Communication system, communication control method, and program

Abstract

According to the present invention, a stable communication environment can be provided by equipment located in sea areas, etc. [Solution] The present invention is a communication system that includes a communication line information acquisition unit that acquires information on multiple candidate relay communication lines, and a communication line determination unit that determines which relay communication line to use for communication from the multiple candidate relay communication lines, wherein the communication line determination unit determines a relay communication line from multiple candidate relay communication lines, which include at least one of the following: a maritime relay system equipped with multiple ships that can communicate with a first terminal device; an aerial relay system equipped with an artificial satellite or the like that can wirelessly communicate with at least one of the multiple ships and can communicate with at least one of an internet line and a second terminal device; and a ground relay system equipped with ground wireless communication equipment that can wirelessly communicate with at least one of the multiple ships and can communicate with at least one of an internet line and a second terminal device, or a combination thereof.

Description

Technical Field

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

Background Art

[0002] Unlike a land area where a large number of antenna base stations are installed, in a sea area far from the coast, communication equipment cannot be directly communicatively connected to an antenna base station. Therefore, in order to communicatively connect marine communication equipment to an Internet line or another local network, a relay system that relays communication to a ground antenna base station is required.

[0003] Patent Document 1 discloses using a non-ground-based network that utilizes satellites such as GEO (Geosynchronous orbit), MEO (Medium-Earth orbit), LEO (Low-Earth orbit), and aircraft such as HAPS (High Altitude Platform Station). Further, Patent Document 2 discloses a ship-to-land base communication system that uses a wireless communication network that relays a plurality of ships when transmitting from a ship navigating in a sea area far from the coast to a land communication base.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, while Patent Document 1 discloses that the ground-side communication control unit changes communication parameters depending on the type of non-terrestrial network described above, it does not consider how to appropriately switch between types of non-terrestrial networks. Similarly, while Patent Document 2 discloses establishing a communication line between a ship navigating in a sea area far from the coast and a land-based communication base station using a wireless communication network that relays multiple ships, it does not consider how to appropriately switch between such a maritime relay network using multiple ships and other communication networks such as non-terrestrial networks depending on the situation.

[0006] In coastal areas, non-terrestrial networks such as satellites and HAPS may not be available depending on the area and time of day. Similarly, in coastal areas far from the coast, it may not be possible to establish a maritime relay network using multiple vessels to land-based communication base stations. Furthermore, communication quality differs depending on the type of communication line mentioned above, and even with the same communication line, communication quality can fluctuate due to changes in the external environment. Therefore, in order to always maintain the communication quality required by the user, communication management such as appropriately switching communication lines depending on the situation is necessary.

[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 more stable communication environment for devices located in sea areas far from the coast. [Means for solving the problem]

[0008] According to the present invention, a communication system is provided that uses a vessel that can move on the sea to provide a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and an internet line, comprising: a communication line information acquisition unit that acquires information on a plurality of candidates for the relay communication line; and a communication line determination unit that determines which relay communication line to use for communication from the plurality of candidates for the relay communication line, wherein the communication line determination unit comprises a maritime relay system equipped with a plurality of the vessels that can communicate directly or indirectly with the first terminal device, and a plurality of the A communication system is obtained that determines the relay communication line from a plurality of candidates for the relay communication line, including an aerial relay system equipped with an artificial satellite or a communication aircraft flying in the stratosphere that is capable of wireless communication with at least one of the ships and can communicate directly or indirectly with at least one of the internet line and the second terminal device, and a ground relay system equipped with ground wireless communication equipment that is capable of wireless communication with at least one of the plurality of the ships and can communicate directly or indirectly with at least one of the internet line and the second terminal device, or a combination thereof. [Effects of the Invention]

[0009] According to the present invention, a stable communication environment can be provided by equipment located in sea areas, etc. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of a communication system 1 according to one embodiment of the present invention. [Figure 2] This figure shows an example of an implementation image when communication system 1 is implemented in real space. [Figure 3] This figure shows the detailed variations of the communication lines provided by communication system 1. [Figure 4] This diagram shows a list of variations in the connection destinations for communication connections. [Figure 5] This figure shows the first example of a communication connection pattern. [Figure 6] It is a diagram showing a second example of a communication connection pattern. [Figure 7] It is a diagram showing a third example of a communication connection pattern. [Figure 8] It is a diagram showing a fourth example of a communication connection pattern. [Figure 9] It is a functional block diagram showing the functional configuration of the unmanned boat 1010. [Figure 10] It is a functional block diagram showing the functional configuration of the overall control system 2000. [Figure 11] It is a diagram showing information about the communication target terminal 7000 acquired by the communication target information acquisition unit 2110. [Figure 12] It is a diagram showing an example of information about the path of the communication line acquired by the available line information acquisition unit 2210. [Figure 13] It is a diagram showing an example of information about the communication performance for each communication line acquired by the available line information acquisition unit 2210. [Figure 14] It is a flowchart showing the operation processing flow of the overall control system 2000. [Figure 15] It is a flowchart showing the grasping processing flow of available communication lines and the like by the communication line information acquisition unit 2200. [Figure 16] It is a flowchart showing the determination processing flow of the relay communication line by the communication line determination unit 2300. [Figure 17] It is a diagram showing an example of a communication line candidate that satisfies the desired information determined by the condition-satisfied path candidate determination unit 2310. [Figure 18] It is a diagram showing an example of display information when the communication line determination unit 2300 proposes a change to the allowable conditions. [Figure 19] It is a flowchart showing the determination processing flow of the operation and the like of the unmanned boat system 1000 by the offshore relay operation determination unit 2400. [Figure 20] It is a flowchart showing the maintenance control flow of the wireless communication connection by the communication maintenance control unit 2500. [Figure 21]It is a diagram showing a state when controlling the communication between the communication target terminal 7000 mounted on a ship and the Internet line 6000. [Figure 22] It is a diagram showing a state when controlling the communication between the first communication target terminal 7000a mounted on a ship and the second communication target terminal 7000b mounted on a maritime base. [Figure 23] It is a diagram showing a state when controlling the communication between the first communication target terminal 7000a mounted on a ship and the second communication target terminal 7000b mounted on another ship. [Figure 24] It is a diagram showing a state when controlling the communication between the first communication target terminal 7000a mounted on the ground and the second communication target terminal 7000b mounted on the ground. [Figure 25] It is a diagram showing an example of a maritime communication network when controlling the communication between the first communication target terminal 7000a mounted on a ship and the second communication target terminal 7000b mounted on another ship. [Figure 26] It is a diagram showing an example of communication status information displayed and output by the display information output unit 2610. [Figure 27] It is a hardware configuration diagram of the overall control system 2000.

