. As shown in Figure 17, the items of internal state determined by the group internal state determination unit 2410 include normal, abnormal, faulty, and charging status.

[0161] "Normal" indicates a state free from abnormalities and malfunctions. "Abnormal" refers to a temporary abnormal state of equipment installed on the unmanned vessel 1000, including, for example, communication abnormalities, navigation abnormalities, measurement abnormalities, and temperature abnormalities. "Malfunction" refers to an irreversible failure state, including communication unit failure, navigation unit failure, and measurement unit failure. "Charging status" refers to the charging status of the battery installed on the unmanned vessel 1000, including insufficient State of Charge (SOC).

[0162] (A-1-12-2. State transitions within a group) Figure 18 is a state transition diagram of the group's internal state as determined by the group internal state determination unit 2410. The example shown in Figure 18 illustrates the state transitions between the following operational states: movement, deployment, search, standby, recovery / charging, post-discovery action, return, and retrieval.

[0163] Note that the movement and deployment status indicates the preparation state before the start of the mission. Search, standby, recovery / charging, and post-discovery actions indicate the operational state during the mission. Recovery and return indicate the state after the mission has ended or the mission has been canceled.

[0164] (A-1-13. Action determination process for each group) Figure 19 is a flowchart showing an example of the operation determination processing flow for each group by the group operation determination unit 2500. The flowchart in Figure 19 shows, in particular, the detailed processing of step 106 of the flowchart in Figure 9.

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

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

[0167] Next, if it is determined in step 402 that it is necessary to replace the unmanned vessel 1000, the group formation determination unit 2520 determines which unmanned vessel 1000 to replace between groups according to the group priority (step 403). In this step, the replacement of the unmanned vessel 1000 can be determined according to the internal state of the group determined by the group internal state determination unit 2410 and the priority of the assigned task for the group. For example, if there is an unmanned vessel 1000 in an abnormal state within a group with a high priority assigned task, it can be decided to replace the unmanned vessel 1000 in the abnormal state with a normal unmanned vessel 1000 in a lower priority group.

[0168] Next, the collision avoidance action determination unit 2530 determines whether a collision avoidance action is necessary between multiple groups, and determines the processing step to transition to based on the result of this collision avoidance necessity determination (step 404). If it is determined in this step that a collision avoidance action is necessary, the process transitions to step 405; on the other hand, if it is determined that a collision avoidance action is unnecessary, the process transitions to step 407.

[0169] Next, if it is determined in step 404 that collision avoidance action is necessary, the collision avoidance action determination unit 2530 determines which group will perform the collision avoidance action according to the group priority (step 405). In this step, it is possible to decide, for example, to have the collision avoidance action performed by the group with the lower priority, according to the priority.

[0170] Next, the collision avoidance action determination unit 2530 determines the content of the action changes, such as changing the route, changing the formation, or passing each other, for the group that will perform the collision avoidance action (step 406).

[0171] Next, the measurement density adjustment operation determination unit 2540 determines the measurement density distribution by multiple groups and determines the processing step to transition to depending on whether or not this measurement density distribution has achieved a preset target (step 407). If it is determined in this step that the measurement density distribution has achieved the preset target, the processing in this flowchart is terminated. On the other hand, if it is determined that the measurement density distribution has not achieved the preset target, the process transitions to step 408.

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

[0173] (A-1-13-1. Collision avoidance operation) The collision avoidance actions determined by the collision avoidance action determination unit 2530 will be explained using Figures 20 to 22. First, Figure 20 is a diagram showing an example of a collision avoidance action in which the movement path of a group is changed. Figure 20 shows how a collision is avoided when one of several groups that are approaching each other at times t1, t2, and t3 changes its movement path.

[0174] In the example shown at time t1 in Figure 20, groups 1010a and 1010b are approaching each other. In this case, since group 1010b is determined to have a higher priority than group 1010a, the collision avoidance action determination unit 2530 decides to change the movement path of the lower-priority group 1010a.

[0175] The example shown at time t2 in Figure 20 illustrates how the movement path of group 1010a is changed to avoid interfering with the movement path of group 1010b. At time t3, the state after group 1010a and group 1010b have passed each other while avoiding a collision is shown.

[0176] Next, Figure 21 shows an example of collision avoidance behavior by changing the formation shape of a group. Figure 21 shows how one of several groups approaching each other at times t1, t2, and t3 changes its formation shape to avoid a collision.

[0177] In the example shown at time t1 in Figure 21, groups 1010a and 1010b are approaching each other. In this case, since group 1010b is determined to have a higher priority than group 1010a, the collision avoidance action determination unit 2530 decides to change the formation shape of the lower-priority group 1010a.

[0178] The example shown at time t2 in Figure 21 illustrates how the formation shape of group 1010a is changed to a shape that does not interfere with the movement path of group 1010b. Specifically, the formation shape of group 1010a is deformed to narrow the width, thereby avoiding interference with the movement path of group 1010b. At time t3 in Figure 21, the state after group 1010a and group 1010b have passed each other, avoiding a collision.