Embodiments for Carrying Out the Invention

[0011] The content of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] A communication system that provides a relay communication line for communicably connecting between a first terminal device and a second terminal device, or between the first terminal device and an Internet line, or between the first terminal device, the second terminal device, and the Internet line, using a ship movable on the sea, a communication line information acquisition unit that acquires information regarding a plurality of candidates for the relay communication line; and a communication line determination unit that determines the relay communication line to be used for communication from the plurality of candidates for the relay communication line, where the communication line determination unit A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A communication system for determining the relay communication line from a plurality of candidates for the relay communication line, which includes at least one of the ground relay systems, or a combination thereof, that are capable of wireless communication with at least one of the plurality of the aforementioned vessels and that are capable of directly or indirectly communicating with at least one of the internet line and the second terminal device, and that includes ground wireless communication equipment. [Item 2] In the communication system described in item 1, A communication system in which the communication line determination unit determines the relay communication line based on request information relating to at least one of the following: the type, location, expected movement area, planned movement speed, planned movement route, desired communication maintenance time period, and communication line usage fee of the first terminal device or the second terminal device. [Item 3] In the communication system described in item 1 or 2, A communication system in which the type of the first terminal device or the second terminal device includes information that can identify whether the first terminal device or the second terminal device is located at sea, in the air, underwater, or on land. [Item 4] In a communication system described in any of items 1 to 3, A communication system in which the communication line determination unit determines the relay communication line based on request information indicating whether the connection destination for communication connection with the first terminal device is the second terminal device, the internet line, or both the second terminal device and the internet line. [Item 5] In a communication system described in any of items 1 to 4, A communication system in which the communication line determination unit determines the relay communication line based on request information regarding the communication quality or communication standards of the communication line connecting the first terminal device and the Internet line, or the communication line connecting the first terminal device and the second terminal device. [Item 6] In a communication system described in any of items 1 to 5, A communication system in which the information acquired by the communication line information acquisition unit includes multiple candidates for the relay communication line, including the maritime relay system, the aerial relay system, the ground relay system, or a combination thereof, or information regarding the communication performance of other existing communication infrastructure, the location of wireless communication base stations, or communication line usage fees. [Item 7] In a communication system described in any of items 1 to 6, A communication system in which the aforementioned communication performance includes information regarding at least one of the following: communication area, communication strength, communication speed, communication delay, and communication capacity. [Item 8] In a communication system described in any of items 1 through 7, It has an environmental information acquisition unit that acquires environmental information including at least one of precipitation, fog, lightning, ionospheric conditions, and solar flare conditions. The aforementioned communication performance is information generated taking into account the impact on the communication performance of the maritime relay system or the ground relay system caused by precipitation, fog, or lightning strikes, or the impact on the communication performance of the upper-air relay system caused by ionospheric disturbance or solar flares, or the impact on the existing communication infrastructure caused by at least one of precipitation, fog, lightning strikes, ionospheric conditions, solar flare conditions, time of day, or date and time, in a communication system. [Item 9] In a communication system described in any of items 1 through 8, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, and the second terminal device. [Item 10] In a communication system described in any of items 1 to 9, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, the aerial relay system, and the internet line. [Item 11] In a communication system described in any of items 1 to 10, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the maritime relay system, the first aerial relay system, the internet line, the second aerial relay system, and the second terminal device. [Item 12] In a communication system described in any of items 1 to 11, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the first maritime relay system, the first aerial relay system, the internet line, the second aerial relay system, the second maritime relay system, and the second terminal device. [Item 13] In a communication system described in any of items 1 to 12, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, the land relay system, and the internet line. [Item 14] In a communication system described in any of items 1 through 13, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the maritime relay system, the first land relay system, the internet line, the second land relay system, and the second terminal device. [Item 15] In a communication system described in any of items 1 through 14, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the first maritime relay system, the first land relay system, the internet line, the second land relay system, the second maritime relay system, and the second terminal device. [Item 16] In a communication system described in any of items 1 through 15, When the first terminal device or the second terminal device is in the air, A communication system in which the communication line determination unit determines a communication line as the relay communication line that directly connects the first terminal device and the ship, or connects the first terminal device and the ship via an aerial communication aircraft, or directly connects the second terminal device and the ship, or connects the second terminal device and the ship via an aerial communication aircraft. [Item 17] In a communication system described in any of items 1 to 16, The communication line determination unit determines the parallel use of multiple communication circuits as the relay communication line if the parallel use of multiple communication circuits satisfies predetermined criteria required for the relay communication line. [Item 18] In a communication system described in any of items 1 through 17, When there is one or more communication line candidates that meet the predetermined criteria required for the relay communication line, the system includes a display information output unit that displays information including multiple such communication line candidates to the user. The aforementioned communication line determination unit is a communication system that determines the relay communication line based on the communication line specification information received from the user. [Item 19] In a communication system described in any of items 1 through 18, When there are multiple candidate communication lines that meet the predetermined criteria required for the aforementioned relay communication line, The aforementioned communication line determination unit determines the relay communication line based on previously acquired priority criteria information for communication lines. [Item 20] In a communication system described in any of items 1 through 19, A communication system comprising a maritime relay operation determination unit that determines the operation of a plurality of ships for maritime communication relay according to the relay communication line determined by the communication line determination unit. [Item 21] In a communication system described in any of items 1 through 20, The maritime relay operation determination unit determines at least one of the number, formation, arrangement, and movement route of the ships required for the relay communication line determined by the communication line determination unit, and is a communication system. [Item 22] In a communication system described in any of items 1 to 21, The maritime relay operation determination unit determines the vessel that will establish a wireless communication connection with at least one of the first terminal device, the second terminal device, the airborne relay system, and the ground relay system, according to the relay communication line determined by the communication line determination unit. [Item 23] In a communication system described in any of items 1 to 22, When the communication line determination unit determines the communication line for wirelessly connecting the maritime relay system and the aerial relay system as the relay communication line, The maritime relay operation determination unit determines the artificial satellite or communication aircraft of the aerial relay system to wirelessly connect with the ship of the maritime relay system. [Item 24] In a communication system described in any of items 1 through 23, When the communication line determination unit determines the communication line for wirelessly connecting the maritime relay system and the ground relay system as the relay communication line, The maritime relay operation determination unit is a communication system that determines the wireless communication equipment of the land relay system to wirelessly connect with the vessel of the maritime relay system. [Item 25] In a communication system described in any of items 1 through 24, A communication system comprising a communication maintenance control unit that determines changes to at least one of the following: the communication lines, the number, formation, arrangement, and movement routes of the vessels, the vessels that wirelessly connect to the outside of the maritime relay system, the artificial satellites or communication aircraft of the aerial relay system that are wirelessly connected to the maritime relay system, or the wireless communication equipment of the ground relay system that is wirelessly connected to the maritime relay system, according to the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and other communication lines. [Item 26] In a communication system described in any of items 1 through 25, The system includes a communication maintenance control unit that determines whether the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and other communication lines, meets predetermined standards required for the relay communication line. If the communication maintenance control unit determines that the communication performance of the relay communication line, or the communication performance of the relay communication line and other communication lines, does not meet the predetermined criteria, the system includes a display information output unit that displays information regarding the communication performance of at least one of the relay communication line and other communication lines to the user. The aforementioned communication maintenance control unit is a communication system that changes the relay communication line based on communication line change instruction information received from the user. [Item 27] In a communication system described in any of items 1 through 26, The information acquired by the aforementioned communication line information acquisition unit includes information regarding the communication performance of the relay communication line and other communication lines. A communication system comprising a display information output unit that displays information regarding the communication performance of the relay communication line and other communication lines to the user. [Item 28] In a communication system described in any of items 1 through 27, A communication system comprising a communication maintenance control unit that changes the relay communication line based on communication line change instruction information received from a user via a user input reception unit. [Item 29] In a communication system described in any of items 1 through 28, The information acquired by the aforementioned communication line information acquisition unit includes measurement information of the current communication performance of the aforementioned maritime relay system. A communication system comprising a communication maintenance control unit that determines a change in the route of the communication network between multiple ships of the maritime relay system. [Item 30] In a communication system described in any of items 1 through 29, If the communication line determination unit determines that there are no candidate communication lines that meet the predetermined criteria required for the relay communication line, A communication system comprising a display information output unit that proposes to the user a change to the aforementioned predetermined criteria. [Item 31] In a communication system described in any of items 1 to 30, The communication line determination unit determines the relay communication line from a plurality of candidate communication lines based on information of at least one of the current or future number, formation, arrangement, and movement path of the plurality of vessels of the maritime relay system. [Item 32] A communication control method that provides a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and the internet line, using a vessel that can move on the sea, Computers A communication line information acquisition step involves acquiring information about multiple candidates for the aforementioned relay communication line, The system includes a communication line determination step in which a relay communication line to be used for communication is determined from among multiple candidates for the relay communication line, The aforementioned communication line determination step is: A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A communication control method for determining the relay communication line from a plurality of candidates for the relay communication line, which includes at least one of the following: a ground relay system equipped with ground wireless communication equipment capable of wirelessly communicating with at least one of the plurality of vessels and capable of directly or indirectly communicating with at least one of the Internet line and the second terminal device, or a combination thereof. [Item 33] A program usable in a communication system that provides a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and the internet line, using a vessel that can move on the sea, On the computer, A communication line information acquisition command that acquires information about multiple candidates for the aforementioned relay communication line, A communication line determination command is executed to determine which of the multiple candidate relay communication lines to be used for communication. The aforementioned communication line determination command is: A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A program that determines which relay communication line to use for communication from a plurality of candidates for the relay communication line, including at least one of a plurality of the aforementioned vessels and a terrestrial wireless communication facility that can communicate directly or indirectly with at least one of the Internet line and the second terminal device, or a combination thereof.

[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 descriptions are omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0013] [A-1. Configuration] (A-1-1. System Configuration) First, the system configuration of the communication system 1 according to an embodiment of the present invention will be described using FIGS. 1 to 3.

[0014] (A-1-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of a communication system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the communication system 1 includes an unmanned boat system (1000a, 1000b) composed of a plurality of unmanned boats 1010 (parent machine 1001, child machine 1002, etc.), a unified control system 2000, an aerial access point 3000 (hereinafter also referred to as an aerial AP), and a terrestrial access point 4000 (hereinafter also referred to as a ground AP). The communication system 1 can provide a communication environment for a communication target terminal 7000 existing in the sea, above the sea, in the sea, an isolated island, etc., away from the ground, by constructing a communication line capable of communicating between the user terminal 5000, the communication target terminal 7000, and the Internet line 6000.

[0015] The unified control system 2000 can receive the operation status of the unmanned boat system 1000 and the measurement data collected by the unmanned boat system 1000 deployed at sea via the aerial AP 3000 and the terrestrial AP 4000, and can transmit a control command to the unmanned boat system 1000.

[0016] The unmanned vessel system 1000 consists of multiple unmanned vessels 1010 that can move on the sea, and is equipped with a master unit 1001 that can communicate with aerial AP3000 and ground AP4000, and multiple slave units 1002 that can communicate directly or indirectly with the master unit 1001, and a maritime communication network (hereinafter also referred to as the "maritime relay system") is established between the 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 wirelessly connecting with communication target terminals 7000 (communication terminals installed on aircraft, drones, aerial measurement devices, remote islands, ships, offshore facilities, underwater drones, divers, marine organisms, etc.) that provide a communication environment using communication devices mounted on their own.

[0017] The unmanned vessel system 1000 has the function of a maritime relay system that connects the aerial AP3000, which consists of artificial satellites and communication aircraft (such as HAPS) flying in the stratosphere, and the ground AP4000, which consists of ground-based wireless communication base stations, with the communication target terminal 7000 via a wireless communication network. It can establish communication connections between the communication target terminal 7000 and the internet line 6000, between the communication target terminal 7000 and the user terminal 5000, and between the communication target terminal 7000 and another communication target terminal 7000.

[0018] As shown in Figure 1, the unmanned vessel system 1000 comprises at least one master unit 1001 and multiple slave units 1002. The master unit 1001 is connected to the multiple slave units 1002 within the unmanned vessel system 1000 via a communication network and can relay communications between the target terminal 7000 and the aerial AP3000 or ground AP4000 by communicating with them. Furthermore, the unmanned vessel system 1000 shown in Figure 1 comprises a primary connected slave unit 1002 that communicates with the master unit 1001, a secondary connected slave unit 1002 that communicates with the primary connected slave unit 1002, and a tertiary connected slave unit 102 that communicates with the secondary connected slave unit 1002.

[0019] (A-1-1-2. Implementation example of communication system 1) Figure 2 shows an example of an implementation image when the communication system 1 is implemented in real space. As shown in Figure 2, the unmanned vessel system 1000, which consists of multiple unmanned vessels 1010 including a master unit 1001 and slave units 1002, is deployed on the sea away from land as shown in the upper right of the figure. Here, the unmanned vessel system 1000 is connected to a terrestrial communication network such as an internet line 6000 by at least one of two communication paths: a first communication path in which the master unit 1001 connects to a ground-based ground communication base station (a base station for airborne communication units) via an airborne AP 3000, and a second communication path in which the master unit 1001 connects to a ground-based ground AP 4000 (for example, a ground communication base station such as a mobile phone wireless communication base station).

[0020] Furthermore, when any of the multiple unmanned vessels 1010 constituting the unmanned vessel system 1000 establish a wireless communication connection with a communication target terminal 7000 in the sea area, the communication target terminal 7000 and the internet line 6000 become able to communicate via the maritime relay network provided by the unmanned vessel system 1000. Here, the communication target terminal 7000, for which the unmanned vessel system 1000 can provide a communication environment, may include terminal devices mounted on ships or offshore facilities at sea, terminal devices mounted on underwater drones, terminal devices installed on remote islands or opposite coastlines, or terminal devices mounted on aircraft flying in the airspace above the ocean (airspace at an altitude of 10,000 meters or less).

[0021] (A-1-1-3. Implementation example of communication system 1) Figure 3 shows detailed variations of the communication lines provided by communication system 1. As shown in Figure 3, specific examples of the orbital AP3000 that connect the unmanned aerial vehicle system 1000 and the internet line directly or indirectly (via ground communication base stations, etc.) are described. The orbital AP3000 is the GEO satellite 3001 located in high orbit (geosynchronous orbit) at an altitude of approximately 36,000 km, or at an altitude of approximately 600 km. The LEO satellite 3002, located in Low Earth orbit, or a stratospheric aircraft (High Altitude Platform Station, hereinafter also referred to as HAPS) located in the stratosphere at an altitude of approximately 10-50 km, can be used for communication with the unmanned vessel system 1000. In other words, the AP3000 in the air is capable of wireless communication with at least one of multiple unmanned vessels and is equipped with a satellite or a communication aircraft flying in the stratosphere that can communicate directly or indirectly with an internet connection (or a second communication target terminal). Here, the LEO satellite 3002 may communicate between the unmanned vessel system 1000 and the ground communication base station by itself, or it may communicate by relaying communication through multiple LEO satellites 3002. Furthermore, HAPS can be not limited to aircraft, but can also utilize balloons or airships.

[0022] Furthermore, as shown in Figure 3, an example is shown in which a communication network is formed by multiple unmanned vessels 1010 constituting the unmanned vessel system 1000, and a ground AP 4000 located on the ground is wirelessly connected to the unmanned vessel system 1000. Here, the ground AP 4000 is equipped with a ground wireless communication base station that can wirelessly communicate with at least one of the multiple unmanned vessels and can communicate directly or indirectly with an internet line (or a second communication target terminal). The wireless communication base station equipped with the ground AP 4000 may be a stationary facility installed on a ground structure, but is not limited to this, and may also be a mobile base station mounted on a vehicle, or a removable temporary base station.

[0023] Furthermore, any of the multiple unmanned vessels 1010 that make up the unmanned vessel system 1000 can communicate wirelessly with communication target terminals 7000 located on or around the sea area where the unmanned vessel system 1000 is deployed, in the sea, underwater, in the air, or on remote islands or coastal areas. Specific examples of communication target terminals 7000 include, for example, ships navigating the sea, offshore facilities such as offshore wind power plants, flying objects in the air or aerial measuring devices, flying objects in the troposphere at an altitude of approximately 10 km or less, or underwater divers, underwater drones, and biologgers attached to marine organisms.

[0024] Here, when the unmanned vessel system 1000 communicates wirelessly with the underwater communication target terminal 7000, it may communicate directly, or it may communicate wirelessly with the underwater communication target terminal 7000 via an underwater communication buoy or the like that can relay communication with underwater equipment. Similarly, when the unmanned vessel system 1000 communicates wirelessly with the aerial communication target terminal 7000, it may communicate wirelessly with the aerial communication target terminal 7000 via an aerial communication aircraft (such as a drone) that can relay communication with the aerial equipment.

[0025] (A-1-2. Variations of communication destinations) Next, Figures 4 to 8 will be used to explain the variations in communication destinations and communication connection patterns.

[0026] (A-1-2-1. List of variations in communication destinations) Figure 4 is a diagram showing a list of variations in the connection destinations for communication connections. As shown in Figure 4, there are two types of communication connections: a connection between the communication target terminal 7000 and the internet line 6000, and a connection between the first communication target terminal 7000a and the second communication target terminal 7000b. Furthermore, the location of the communication target terminal 7000 can be divided into four patterns for the connection between the communication target terminal 7000 and the internet line 6000: in the air, at sea, on land, or underwater. On the other hand, for the connection between the first communication target terminal 7000a and the second communication target terminal 7000b, the location of the first communication target terminal 7000a can be in the air, at sea, on land, or underwater, and similarly, the location of the second communication target terminal 7000b can also be in the air, at sea, on land, or underwater. Therefore, there are 16 possible combinations of these patterns. The communication system described in this embodiment can provide an appropriate communication circuit for these combination patterns of communication destinations.

[0027] (A-1-2-2. First example of a communication connection pattern) Figure 5 shows a first example of a communication connection pattern. In particular, the first example shown in Figure 5 shows a case where the communication target terminal 7000 is connected to the internet line 6000. In the example shown in Figure 5, the communication target terminal 7000 is connected indirectly to the unmanned vessel system 1000 via an aerial communication aircraft or an underwater communication buoy, or it is connected directly to the unmanned vessel system 1000. The unmanned vessel system 1000 can also be connected to the internet line 6000 via an aerial AP3000 or a ground AP4000.