[0179] Next, Figure 22 shows an example of collision avoidance by groups passing each other. Figure 22 shows how multiple groups approaching each other at times t1, t2, and t3 pass each other so that at least a portion of their deployment ranges overlap, thereby avoiding a collision with the unmanned vessel 1000. In other words, collisions are avoided by multiple groups passing each other so as to pass through the gaps between the unmanned vessels 1000.

[0180] In the example shown at time t1 in Figure 22, groups 1010a and 1010b are approaching each other. At this time, groups 1010a and 1010b adjust the position and formation of their unmanned vessels 1000 so that they can pass through the gap between each other's unmanned vessels 1000.

[0181] The example shown at time t2 in Figure 22 illustrates how the unmanned boats 1000 of group 1010a and group 1010b pass each other by passing through the gap between them. At time t3 in Figure 22, the state after group 1010a and group 1010b have passed each other, avoiding a collision.

[0182] Figures 20 to 22 illustrate three patterns of collision avoidance actions determined by the collision avoidance action determination unit 2530. However, the collision avoidance action determination unit 2530 may also have a function to determine one of these collision avoidance actions according to the internal state or action state of each group. For example, if the action state of one of the two approaching groups is performing an action after the object 7000 has been discovered or a high-priority search action, it can be determined to pass each other while maintaining the formation so that the deployment ranges of the groups overlap, as shown in Figure 22. As another example, if a low SOC state is detected as the internal state of one of the two approaching groups, it can also be determined to pass each other while maintaining the formation so that the deployment ranges of the groups overlap, as shown in Figure 22.

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

[0184] First, the group operation determination unit 2500 executes the determination operation for each group (step 501).

[0185] Next, the groups communicate their self-position information to each other (step 502). Here, the self-position of each group can be defined as the position of any of the multiple unmanned vessels 1000 belonging to the group, or any position within the group's deployment range, as a representative self-position.

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

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

[0188] Next, the group operation control unit 2640 controls the operation of multiple unmanned vessels 1000 within each group (step 505). In this step, for example, the group operation control unit 2640 adjusts the control parameters of attractive and repulsive forces among the multiple unmanned vessels 1000 belonging to the group, thereby enabling changes to the shape of the target formation and maintenance of the formation, prevention of contact between the unmanned vessels 1000, and prevention of overlapping search areas for searching for the target object 7000 using the measurement sensors 1110 mounted on the unmanned vessels 1000. The detailed processing of this step will be described later.

[0189] (A-1-14-1. An example of operation control for each group) Figure 24 shows an example of how the group motion control unit 2600 coordinately controls multiple groups. Figure 24 shows an example in which, while two groups (1010a and 1010b) are performing a search operation for an object 7000 by patrolling, the attractive and repulsive forces between the groups are adjusted to control the distance between multiple groups so that the representative positions of each group do not get closer than a predetermined distance range, or move too far apart than a predetermined distance range.

[0190] Furthermore, as shown in Figure 24, when adjusting the movement paths to prevent multiple groups from getting too close together, the movement paths of each group can be controlled so that the distance between representative positions of multiple groups (approximately the centroid, the position of the master unit, or any other position within the group deployment area), or between unmanned vessels 1000 belonging to other groups, remains above a predetermined value.

[0191] As shown in Figure 24, by coordinating the control of multiple groups and controlling the distance between the groups, it is possible to prevent contact between unmanned vessels 1000 belonging to each group and to prevent overlap of search areas by each group searching for the target object 7000 using the measurement sensors 1110 mounted on the unmanned vessels 1000.

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

[0193] First, it is determined whether the communication strength in the communication network among the 1000 unmanned vessels belonging to the group is below a predetermined value, and the processing step to transition to is determined according to the result of this communication strength determination (step 5051). If it is determined in this step that the communication strength is below the predetermined value, the process transitions to step 5052, on the other hand, if it is determined that the communication strength is not below the predetermined value, the process transitions to step 5053.

[0194] Next, if it is determined in step 5051 that the communication strength is below a predetermined value, the attractive force of the control parameters between the unmanned vessels 1000 in the group is increased to control the position of the unmanned vessels 1000 so that the distance between them is shortened (step 5052). In this way, by adjusting the distance between the unmanned vessels according to the communication strength between them, it is possible to prevent interruptions in wireless communication between the unmanned vessels. In this step, the position control of the unmanned vessels according to the communication strength between them has been described, but it is not limited to this, and it is also possible to prevent interruptions in wireless communication between the unmanned vessels 1000 and the ground base station 4000 by adjusting the distance between the unmanned vessels 1000 and the ground base station 4000 according to the communication strength with the ground base station 4000.

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

[0196] Next, if it is determined in step 5053 that the relative distance between the unmanned vessels is less than or equal to a predetermined distance, the repulsive force of the control parameters between the unmanned vessels 1000 in the group is increased to control the position of the unmanned vessels 1000 so that the distance between them increases (step 5054).