[0028] The central control system 2000 controls the movement and communication of multiple unmanned vessels that constitute the unmanned vessel system 1000, thereby relaying wireless communication between the communication target terminal 7000 and the internet line 6000 using multiple unmanned vessels 1010 at sea, and further maintaining the connection status of said wireless communication.

[0029] (A-1-2-3. Second example of a communication connection pattern) Figure 6 shows a second example of a communication connection pattern. In particular, the second example shown in Figure 6 shows a case where the first communication target terminal 7000a is connected to the second communication target terminal 7000b via the unmanned vessel system 1000. In the example shown in Figure 6, the first communication target terminal 7000a is connected to the unmanned vessel system 1000 indirectly or directly via an aerial communication aircraft or an underwater communication buoy. Similarly, the second communication target terminal 7000b is also connected to the unmanned vessel system 1000 indirectly or directly via an aerial communication aircraft or an underwater communication buoy.

[0030] The example shown in Figure 6 illustrates a communication connection pattern when the distance between the first communication target terminal 7000a and the second communication target terminal 7000b is not very far, and the distance is within a range that can be relayed by the wireless communication network provided by the unmanned vessel system 1000. The central control system 2000 controls the movement and communication of the multiple unmanned vessels 1010 that constitute the unmanned vessel system 1000, thereby relaying the wireless communication between the first communication target terminal 7000a and the second communication target terminal 7000b using the multiple unmanned vessels 1010 at sea, and further maintaining the connection state of the wireless communication.

[0031] (A-1-2-4. Third example of a communication connection pattern) Figure 7 shows a third example of a communication connection pattern. In particular, the third example shown in Figure 7 shows a case where the first communication target terminal 7000a is connected to the second communication target terminal 7000b via the unmanned vessel system 1000a, an aerial AP3000 or a ground AP4000, or another second unmanned vessel system 1000b. In the example shown in Figure 7, the first communication target terminal 7000a is connected to the first unmanned vessel system 1000a indirectly or directly via an aerial communication aircraft or an underwater communication buoy. Similarly, the second communication target terminal 7000b is connected to the second unmanned vessel system 1000b indirectly or directly via an aerial communication aircraft or an underwater communication buoy.

[0032] Furthermore, the first unmanned vessel system 1000a and the second unmanned vessel system 1000b are connected via an aerial AP3000 and a ground AP4000. In other words, the first unmanned vessel system 1000a and the second unmanned vessel system 1000b are connected via a local network using the aerial AP3000 and ground AP4000, without using the internet line 6000.

[0033] In the example shown in Figure 7, when the distance between the first communication target terminal 7000a and the second communication target terminal 7000b is large and the wireless communication network provided by a single unmanned vessel system 1000 cannot relay a connection between the first communication target terminal 7000a and the second communication target terminal 7000b, it is possible to connect the first unmanned vessel system 1000a and the second unmanned vessel system 1000b, which are located in remote locations, by utilizing a local network via an aerial AP3000 or a ground AP4000.

[0034] The central control system 2000 controls the movement and communication of multiple unmanned vessels 1010 that constitute the first unmanned vessel system 1000a and the second unmanned vessel system 1000b, thereby relaying wireless communication between the first communication target terminal 7000a and the second communication target terminal 7000b using multiple unmanned vessels 1010 at sea, and further maintaining the connection status of said wireless communication.

[0035] (A-1-2-5. Fourth example of a communication connection pattern) Figure 8 shows a fourth example of a communication connection pattern. In particular, the fourth example shown in Figure 8 shows a case where the first communication target terminal 7000a is connected to the second communication target terminal 7000b via the unmanned vessel system 1000a, the internet line 6000, and another second unmanned vessel system 1000b. In the example shown in Figure 8, the first communication target terminal 7000a is connected to the first unmanned vessel system 1000a indirectly or directly via an aerial communication aircraft or an underwater communication buoy. Similarly, the second communication target terminal 7000b is connected to the second unmanned vessel system 1000b indirectly or directly via an aerial communication aircraft or an underwater communication buoy.

[0036] Furthermore, the first unmanned vessel system 1000a and the second unmanned vessel system 1000b are connected to each other via the internet connection 6000. Alternatively, the first unmanned vessel system 1000a and the second unmanned vessel system 1000b may also be connected to the internet connection 6000 via an aerial AP3000 or a ground AP4000, respectively. In other words, the first unmanned vessel system 1000a and the second unmanned vessel system 1000b are connected via the internet connection 6000.

[0037] In the example shown in Figure 8, the distance between the first communication target terminal 7000a and the second communication target terminal 7000b is large, and the wireless communication network provided by a single unmanned vessel system 1000 cannot relay a connection between the first communication target terminal 7000a and the second communication target terminal 7000b. In this case, the Internet line 6000 is used to connect the first unmanned vessel system 1000a and the second unmanned vessel system 1000b, which are located in remote locations.

[0038] The central control system 2000 controls the movement and communication of multiple unmanned vessels 1010 that constitute the first unmanned vessel system 1000a and the second unmanned vessel system 1000b, thereby relaying wireless communication between the first communication target terminal 7000a and the second communication target terminal 7000b using multiple unmanned vessels 1010 at sea, and further maintaining the connection status of said wireless communication.

[0039] (A-1-3. Configuration of the unmanned vessel 1010) Next, the functions implemented in the unmanned vessel 1010 and their contents will be explained using Figure 9. In this invention, the unmanned vessel 1010 refers to a mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile buoy equipped with a thrust generating unit. In this invention, the relay communication line between the communication target terminal 7000 and the internet, or between the first communication target terminal 7000a and the second communication target terminal 7000b, is not necessarily limited to a maritime relay system composed of an unmanned vessel system 1000 having multiple unmanned vessels 1010, but may also be a maritime relay system composed of a ship system having multiple ships, whether manned or unmanned.

[0040] Figure 9 is a functional block diagram showing the functional configuration of the unmanned vessel 1010. Although Figure 9 describes the functional block diagram of the unmanned vessel 1010, the master unit 1001 and slave unit 1002 of the unmanned vessel 1010 can implement the same functions as shown in Figure 9. The unmanned vessel 1010 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.

[0041] The measurement unit 1100 is a functional unit that detects objects to be measured within the measurable range around the unmanned vessel 1000 using the measurement sensor 1110 and acquires measurement information related to the objects to be measured. The measurement unit 1100 comprises the measurement sensor 1110 and the measurement control unit 1120.

[0042] 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 1010, the measurement sensor 1110 can acquire measurement data of objects to be measured that are 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 the object to be measured based on the measurement data.

[0043] 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 the 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.

[0044] 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 1010 by operating a sensor attitude change 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 1110 is a laser sensor, the measurement control unit 1120 can adjust the output of the emitting laser. Also, if the measurement sensor 1110 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 1110 to an arbitrary control amount. Also, if the measurement sensor 1110 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.

[0045] 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 1010. 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 1010 within the unmanned vessel system 1000 that communicates with the unmanned vessel, 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.

[0046] 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.

[0047] 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.

[0048] Next, the navigation unit 1300 is a functional unit that includes a thrust generation unit, an attitude control mechanism, and a navigation control unit, and navigates the aircraft in any direction according to the 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. Alternatively, the thrust generation unit can be composed of a sail that generates thrust by receiving wind, or a wave glider that generates thrust by receiving wave force.

[0049] 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 1010 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.

[0050] 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.

[0051] 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.

[0052] Next, the communication unit 1400 comprises an inter-unmanned vessel communication unit 1410, an aerial AP communication unit 1420, a ground AP communication unit 1430, and an external device communication unit 1440, and is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000, the aerial AP 3000, the ground AP 4000, external communication target terminals 7000, aerial communication aircraft, underwater communication buoys, etc. The inter-unmanned vessel communication unit 1410 is equipped with a communication antenna for wireless communication between unmanned vessels 1010 and is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000. The aerial AP communication unit 1420 is equipped with a communication antenna capable of wireless communication with artificial satellites and HAPS that constitute the aerial AP 3000 and is a functional unit that communicates with the aerial AP 3000. The Ground AP Communication Unit 1430 is a functional unit that communicates with the Ground AP 4000, equipped with a communication antenna capable of wireless communication with wireless communication equipment such as wireless communication base stations that make up the Ground AP 4000. The External Device Communication Unit 1440 is equipped with Wi-Fi and VHF antennas and communicates with external devices such as the communication target terminal 7000, an aircraft for aerial communication, and a buoy for underwater communication.