[0197] (A-1-15-1. An example of control within a group) Figure 26 shows an example of how the group operation control unit 2640 controls the positions of multiple unmanned vessels 1000 within a group. As shown in Figure 26, the group operation control unit 2640 monitors the communication strength and relative distance of wireless communication between unmanned vessels 1000a and 1000b belonging to group 1010.

[0198] Furthermore, if the group-internal operation control unit 2640 determines that the communication strength between the monitored unmanned vessels is below a predetermined value, it increases the attractive force of the control parameters between unmanned vessels 1000a and 1000b to control the position of unmanned vessel 1000 so that the distance between unmanned vessels 1000a and 1000b is shortened. In addition, if the group-internal operation control unit 2640 determines that the relative distance between the monitored unmanned vessels is below a predetermined distance, it increases the repulsive force of the control parameters between unmanned vessels 1000a and 1000b to control the position of unmanned vessel 1000 so that the distance between unmanned vessels 1000a and 1000b is lengthened.

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

[0200] (A-1-16. Control processing for search operations for each group) Figure 27 is a flowchart showing an example of the control processing flow for the search operation for each group by the group operation control unit 2600. The flowchart in Figure 27 shows, in particular, the detailed processing of step 107 in the flowchart in Figure 9.

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

[0202] Next, the groups communicate their self-position information to each other (step 602). Here, the self-position of each group can be defined as the position of any of the multiple unmanned vessels 1000 belonging to the group, or any position within the group's deployment range as a representative self-position.

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

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

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

[0206] Next, if step 605 determines that the measurement density distribution in the boundary area between groups is below a predetermined value, the movement path for each group is adjusted (step 606). In this step, for example, the planned movement path for each group is changed so that the measurement density distribution in the boundary area between groups improves.

[0207] The group operation control unit 2640 controls the operation of multiple unmanned vessels 1000 within each group (step 605). In this step, for example, the group operation control unit 2640 adjusts the attractive and repulsive force control parameters among the multiple unmanned vessels 1000 belonging to the group, thereby enabling changes to the shape of the target formation and maintenance of the formation, prevention of contact between the unmanned vessels 1000, and prevention of overlapping search areas for searching for the target object 7000 using the measurement sensors 1110 mounted on the unmanned vessels 1000.

[0208] (A-1-16-1. An example of the determination result of the measurement density distribution for each group) Figure 28 shows an example of the measurement density distribution determination result by the measurement density adjustment operation control unit 2630. In particular, Figure 28 shows an example of the result of the measurement density adjustment operation control unit 2630 determining the area-specific measurement density distribution by the unmanned vessels 1000 of each group while two groups (1010a and 1010b) are performing a search operation for target objects 7000 by patrolling. Darker colors indicate areas with high measurement density, and lighter colors indicate areas with low measurement density.

[0209] As shown in Figure 28, in the boundary area between the deployment area where the two groups (1010a and 1010b) move, there are areas with low measurement density (lighter color). When the measurement density distribution in the boundary area is lower than a predetermined value, the measurement density distribution for the entire group can be brought closer to the target value by changing the planned movement path of at least one of the two groups (1010a and 1010b) to improve the measurement density distribution in the boundary area.

[0210] (A-1-17. Control processing for passing movements of multiple groups) Figure 29 is a flowchart illustrating an example of the control process flow for passing movements of multiple groups by the group motion control unit 2600. The flowchart in Figure 29 shows the detailed processing of step 107 in the flowchart in Figure 9, in particular, when multiple groups perform passing movements such that at least a portion of their deployment ranges overlap.

[0211] First, the group operation control unit 2600 performs an operation in which multiple groups pass each other while at least a portion of their deployment ranges overlap (step 701).

[0212] Next, unmanned vessels belonging to different groups communicate information about their own position (step 702).

[0213] Next, the distance between unmanned vessels belonging to another group is determined, and the processing step to transition to is determined according to the result of this determination of the distance between unmanned vessels (step 703). If it is determined in this step that the distance between unmanned vessels belonging to another group is less than or equal to a predetermined distance, the process transitions to step 704. On the other hand, if it is determined that the distance between unmanned vessels belonging to another group is not less than or equal to a predetermined distance, the process of this flowchart is terminated.

[0214] Next, if step 703 determines that the distance between unmanned vessels belonging to different groups is less than or equal to a predetermined distance, the repulsive force of the control parameters between the approaching unmanned vessels is increased, thereby controlling the position of the unmanned vessels to increase the distance between them (step 704).

[0215] (A-1-18. Group formation patterns) Figures 30 to 37 illustrate the variation information of the group's formation pattern acquired by the formation pattern acquisition unit 2120.

[0216] (A-1-18-1. Branching formation) Figure 30 shows an example of a branched connection formation, which is an example of a formation pattern for group 1010. In the example shown in Figure 30, a branched connection formation is shown consisting of one master unit 1001 and ten slave units 1002 that are connected to each other by a wireless communication network. Here, the master unit 1001 is a unit that acts as the hub of the wireless communication network connecting multiple unmanned vessels 1000 within the group. In the branched connection formation shown in Figure 30, the communication path branches off from the master unit 1001 into multiple paths, and each slave unit 1002 is connected by a wireless communication network.

[0217] (A-1-18-2. Formations during movement, such as a simplified V-shape) The formation of group 1010 during movement will be explained below using Figures 31 to 33. Figure 31 shows an example of a roughly V-shaped formation, which is one example of a formation pattern for group 1010.

[0218] As shown in Figure 31, the roughly V-shaped formation is a formation that allows group 1010 to move more efficiently, and is a formation in which the master unit 1001 and slave units 1002 are arranged in a roughly V shape with the direction of movement of group 1010 as the apex.

[0219] Furthermore, the master unit 1001 can be placed at the vertex of the V-shape. By placing the master unit at the vertex of the V-shape in this way, the master unit can be positioned near the center of the communication network within the formation, allowing for faster collection of measurement data and other information from each slave unit 1002 of group 1010.

[0220] Furthermore, the angle of the V-shaped vertex (angle α) can be appropriately determined according to the movement speed of group 1010. For example, if group 1010 is moving relatively fast, angle α can be set to a relatively small angle, and if group 1010 is moving relatively slow, angle α can be set to a relatively large angle.

[0221] In addition to the formation shown in FIG. 31, there are also multiple variations of formation patterns that can be considered for the approximate V-shaped formation. FIG. 32 is a diagram showing multiple other examples of the approximate V-shaped formation of Group 1010.

[0222] FIG. 32a shows an example of a formation in which one row of a series configuration composed of a plurality of unmanned boats 1000 is added inside the V of the approximate V-shaped formation. The added row in this figure is connected to the parent aircraft 1001 by wireless communication. Next, FIG. 32b shows an example of a formation in which two rows of a series configuration composed of a plurality of unmanned boats 1000 are added inside the V of the approximate V-shaped formation. The added rows in this figure are connected to the parent aircraft 1001 by wireless communication. FIGS. 32a and 32b show examples of formations in which one row or two rows of a series configuration connected to the parent aircraft 1001 are added inside the V of the approximate V-shaped formation, but the number of added series configurations may be three or more.

[0223] Next, FIG. 32c shows another example of a formation in which four rows of a series configuration are added inside the V of the approximate V-shaped formation. The four rows of the series configuration added to the formation shown in FIG. 32c are connected to the child aircraft 1002 instead of the parent aircraft 1001. Also, FIG. 32d shows an example of a formation in which five rows of a series configuration are added inside the V of the approximate V-shaped formation. In the five rows of the series configuration added in FIG. 32d, one row is connected to the parent aircraft 1001, and the other four rows are connected to the child aircraft 1002. The number of series configurations added inside the approximate V-shaped formation is not limited to the four rows and five rows shown in FIGS. 32c and 32d, and can also be six or more.

[0224] Next, FIG. 32e shows an example of a formation in which three unmanned boats 1000 are arranged inside the V of the approximate V-shaped formation. The three unmanned boats 1000 added to the formation shown in FIG. 32e are connected to a plurality of other child aircraft 1002 by wireless communication paths, and even if one wireless communication path is cut off, the wireless communication paths are redundant so that they can communicate with the parent aircraft 1001 indirectly through other wireless communication paths, and the communication network configuration is formed.

[0225] Figure 32f shows an example of a formation in which eight unmanned boats 1000 are arranged inside the V of a substantially V-shaped formation. The eight unmanned boats 1000 added to the formation shown in Figure 32f are connected to a plurality of other slave boats 1002 via a wireless communication path, and even if one wireless communication path is cut off, they can communicate indirectly with the master boat 1001 via other wireless communication paths, resulting in a formation and communication network configuration with redundant wireless communication paths.

[0226] As shown in Figures 32e and 32f, a part of the plurality of unmanned boats 1000 constituting the group 1010 are arranged in the inner area of the substantially V-shape, and the unmanned boats 1000 arranged in the inner area are connected to the other plurality of unmanned boats 1000 via a wireless communication network, thereby redundantizing the communication path so that the operation of the group 1010 can be continued even if a communication cut occurs in some communication paths. Therefore, particularly when the moving speed of the group 1010 is faster than a predetermined value, it is desirable to make the communication network a redundant connection as shown in Figures 32e and 32f.

[0227] In Figures 31 and 32 described above, a substantially V-shaped formation is described as the moving formation when the group 1010 moves, but a formation other than the substantially V-shape can also be used as the moving formation. Figure 33 is a diagram showing an example of a substantially rectangular formation, which is an example of the formation pattern of the group 1010. In the substantially rectangular formation shown in Figure 33, when the group 1010 moves as a group, it is a formation that can move more efficiently, and it is a substantially rectangular formation with the moving direction of the group 1010 as the longitudinal direction.