[0053] Next, the determination unit 1500 is a functional unit that performs determinations regarding the object to be measured. The determination unit 1500 includes an object detection determination unit 1510. The object detection determination unit 1510 can interpret the measurement data acquired by the measurement sensor 1110 and determine the presence or absence of an object, the size of the object, and so on.

[0054] The object detection and determination unit 1510 can interpret the measurement data and decide whether or not to avoid the detected object depending on the presence and size of the detected object. For example, even if the object detection and determination unit 1510 detects an object in the surroundings, if the size of the interpreted object is smaller than a predetermined value, or if it is determined that the unmanned vessel 1010 does not need to avoid colliding with the object, it can determine that avoidance action is unnecessary and 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 object detection and determination unit 1510 is larger than a predetermined standard, it can determine that there is a high possibility that the unmanned vessel 1010 needs to avoid colliding with the object, and decide to perform avoidance action and transmit the measurement data to the integrated control system 2000.

[0055] The object detection and determination unit 1510 may have functions to detect more detailed conditions in addition to the presence or size of an object as described above. For example, these may include the type of object, whether it is a ship or not, shape determination, orientation determination, distance determination, and position coordinate estimation. Furthermore, the object detection and determination unit 1510 can acquire type determination condition information and AIS (Automatic Identification System) information in advance and use this acquired information when determining the type of object or whether it is a ship or not.

[0056] Next, the recording unit 1600 includes a measurement data recording unit 1610 and a self-operated machine status recording unit 1620. 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.

[0057] (A-1-4. Configuration of the 2000 Integrated Control System) Next, the functions and contents of the integrated control system 2000 will be explained using Figure 10. Figure 10 is a functional block diagram showing the functional configuration of the integrated control system 2000. As shown in Figure 10, the integrated control system 2000 includes a request information acquisition unit 2100, a communication line information acquisition unit 2200, a communication line determination unit 2300, a maritime relay operation determination unit 2400, a communication maintenance control unit 2500, a command output unit 2600, a user input reception unit 2700, and an information communication unit 2800.

[0058] (A-1-4-1. Request Information Acquisition Unit 2100) The request information acquisition unit 2100 is a functional unit that acquires information about the communication target terminal 7000, information about the movement of the communication target terminal 7000, information about the required communication performance, and information about the conditions that should be prioritized when determining the communication circuit. The request information acquisition unit 2100 includes a communication target information acquisition unit 2110, a requested movement information acquisition unit 2120, a requested communication performance acquisition unit 2130, and a communication circuit priority condition acquisition unit 2140.

[0059] The communication target information acquisition unit 2110 is a functional unit that acquires information about the communication target terminal 7000, including the type of object on which the communication target terminal 7000 requesting communication relay is implemented and its location, or information about the connection destination with which the communication target terminal 7000 will establish a relay connection. The communication target information acquisition unit 2110 may also include request information regarding the connection destination, including whether the connection destination with the communication target terminal 7000 is a second communication target terminal 7000b, an internet line, or both, as shown in Figures 4 to 8. In addition to the type and location of the object mentioned above, the communication target information acquisition unit 2110 may also acquire information regarding the request conditions for communication relay, such as the time period during which communication should be maintained and the usage fee for the communication line. The information about the communication target terminal 7000 acquired by the communication target information acquisition unit 2110 will be explained using Figure 11. Figure 11 is a diagram showing the information about the communication target terminal 7000 acquired by the communication target information acquisition unit 2110.

[0060] As shown in Figure 11, the information regarding the communication target terminal 7000 includes the location of the communication target terminal 7000 requesting communication relay and the type of object on which the communication target terminal 7000 is mounted. The location may include information such as air, sea, land, or underwater. The location may also include two-dimensional or three-dimensional coordinate information. The type of object may include, for example, aircraft, weather information measuring devices, and other flying objects as objects in the air. Objects in the sea may include offshore facilities (such as wind power generation facilities), ships, jet skis, yachts, or other maritime objects. Objects in land may include facilities on remote islands or opposite coastlines. Objects in the sea may include underwater drones, divers, marine organisms (biologgers), and other submersible objects.

[0061] Furthermore, the communication target information acquisition unit 2110 can also acquire request information indicating whether the connection destination for relaying the communication target terminal 7000 is a second communication target terminal 7000b, an internet connection, or both the second communication target terminal 7000b and an internet connection.

[0062] Next, the requested movement information acquisition unit 2120 is a functional unit that, when the object is a moving object, acquires information about the operating status and predicted movement of a moving object, such as the expected movement area, planned movement speed, and planned movement route of the object, for which communication relay should be maintained.

[0063] Next, the required communication performance acquisition unit 2130 is a functional unit that acquires required information regarding the communication quality and communication standards required for the communication line connecting the communication target terminal 7000 to the internet line, or the communication line connecting the communication target terminal 7000 to the second communication target terminal 7000b. Here, the required communication quality for the communication line includes the minimum acceptable conditions for at least one of the following: communication strength, communication speed, communication delay, communication capacity, and communication reliability. Furthermore, the communication standards include technical communication standards, including wireless communication methods such as LTE and 5G.

[0064] The required communication performance acquisition unit 2130 may include reliability conditions for the communication connection as the communication quality required for the communication line. Reliability conditions for the communication connection include, for example, whether redundancy of the communication path using the same type of communication line or redundancy of the communication path using different types of communication lines is necessary.

[0065] Next, the communication circuit priority condition acquisition unit 2140 is a functional unit that acquires conditions related to priority determination criteria for selecting one communication line from among the candidate communication lines when there are multiple candidate communication lines that satisfy each of the above-mentioned required information (type and location of the communication target, movement conditions, and communication quality). As an example of the priority conditions acquired by the communication circuit priority condition acquisition unit 2140, priority conditions that can be acquired include a high communication speed, high communication stability, and short communication delay of the communication line.

[0066] (A-1-4-2. Communication line information acquisition unit 2200) The communication line information acquisition unit 2200 is a functional unit that acquires information about multiple candidate communication lines. The communication line information acquisition unit 2200 includes an available line information acquisition unit 2210, a line performance fluctuation condition acquisition unit 2220, an environmental information acquisition unit 2230, and a line actual performance prediction unit 2240.

[0067] The available line information acquisition unit 2210 has the function of acquiring information about available communication lines. Information about communication lines may include information about the relay paths that make up the communication line, the communication performance of the communication line, the location of the communication antenna equipment, and information about the usage fees for the communication line. The available line information acquisition unit 2210 may also have the function of acquiring information about the communication performance of existing communication infrastructure (such as land-based mobile phone communication networks and satellite communication networks), the location of communication antennas, or the usage fees for communication lines.

[0068] The information on the communication performance of the communication lines acquired by the available line information acquisition unit 2210 includes information on at least one of the following for each communication line: communication area, communication strength, communication speed, communication delay, and communication capacity. Here, communication performance, including the communication area and communication strength, fluctuates over time in response to environmental disturbances such as precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, and solar flare conditions. Therefore, the available line information acquisition unit 2210 acquires information on communication performance to understand the current or future communication performance.

[0069] Figure 12 is a diagram showing an example of information regarding the communication line route obtained by the available line information acquisition unit 2210. In particular, the example shown in Figure 12 shows a list of variations in the communication line route when the first communication target terminal 7000a is connected to the Internet line.

[0070] As shown in Figure 12, when the first communication target terminal 7000a is in the air, it is connected directly or via an airborne communication aircraft to the unmanned vessel system 1000, which is a maritime relay system (also called a maritime AP), and the connection between the maritime relay system and the internet line is made via an aerial AP or a ground AP. Furthermore, as mentioned above, the aerial AP can connect the maritime relay system and the internet line using either a high-orbit satellite, a low-orbit satellite, or a HAPS.

[0071] If the first communication target terminal 7000a is located at sea or on land, the first communication target terminal 7000a is directly connected to the maritime relay system, and the connection between the maritime relay system and the internet line is relayed via an aerial AP or ground AP. If the first communication target terminal 7000a is located underwater, it is connected to the maritime relay system directly or via an underwater communication buoy, and the connection between the maritime relay system and the internet line is made via an aerial AP or ground AP.

[0072] Next, Figure 13 shows an example of information regarding the communication performance of each communication line acquired by the available line information acquisition unit 2210. In particular, the example shown in Figure 13 shows an example of the communication performance of communication standards used for maritime APs, land APs, and airborne APs that relay a portion of the communication line. As shown in Figure 13, the communication performance differs depending on each communication standard.

[0073] In the example shown in Figure 13, the communication performance of each communication line—Wi-Fi lines used for communication between multiple unmanned vessels within the unmanned vessel system 1000 (sea AP), 5G (fifth-generation mobile communication system) and LTE (Long Term Evolution) lines used for communication at ground APs, HAPS communication lines at orbital APs, low Earth orbit GNSS communication lines at orbital APs, geostationary orbit GNSS communication lines at orbital APs, and low Earth orbit inter-satellite communication lines at orbital APs—is shown on a scale from 1 to 5, indicating notification delay, communication speed, and communication area coverage.

[0074] Regarding the Wi-Fi connection, the communication delay is approximately 20ms to 50ms, with a rating of level 4 on a 5-point scale, indicating relatively short latency. The communication speed is approximately 9.6Gbps, with a rating of level 5, indicating relatively fast speed. However, the coverage area is approximately several tens of meters to 1km, with a rating of level 1, indicating a relatively narrow coverage area.

[0075] Next, regarding 5G (fifth-generation mobile communication system) and LTE (Long Term Evolution) lines, the communication delay is approximately 1 ms, with an evaluation level of 5, indicating relatively short delays. The communication speed is approximately 10 Gbps, with an evaluation level of 5, indicating relatively fast speeds. However, the coverage area is approximately 20 km from the base station, with an evaluation level of 2, indicating a relatively narrow coverage area.

[0076] Next, regarding the HAPS communication lines of the aerial APs, the communication delay is approximately 50ms, with an evaluation level of 4, indicating relatively short delay. The communication speed is approximately several tens to several hundred Mbps, with an evaluation level of 4, indicating relatively fast speed. However, the coverage area is relatively small, with an evaluation level of 2.

[0077] Next, regarding the low Earth orbit GNSS communication link of the upper-air AP, the communication delay is approximately 25ms to 50ms, with an evaluation level of 3. The communication speed is approximately 20M to 150Mbps, also with an evaluation level of 3. Furthermore, the communication area has an evaluation level of 4, indicating a relatively wide communication area. Here, the low Earth orbit GNSS communication link is a communication link utilizing satellite constellation technology.

[0078] Next, regarding the geostationary orbit GNSS communication link for the upper-orbit AP, the communication delay is approximately a few seconds, with an evaluation level of 2, indicating a relatively large communication delay. The communication speed is approximately 8 Mbps, also with an evaluation level of 2, indicating a relatively slow communication speed. Furthermore, the communication area has an evaluation level of 5, indicating a relatively wide communication area. Here, the geostationary orbit GNSS communication link refers to a communication link using high-orbit GEO satellites.

[0079] Next, regarding the low Earth orbit inter-satellite communication link for the upper orbit AP, the communication delay is approximately a few seconds, with an evaluation level of 1, indicating a relatively large communication delay. The communication speed is approximately 2.4 kbps, also with an evaluation level of 1, indicating a relatively slow communication speed. Furthermore, the communication area has an evaluation level of 5, indicating a relatively wide communication area. Here, the low Earth orbit inter-satellite communication link refers to a communication link used for communication between multiple Iridium satellites in low Earth orbit.

[0080] The line performance fluctuation condition acquisition unit 2220 is a functional unit that acquires information regarding fluctuation conditions that cause fluctuations in the communication performance of a communication line. Here, since radio waves are absorbed by moisture, the communication strength and communication area of ​​wireless communication decrease during precipitation such as rain, snow, hail, or sleet, or when fog occurs. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include the occurrence of precipitation or fog, and can also include information on the degree to which precipitation or fog affects the communication performance of maritime relay systems and ground APs.

[0081] Furthermore, when lightning strikes occur, radio waves that affect wireless communication are generated. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include the occurrence of lightning strikes, and can also include information on the degree to which lightning strikes affect communication performance to maritime relay systems and ground APs.

[0082] Furthermore, the communication performance of satellite communications (communication area, communication strength, communication speed, communication delay, and communication capacity) is reduced by disturbances in the GNSS carrier wave. Disturbances in the GNSS carrier wave are caused by factors such as ionospheric disturbances and solar flares. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include the occurrence of ionospheric disturbances and solar flares, and can also include information on the degree to which ionospheric disturbances and solar flares affect the communication performance of upper-air APs.

[0083] Furthermore, the communication performance of each communication line may fluctuate not only due to environmental disturbances as described above, but also depending on the time of day or date. For example, the amount of information traffic using the communication line changes depending on the time of day, such as nighttime and daytime, causing fluctuations in communication performance such as communication speed. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include not only the environmental disturbances described above, but also time or date information, and can also include information on the degree to which the time or date affects the communication performance of the overhead APs.

[0084] The environmental information acquisition unit 2230 is a functional unit that acquires environmental information that affects the communication performance of the communication line as described above. The environmental information acquisition unit 2230 can acquire environmental information including, for example, precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, and solar flare conditions.

[0085] The actual communication performance prediction unit 2240 is a functional unit that predicts the actual communication performance of a communication line based on environmental information acquired by the environmental information acquisition unit 2230 and information on fluctuation conditions acquired by the communication performance fluctuation condition acquisition unit 2220. In other words, it can predict the actual communication performance of a communication line by considering the degree of impact on maritime relay systems, ground APs, aerial APs, and other existing communication infrastructure caused by at least one of the environmental information acquired, such as precipitation (rain, snow, hail, sleet, etc.), fog, lightning strikes, ionospheric conditions, and solar flare conditions.

[0086] (A-1-4-3. Communication line determination unit 2300) The communication line determination unit 2300 is a functional unit that determines which relay communication line to use for communication from among multiple candidate communication lines. In other words, it determines which relay communication line to use from among multiple candidate communication lines consisting of maritime APs, airborne APs, ground APs, or combinations thereof, as shown in Figure 12. The communication line determination unit 2300 comprises a condition-satisfying route candidate determination unit 2310, a route candidate user proposal unit 2320, and a communication line confirmation unit 2330.

[0087] The condition-satisfying route candidate determination unit 2310 is a functional unit that determines candidate communication circuits that satisfy the required conditions based on the required condition information for the communication line obtained by the request information acquisition unit 2100 and the information on available communication lines obtained by the communication line information acquisition unit 2200.

[0088] For example, the condition-satisfying route candidate determination unit 2310 determines candidate communication circuits that satisfy the requested conditions based on the requested information acquisition unit 2100, which is obtained from the requested information acquisition unit 2100, regarding the type, location, expected movement area, planned movement speed, planned movement route, desired communication maintenance time period, and communication line usage fee of the first or second communication target terminal. The communication line determination unit 2330, described later, can then determine a communication line from among these candidates.

[0089] As another example, the condition-satisfying route candidate determination unit 2310 determines candidate communication circuits that satisfy the request conditions based on the request information obtained by the communication target information acquisition unit 2110, which includes request information regarding the connection destination, such as whether the connection destination to connect to the communication target terminal 7000 is a second communication target terminal 7000b, an internet line, or both, as shown in Figures 4 to 8. The communication line determination unit 2330, described later, can then determine a communication line from among these candidates.

[0090] As another example, the condition-satisfying route candidate determination unit 2310 determines candidate communication circuits that satisfy the required conditions based on the request information obtained by the required communication performance acquisition unit 2130, which includes request information regarding the communication quality and communication standards required for the communication line connecting the communication target terminal 7000 to the internet line, or the communication line connecting the communication target terminal 7000 to the second communication target terminal 7000b. The communication line determination unit 2330, described later, can then determine a communication line from among these candidates.

[0091] The condition-satisfying route candidate determination unit 2310 can determine a communication line that satisfies the request information obtained by the request communication performance acquisition unit 2130, and can determine a pattern of communication connection destination or a communication line route as a relay communication line, as shown in Figures 4 to 8 and Figure 12.