[0228] Note that the master boat 1001 and a plurality of slave boats 1002 are arranged at the position in front of the moving direction of the substantially rectangular formation, and other slave boats 1002 are arranged on the rear side of the master boat 1001 and the slave boats 1002. Also, the length of the width of the rectangular group 1010 with respect to the moving direction can be appropriately determined according to the moving speed of the group 1010. As an example, when the moving speed of the group 1010 is relatively fast, the length of the width can be made relatively short, and when the moving speed of the group 1010 is relatively slow, the length of the width can be made relatively long.

[0229] Several variations in the wireless communication network configuration are possible for the roughly rectangular formation. Figure 33a shows a formation and wireless communication network configuration in which multiple unmanned vessels 1000 are arranged in a series configuration of three rows, connected in series via wireless communication, along the direction of travel of group 1010. Next, Figure 33b shows a formation and communication network configuration in which multiple unmanned vessels 1000 constituting the roughly rectangular formation are connected to multiple other slave units 1002 via wireless communication paths, and the wireless communication paths are redundant so that even if one wireless communication path is disconnected, communication with the master unit 1001 can be indirectly maintained through the other wireless communication paths. For this reason, it is particularly desirable to have a redundant connection for the communication network as shown in Figure 33b when the movement speed of group 1010 is faster than a predetermined value.

[0230] (A-1-18-3. Evasive formation when avoiding obstacles) Figure 34 shows two examples of avoidance formations, which are examples of formation patterns for group 1010. The avoidance formations shown in Figure 34 are the avoidance formations that are determined as the modified formation when an object or area requiring avoidance is detected in front of group 1010 in the direction of travel, or when an object or area requiring avoidance is detected approaching group 1010, and are avoidance formations that avoid the object or area requiring avoidance.

[0231] Figure 34a shows a separated avoidance formation, which is an example of an avoidance formation. The separated avoidance formation shown in Figure 34a is a formation in which at least a portion of the group formation is separated so that the relative distance between some of the unmanned vessels 1000 of group 1010 and other portions of the unmanned vessels 1000 is increased. By separating the formation, it becomes possible to avoid objects that require avoidance, such as ships, and areas that require avoidance.

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

[0233] (A-1-18-4. Formation during activities in confined spaces) The following describes the formation of Group 1010 when operating in a narrow, confined area, using Figures 35 to 37. Figure 35 shows an example of a formation for narrow spaces in the formation patterns of Group 1010. In particular, Figure 35 is a formation for narrow spaces that is suitable for deploying Group 1010 in a narrow area where the area width or area is narrower than a predetermined value, avoiding stationary objects or areas that need to be avoided, to conduct activities such as searching, inspecting, and surveying.

[0234] In the example shown in Figure 35, when the activity area is a narrow area (such as a bay) inside a stationary object that must be avoided, such as a port pier or breakwater, multiple unmanned vessels 1000 constituting at least a part of group 1010 are arranged in a line so as to enter the narrow area, demonstrating how group 1010 can perform activities such as searching, inspecting, and surveying even in a narrow area. In this way, in narrow areas, by transforming all or part of group 1010 into a long, narrow, line-like shape, it becomes possible to operate even in intricate narrow areas. The communication connections of the long, line-like portion of the formation for narrow areas may be configured as a series connection, communicating with other adjacent unmanned vessels 1000, as shown in Figure 35, but it is not necessarily required to be a series connection with adjacent unmanned vessels 1000; a communication network configuration can be used, communicating with any other unmanned vessels 1000 within the communication range.

[0235] Next, Figure 36 shows another example of a formation for narrow spaces in the formation pattern of group 1010. In particular, Figure 36 shows a formation for narrow spaces suitable for passing through a narrow area, where the area width or area is narrower than a predetermined value, while avoiding stationary objects or areas that need to be avoided.

[0236] In the example shown in Figure 36, when passing through a narrow area between stationary objects that must be avoided, such as a harbor pier or breakwater, multiple unmanned vessels 1000 constituting at least a part of group 1010 are arranged in a line so as to enter the narrow area. This shows how the formation of group 1010 changes at times t1, t2, and t3 as group 1010 passes through the narrow area.

[0237] At time t1, a portion of the unmanned boats 1000 in the forward direction of group 1010 are shown entering the narrow area in a line. At time t2, a portion of the forward direction of group 1010 has completed passing through the narrow area, and the other unmanned boats 1000, including the master unit 1001, are passing through or about to pass through the narrow area. Also at time t2, the group operation control unit 2600 has the unmanned boats 1000 that have completed passing through the narrow area waiting at or near the exit of the narrow area. At time t3, all of the unmanned boats 1000 in group 1010 have completed passing through the narrow area. At time t3, group 1010, along with the multiple unmanned boats 1000 that were waiting at or near the exit of the narrow area, begins moving from the area near the exit of the narrow area.

[0238] As shown in Figure 36, when passing through a narrow area, the entire or a part of group 1010 can be transformed into a long, narrow, column-like shape, making it possible to pass through the narrow area. The communication connection of the long, column-like portion of the formation for narrow spaces may be a series connection configuration that connects to other adjacent unmanned vessels 1000, as shown in Figure 36, but it is not necessarily required to be a series connection with adjacent unmanned vessels; a communication network configuration that connects to any other unmanned vessel within the communication range is possible.

[0239] Figure 37 shows another example of a formation for narrow spaces in the formation pattern of group 1010. In particular, Figure 37 shows a formation suitable for narrow spaces when group 1010 is deployed in a narrow area where the area width or area is narrower than a predetermined value, avoiding stationary objects that need to be avoided (shorelines) or areas that need to be avoided (congested roads), and when passing through a narrow space.

[0240] In the example shown in Figure 37, when passing through a narrow area inside a bay and congested highway area, at least a portion of the unmanned vessels constituting group 1010 enter the narrow area, and the figure shows how the formation of group 1010 changes at times t1, t2, and t3 when the unmanned vessels that have entered the narrow area pass through the narrow area in a formation that maintains a relative distance range that allows them to communicate wirelessly with at least two other unmanned vessels 1000.

[0241] At time t1, the diagram shows some of the unmanned boats 1000b ahead of group 1010 entering a confined area in a formation that maintains a relative distance that allows communication with two or more other unmanned boats. In this case, as shown in Figure 37, the unmanned boats 1000 ahead may be connected via a wireless communication network to two or more other unmanned boats within communication range.

[0242] Furthermore, at time t2, some of the unmanned vessels 1000b in the forward direction of group 1010 have completed passing through the narrow area and have moved into the range where direct communication with the ground base station 4000 located near the exit of the narrow area is possible. At this point, based on the information of the installation location and communication area of ​​the ground base station 4000 acquired by the external information acquisition unit 2110, the unmanned vessels 1000b can be moved into the said communication area. In this case, the unmanned vessels 1000b that have moved into the range where direct communication with the ground base station 4000 is possible are assigned the function of a master unit 1001 that relays communication between the ground-side communication network and group 1010.

[0243] Also, at time t3, almost all the unmanned boats 1000 within group 1010 show that they have completed passing through the narrow area. At time t3, group 1010 merges the multiple unmanned boats 1000 waiting in the area near the exit of the narrow area or in its vicinity with the unmanned boats 1000 that have completed passing through the narrow area, and starts moving group 1010 from the area near the exit of the narrow area.

[0244] As shown in FIG. 37, the formation of group 1010 when passing through the narrow area does not necessarily have to be a single-file formation, and it may be a zigzag arrangement, a grid arrangement, or other arrangements such as a rhombus or a hexagon as shown in FIG. 37. Also, the wireless communication network configuration of group 1010 when passing through the narrow area is a redundant network configuration in which communication connections are made with a plurality of other unmanned boats within the communication range, so that even if some communication connections are interrupted, communication connections with all the unmanned boats 1000 within group 1010 can be maintained.

[0245] Also, when there is an area where direct communication with the ground base station 4000 is possible, at least one unmanned boat 1000 is moved to that area to relay communication between the ground base station 4000 and the other unmanned boats 1000 of group 1010, making it possible to redundantize communication between group 1010 and the ground-side network.

[0246] In the above-described embodiment, the control system 1 using the group 1010 composed of a plurality of unmanned boats 1000 operating on the sea or water has been described. However, the present invention is not limited to ships such as unmanned boats 1000, and can be applied to any moving body such as an unmanned aerial vehicle that can move in the air, an unmanned submarine that can move in the sea, an unmanned vehicle that can move on land, or an unmanned aircraft.

[0247] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from its gist, and it is needless to say that equivalents of the present invention are included therein.

[0248] [A-2. Effects of this embodiment] The above-described embodiment allows for safer and more efficient execution of activities such as exploration, inspection, and surveys when using multiple groups having multiple mobile units. For example, by determining the group composition for each of the multiple groups and controlling the group configuration, it becomes possible to execute activities using multiple loops more safely and efficiently. [Explanation of Symbols]