[0092] When determining a relay communication path to connect the first communication target terminal 7000a and the second communication target terminal 7000b, the condition-satisfying path candidate determination unit 2310 can determine a communication line connected in the order of the first communication target terminal 7000a, the unmanned vessel system 1000 (maritime relay system), and the second communication target terminal 7000b as the relay communication line, as shown in Figure 6.

[0093] Furthermore, when determining a relay communication path to connect the first communication target terminal 7000a and the second communication target terminal 7000b, the condition-satisfying path candidate determination unit 2310 can determine a communication line connected in the following order as the relay communication line, as shown in Figure 7: the first communication target terminal 7000a, the first unmanned vessel system 1000a (maritime relay system), the air AP (air relay system) 3000 or the ground AP (ground relay system) 4000, the second unmanned vessel system 1000b, and the second communication target terminal 7000b.

[0094] As shown in Figure 5, when determining a relay communication path to connect the first communication target terminal 7000a and the internet line 6000, the condition-satisfying path candidate determination unit 2310 can determine a communication line connected in the following order as the relay communication line, as shown in Figure 12: first communication target terminal 7000a, unmanned vessel system 1000 (maritime relay system), air AP (airborne relay system) 3000, and internet line 6000. As another example, as shown in Figure 12, a communication line connected in the following order as the relay communication line can be determined as the relay communication line, as shown in Figure 12: first communication target terminal 7000a, unmanned vessel system 1000 (maritime relay system), ground AP (ground relay system) 4000, and internet line 6000.

[0095] Furthermore, as shown in Figure 8, when determining a relay communication path to connect a first communication target terminal 7000a and a second communication target terminal 7000b via an internet line 6000, a communication line connected in the following order can be determined as the relay communication line: first communication target terminal 7000a, first unmanned vessel system 1000a (maritime relay system), first aerial AP (aerial relay system) 3000a, internet line 6000, second aerial AP (aerial relay system) 3000b, and second communication target terminal 7000b.

[0096] As another example, a communication line connected in the following order can also be determined as the relay communication line: first communication target terminal 7000a, first unmanned vessel system 1000a (maritime relay system), first aerial AP (aerial relay system) 3000a, internet line 6000, second aerial AP (aerial relay system) 3000b, second unmanned vessel system 1000b (maritime relay system), and second communication target terminal 7000b.

[0097] Furthermore, as shown in Figure 8, another example of determining a relay communication path to connect the first communication target terminal 7000a and the second communication target terminal 7000b via the internet line 6000 is to determine a communication line connected in the following order as a relay communication line: first communication target terminal 7000a, first unmanned vessel system 1000a (maritime relay system), first ground AP (ground relay system) 4000a, internet line 6000, second ground AP (ground relay system) 4000b, and second communication target terminal 7000b.

[0098] As another example, a communication line connected in the following order can be determined as a relay communication line: first communication target terminal 7000a, first unmanned vessel system 1000a (maritime relay system), first ground AP (ground relay system) 4000a, internet line 6000, second ground AP (ground relay system) 4000b, second unmanned vessel system 1000b (maritime relay system), and second communication target terminal 7000b.

[0099] Furthermore, the condition-satisfying route candidate determination unit 2310 can determine, as a relay communication line, a communication line that directly connects the first communication target terminal 7000a to the unmanned vessel 1010 in the unmanned vessel system 1000, or connects the first communication target terminal 7000a to the unmanned vessel 1010 in the unmanned vessel system 1000 via an aerial communication aircraft, or directly connects the second communication target terminal 7000b to the unmanned vessel 1010 in the unmanned vessel system 1000, or connects the second communication target terminal 7000b to the unmanned vessel 1010 in the unmanned vessel system 1000 via an aerial communication aircraft, when the first communication target terminal 7000a or the second communication target terminal 7000b is in the air.

[0100] Here, the condition-satisfying route candidate determination unit 2310 can not only determine a single communication circuit as a relay communication circuit, but can also determine the parallel use of multiple communication circuits. For example, if the parallel use of multiple communication circuits satisfies predetermined criteria required for a relay communication line acquired by the request information acquisition unit 2100, the parallel communication line composed of multiple communication circuits can be determined as the relay communication line. Here, the case of using multiple communication circuits in parallel includes cases where the communication line for transmitting information is switched between parallel communication lines, and also includes cases where information is transmitted simultaneously on both parallel communication lines.

[0101] Furthermore, the condition-satisfying route candidate determination unit 2310 can also determine a relay communication circuit by considering the status of multiple unmanned vessels that constitute the unmanned vessel system 1000 to be used as a relay communication circuit. In this case, for example, the condition-satisfying route candidate determination unit 2310 can determine a relay communication circuit from multiple candidate communication lines based on information about at least one of the current or future number, formation, arrangement, and movement path of the multiple unmanned vessels of the unmanned vessel system 1000.

[0102] Next, the route candidate user proposal unit 2320 is a functional unit that proposes candidate communication circuits generated by the condition-satisfying route candidate determination unit 2310 to the user via the display information output unit 2610, which will be described later. In particular, the route candidate user proposal unit 2320 can display information including multiple candidate communication circuits when there are multiple candidate communication lines that meet predetermined criteria required for a relay communication line.

[0103] Next, the communication line determination unit 2330 is a functional unit that determines a relay communication circuit from the candidate communication circuits generated by the condition-satisfying path candidate determination unit 2310. For example, if the communication line determination unit 2330 proposes information including one or more candidate communication circuits to the user via the display information output unit 2610, it can determine a relay communication circuit based on the communication circuit specification information for the proposed information received from the user via the user input reception unit 2700, which will be described later.

[0104] Furthermore, if the condition-satisfying path candidate determination unit 2310 determines that there are multiple candidate communication lines that satisfy the required information (type and location of the communication target, movement conditions, communication quality, etc.), the communication line determination unit 2330 may have a function to determine one communication line from the multiple candidate lines based on the conditions related to the priority determination criteria acquired by the communication circuit priority condition acquisition unit 2140. For example, if the priority determination criterion is that the communication speed is faster than or equal to the standard speed, the communication speeds of the multiple candidate communication lines can be compared and the communication line with the fastest communication speed can be determined as the relay communication line.

[0105] (A-1-4-4. Maritime relay operation determination unit 2400) The maritime relay operation determination unit 2400 is a functional unit that determines the operation of the unmanned vessel system 1000, which is a maritime relay system, according to the relay communication line determined by the communication line determination unit 2300, that is, the operation of the unmanned vessel system 1000 related to maritime communication relay by multiple unmanned vessels. The maritime relay operation determination unit 2400 includes an unmanned vessel formation determination unit 2410 and a field relay method determination unit 2420.

[0106] The unmanned vessel formation determination unit 2410 determines at least one of the following: the number of unmanned vessels, their formation, their arrangement, and their movement routes, which are necessary to constitute the relay communication line determined by the communication line determination unit.

[0107] The field relay method determination unit 2420 is a functional unit that determines whether or not a connection is necessary between the unmanned vessel system 1000, which is a maritime relay system, and the communication target terminal 7000 or other relay systems, and the equipment to be used for the connection, in order to configure the relay communication line determined by the communication line determination unit. For example, the field relay method determination unit 2420 can determine which unmanned vessel will wirelessly connect to at least one of the first communication target terminal 7000a, the second communication target terminal 7000b, the aerial relay system, or the ground relay system, depending on the relay communication line determined by the communication line determination unit.

[0108] Furthermore, when determining a communication line to wirelessly connect the maritime relay system (unmanned vessel system 1000) and the aerial relay system (aerial AP3000) as a relay communication line, the field relay method determination unit 2420 can determine the artificial satellite or the aforementioned communication aircraft of the aerial relay system that wirelessly connects with multiple unmanned vessels of the maritime relay system.

[0109] Furthermore, when determining a communication line to wirelessly connect a maritime relay system (unmanned vessel system 1000) and a ground relay system (ground AP 4000) as a relay communication line, the field relay method determination unit 2420 can determine wireless communication equipment to wirelessly connect with multiple unmanned vessels of the maritime relay system. Here, "wireless communication equipment" refers to wireless communication equipment such as wireless communication antennas and others, and may also be mobile communication equipment mounted on moving objects such as vehicles, or stationary wireless communication base stations mounted on stationary facilities.