[0249] 1…Control system (system) 100...Input device 200...Output device 300... Processing unit 400... Main memory 500... Auxiliary storage device 600... Communication device 700...bus 1000...Unmanned boat 1001...Main unit 1002...Slave unit 10021... Primary connected slave unit 10022... Secondary connected slave unit 10023...Third-level connected slave unit 1010...Group 1100...Measurement unit 1110...Measurement sensor 1120...Measurement and Control Unit 1200...Self-inflicted status determination unit 1210...Navigation status determination unit 1220...Internal state determination unit 1230...External state determination unit 1300...Navigation Department 1400... Communications Department 1410... Unmanned Vessel Communications Department 1420... Satellite Communications Department 1430... External Communications Department 1500…Judgment section 1600... Recording unit 1610... Measurement data recording unit 1620... Player's status recording unit 1630... Judgment information recording unit 2000... Integrated control system 2100... Information Import Unit 2110... External Information Acquisition Unit 2120...Formation pattern acquisition unit 2130...Priority group determination condition acquisition unit 2140…Unmanned boat information acquisition department 2200...Activity condition acquisition unit 2210...User input acquisition unit 2220... External user input acquisition unit 2300... Operation Plan Determination Unit 2310... Overall Organization Determination Unit 2320...Group role assignment unit 2330...Collision avoidance action planning unit 2340...Measurement Density Planning and Determination Department 2400... State determination unit 2410... Group internal state determination unit 2420...Group behavior status determination unit 2430...Measurement density distribution determination unit 2440... Surrounding object detection unit 2500...Group operation determination unit 2510...Priority determination unit 2520...Group formation determination unit 2530...Collision avoidance action determination unit 2540...Measurement density adjustment operation determination unit 2600...Group operation control unit 2610...Formation change control unit 2620...Collision avoidance operation control unit 2630...Measurement density adjustment operation control unit 2640... Group Operation Control Unit 2700...Information input / output section 2710...Display section 2720...User input receiving unit 2730...Control command output unit 2740... Communications Department 3000...Communication satellite 4000...Ground base station 5000... Cooperative system 6000... External system 7000...Target object

Claims

1. A control system for controlling the operation of multiple groups, which include at least a first group having multiple moving bodies and a second group having multiple other moving bodies, An activity condition acquisition unit that acquires information regarding the activity conditions of multiple aforementioned mobile bodies, A group action determination unit makes a decision regarding at least one of the following for each of the multiple groups, based on the information acquired by the activity condition acquisition unit: group organization, assigned actions, assigned areas, movement routes, and formations. A control system comprising a group action control unit that controls at least one of the following for the multiple groups: the group organization, the execution of the assigned action, the execution of the action in the assigned area, the movement path, and the formation, according to the decision of the group action determination unit.

2. In the control system according to claim 1, The group formation decision information by the group operation decision unit includes: A control system comprising: information for determining the number of multiple mobile bodies included in the first group or the second group; information for determining whether or not to change the organization of the first group or the second group; information for determining whether to increase or decrease the number of multiple mobile bodies included in the first group or the second group; or information for determining whether to move or swap multiple mobile bodies between the first group and the second group.

3. In the control system according to claim 1, The decision information regarding the assignment operation by the group operation determination unit includes: A control system that includes decision information to assign at least one of the following operations to at least one of the first group and the second group: object search, object tracking, object encirclement, object preemption, object handover, object tracking, communication relay, data analysis, data transmission, data storage, preparation, termination operation, standby, and recharge.

4. In the control system according to claim 1, The decision information by the group operation determination unit includes: Information for determining whether or not an avoidance action is necessary to avoid contact between the moving bodies belonging to the first group and the second group, Alternatively, as the avoidance action, decision information to bypass at least one of the movement paths of the first group and the second group, Alternatively, as the avoidance action, decision information to change the formation of at least one of the first group and the second group to an avoidance formation, Alternatively, a control system that includes decision information to perform a passing maneuver between the first group and the second group, such that at least a portion of the areas where the first group and the second group are deployed overlap, as the avoidance maneuver.

5. In the control system according to claim 1, The decision information by the group operation determination unit includes: A control system that includes determination information for at least one of the following: representative positions of the first group and the second group, or movement paths of the first group and the second group, formation, reduction or expansion of the distance between the moving bodies within the groups, so as to maintain a distance of at least a predetermined value between the moving bodies belonging to the first group and the second group.

6. In the control system according to claim 1, When searching for an object using measurement sensors mounted on multiple moving bodies included in the aforementioned group, the group operation determination unit determines the following: A control system that includes decision information regarding at least one of the movement paths, formations, and reductions or increases in the distance between moving objects within a group of at least one of the first group and the second group, such that the measurement density distribution calculated by the measurement sensors for each area satisfies a predetermined target value.

7. In the control system according to claim 1, The information regarding activity conditions acquired by the aforementioned activity condition acquisition unit includes: A control system that includes information on at least one of the following: the activity area of ​​a plurality of mobile bodies, the date and time of activity, information on objects detected by measuring sensors mounted on the mobile bodies, the alert level of the activity of the mobile bodies, and the measurement density distribution calculated by the measuring sensors for each area.

8. In the control system according to claim 1, The system includes an operation plan determination unit that generates operation plans for the multiple groups, including at least the first group and the second group, or a state determination unit that determines information regarding the state of the multiple groups, The group operation determination unit is a control system that makes decisions regarding at least one of the group organization, assigned operations, assigned areas, movement paths, and formations of the first group and the second group, based on the operation plans or states of the multiple groups.

9. In the control system according to claim 8, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes group internal states, which include at least one of the abnormal state, fault state, or charging state of the moving bodies belonging to the first group and the second group.

10. In the control system according to claim 8, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes the operating states of the mobile body, which include at least one of the following by the first group and the second group: searching for an object, tracking an object, surrounding an object, getting ahead of an object, taking over tracking of an object, relaying communications, analyzing data, transmitting data, storing data, preparation, termination, standby, and recharge.

11. In the control system according to claim 8, The information regarding the status of the plurality of groups determined by the status determination unit includes: A control system that includes the measurement density distribution for each area, measured by measurement sensors mounted on the mobile bodies belonging to the first group and the second group.

12. In the control system according to claim 8, The group operation determination unit is a control system that determines a priority for each group based on the operation plans of the multiple groups generated by the operation plan determination unit, the current state of the multiple groups determined by the state determination unit, or information acquired by the activity condition acquisition unit.

13. In the control system according to claim 12, The group operation determination unit, when the priority of the second group is higher than the priority of the first group, A control system that determines the number of the moving bodies belonging to the second group to be greater than the number of the moving bodies belonging to the first group, or increases the number of the moving bodies belonging to the second group, or decides to move at least a portion of the moving bodies belonging to the first group to the second group.

14. In the control system according to claim 12, The group operation determination unit, when the priority of the second group is higher than the priority of the first group, A control system that decides to replace a mobile body belonging to the second group that is detected to be in an abnormal state, malfunction state, or insufficient charge state with a mobile body belonging to the first group.

15. In the control system according to claim 1, The group operation determination unit is a control system that, in accordance with the determination results of the assignment operations for the first group and the second group, determines the number of multiple mobile bodies belonging to the first group or the second group, determines whether or not to change the composition of the first group or the second group, determines whether to increase or decrease the number of multiple mobile bodies included in the first group or the second group, or determines whether to move or swap the multiple mobile bodies between the first group and the second group.

16. In the control system according to claim 12, When performing an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, and the priority of the second group is higher than the priority of the first group, A control system in which the group action determination unit determines the execution of at least one of the following as the avoidance action: changing the movement path of the first group, changing the formation of the first group as the avoidance action, or reducing or increasing the distance between moving objects within the group as the avoidance action.

17. In the control system according to claim 1, When searching for an object using measurement sensors mounted on multiple mobile bodies belonging to the aforementioned multiple groups, and external measurement sensors mounted on an external cooperative system, The group operation determination unit is a control system that generates a movement path capable of measuring the boundary area between the external search area and the activity area at a predetermined or greater frequency, based on information regarding the external search area and the activity area of ​​the multiple moving bodies provided by the cooperative system.

18. In the control system according to claim 4, The group operation determination unit is, As an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, when changing the formation of at least one of the first group and the second group, A control system that determines a formation to be changed to one of the following: a partially modified formation that deforms a part of at least one of the formations of the first group and the second group; a compressed formation that compresses the deployment area of ​​the formation; or a divided formation that divides the formation into two or more.

19. In the control system according to claim 4, As an avoidance maneuver to avoid contact between the moving bodies belonging to the first group and the second group, when a passing maneuver is performed in which at least a portion of the areas of the first group and the second group overlap, The group operation determination unit is a control system that, as the passing operation, performs a passing maneuver so as to pass through the gap between at least some of the moving bodies belonging to the first group and the second group.

20. In the control system according to claim 1, The group operation determination unit is a control system that, as an avoidance operation to avoid contact between the moving bodies belonging to the first group and the second group, swaps the moving bodies belonging to the first group and the moving bodies belonging to the second group when the first group and the second group approach within a predetermined distance of each other.

21. A control method for controlling the operation of multiple groups, which include at least a first group having multiple moving bodies and a second group having multiple other moving bodies, Computers An activity condition acquisition step to acquire information regarding the activity conditions of multiple mobile bodies, A group action determination step is performed based on the information obtained in the activity condition acquisition step, which determines at least one of the group composition, assigned actions, assigned areas, movement routes, and formations for each of the multiple groups. A group action control step controls at least one of the following for the multiple groups: the group organization, the execution of the assigned action, the execution of the action in the assigned area, the movement path, and the formation, according to the decision made in the group action determination step. A control method for executing this.

22. A program for controlling the operation of multiple groups, which include at least a first group having multiple moving objects and a second group having multiple other moving objects, On the computer, An activity condition acquisition command for acquiring information on the activity conditions of multiple aforementioned mobile bodies, A group action determination command is issued to make a decision regarding at least one of the following for each of the multiple groups, based on the information obtained by the activity condition acquisition command: group organization, assigned actions, assigned areas, movement routes, and formations. A group action control command controls at least one of the group organization, assigned actions, actions within the assigned area, movement paths, and formations of the multiple groups, according to the decision made by the group action decision command. A program that executes the command.

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