[0110] (A-1-4-5. Communication Maintenance Control Unit 2500) The communication maintenance control unit 2500 is a functional unit that maintains communication via the relay communication line determined by the communication line determination unit 2300, or maintains communication by switching to other communication lines depending on the communication status or the location of the communication target terminal. The communication maintenance control unit 2500 comprises a communication status monitoring unit 2510, an object status monitoring unit 2520, a communication line change unit 2530, and an unmanned vessel network control unit 2540.

[0111] The communication status monitoring unit 2510 monitors the communication status of communication lines used as relay communication lines and other communication lines. Here, the communication status monitored by the communication status monitoring unit 2510 includes at least one of the following: communication area, communication strength, communication speed, communication delay, and communication capacity. Note that the communication speed is monitored separately for uplink speed and downlink speed. Here, communication performance, including communication area and communication strength, fluctuates over time in response to environmental disturbances such as precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, and solar flare conditions. Therefore, the communication status monitoring unit 2510 acquires information on communication performance in real time to understand the current communication performance. In addition, the communication status monitoring unit 2510 may also have a function to monitor not only the communication status but also the surrounding environment (precipitation, fog, lightning, ionospheric disturbance, or solar flare, etc.) that may affect the communication status.

[0112] The object status monitoring unit 2520 is a functional unit that monitors the status of the communication target terminal 7000, including its position, and, if it is a moving object, its speed and acceleration.

[0113] The communication line modification unit 2530 is a functional unit that determines changes to at least one of the following, depending on the communication performance of the relay communication line determined by the communication line determination unit 2300, or the communication performance of the relay communication line and other communication lines: the communication line, the number, formation, arrangement, and movement routes of the unmanned vessels of the maritime relay system, the unmanned vessels that wirelessly connect to the outside of the maritime relay system, the artificial satellites or communication aircraft of the aerial relay system that wirelessly connect to the maritime relay system, or the wireless communication equipment of the ground relay system that wirelessly connects to the maritime relay system.

[0114] Furthermore, the communication line change unit 2530 may have a function to automatically decide on a change of communication line, or it may display measurement information of the current communication performance to the user, receive a communication line change instruction from the user, and change the communication line based on the instruction. In this case, as an example, the communication line determination unit 2300 determines whether the communication performance of the relay communication line, or the communication performance of the relay communication line and other communication lines, meets the request conditions obtained by the request information acquisition unit 2100. If it is determined that the request conditions are not met, the communication status monitoring unit 2510 displays information regarding the communication status of at least one of the relay communication line and other communication lines, as well as the surrounding environment, to the user via the display information output unit 2610, which will be described later. In addition, the communication line change unit 2530 may have a function to change the relay communication line based on communication line change instruction information received from the user via the user input reception unit 2700, which will be described later.

[0115] The unmanned vessel network control unit 2540 can change the communication network route between multiple unmanned vessels within the unmanned vessel system 1000 (maritime relay system) according to a decision regarding a change in the communication line determined by the communication line determination unit, or according to measurement information of the current communication performance. In addition to changing the communication network route that connects multiple unmanned vessels within the unmanned vessel system 1000 via wireless communication, the unmanned vessel network control unit 2540 may also have the function of changing the number, formation, arrangement, and movement path of the unmanned vessels that make up the unmanned vessel system 1000. In particular, regarding the formation, arrangement, and movement path of the unmanned vessels, target values ​​can be set, the position coordinates of the unmanned vessels can be monitored, and the position of each unmanned vessel can be controlled so that all unmanned vessels are positioned at the target location.

[0116] The unmanned vessel network control unit 2540 may have a function to control the transmission of transmitted information according to the situation, not limited to changes in the organization configuration of the unmanned vessels or the communication network configuration within the unmanned vessel system 1000 described above. For example, if the current communication performance temporarily deteriorates, the transmission control unit can record the transmitted information in the recording device of at least one of the multiple unmanned vessels and resume the transmission of the transmitted information when the communication performance recovers.

[0117] (A-1-4-6. Command output section 2600) The command output unit 2600 is a functional unit that displays and outputs to the user or to the unmanned vessel system 1000 the decision information determined by the communication line determination unit 2300 and the maritime relay operation determination unit 2400, as well as the information acquired by the request information acquisition unit 2100 and the communication line information acquisition unit 2200. The command output unit 2600 comprises a display information output unit 2610 and a control command output unit 2620.

[0118] The display information output unit 2610 is a functional unit that displays and outputs to the user the decision information determined by the communication line determination unit 2300 and the maritime relay operation determination unit 2400, as well as the information acquired by the request information acquisition unit 2100 and the communication line information acquisition unit 2200. It can be configured as a display device having a display screen. For example, the display information output unit 2610 can display and output real-time measurement information of the communication performance (including communication speed, communication strength, communication delay, communication range, etc.) of the relay communication line currently in use and other communication lines acquired by the communication line information acquisition unit 2200. In addition to the current communication performance, it may also display information on the history of changes in past communication performance. Furthermore, if the communication quality deteriorates due to the state of the communication line or the unmanned vessel system, and this imposes restrictions on the movement range or amount of communication data of the communication target terminal 7000, the display information output unit 2610 can notify the user of this fact.

[0119] Here, the display information output unit 2610 can display not only the decision information determined by the communication line determination unit 2300 and the maritime relay operation determination unit 2400, as well as the information acquired by the request information acquisition unit 2100 and the communication line information acquisition unit 2200, but also measurement data and detection judgment results regarding detected objects around the unmanned vessel 1010 detected by the object detection judgment unit 1510. By displaying such information, the user can grasp information about obstacles around the unmanned vessel 1010. In addition, information on the positions and activity status of multiple unmanned vessels deployed in the sea area may be displayed in conjunction with a map of the activity area and actual images (latest data or past data). Furthermore, the display information output unit 2610 may also display contact information, means of contact, or location information of personnel involved in existing communication infrastructure (such as air APs and ground APs) that cooperate externally.

[0120] Furthermore, the display information output unit 2610 can notify the user when an object is detected by the object detection determination unit 1510, or when the latest determination result is generated from the communication line determination unit 2300, the maritime relay operation determination unit 2400, or the communication maintenance control unit 2500. When providing this notification, the user can be notified not only by display output, but also by sound, light emission, or vibration.

[0121] The control command output unit 2620 is a functional unit that outputs the decision information determined by the communication line determination unit 2300 and the maritime relay operation determination unit 2400 as a control command to the unmanned vessel system 1000.

[0122] (A-1-4-7. User input reception unit 2700) The user input receiving unit 2700 is a functional unit that receives input from the user. For example, the user input receiving unit 2700 can receive a specification input from the user to designate a specific communication line as a relay communication line to be used from one or more candidate communication lines. The user input receiving unit 2700 can also be configured as an operation button displayed on the display screen of the display information output unit 2610.

[0123] (A-1-4-8. Information and Communications Department 2800) The information and communication unit 2800 is a functional unit that transmits various types of information output by the command output unit 2600 to the outside of the integrated control system 2000. The information and communication unit 2800 also has the function of receiving various types of information acquired by the request information acquisition unit 2100 and the communication line information acquisition unit 2200 from outside the integrated control system 2000.

[0124] (A-1-5. Operation Flow of the Integrated Control System 2000) Figure 14 is a flowchart showing the operation process flow of the integrated control system 2000. First, the request information acquisition unit 2100 acquires user request information (step 101).

[0125] Next, the communication line information acquisition unit 2200 determines the available communication lines and their status (step 102). The detailed processing of this step will be described later.

[0126] Next, the communication line determination unit 2300 determines the relay communication line (step 103). The detailed processing of this step will be described later.

[0127] Next, the maritime relay operation determination unit 2400 determines the formation of multiple unmanned vessels and the communication network of the unmanned vessel system 1000 (step 104). The detailed processing of this step will be described later. Steps 101 to 104 are preliminary operations for providing a relay communication line using the unmanned vessel system 1000.

[0128] Next, the communication maintenance control unit 2500 performs maintenance control of the relay communication line (step 105). The detailed processing of this step will be described later.

[0129] Next, the display information output unit 2610 provides communication status information (step 106).

[0130] Next, the user input receiving unit 2700 performs an operation corresponding to the user input information received (step 107).

[0131] Next, the system determines whether the time period or date / time for which communication maintenance is desired, as included in the request information acquired by the request information acquisition unit 2100, has passed, and determines the next process to proceed to based on the result of this determination (step 108). In this step, if the time period or date / time for which communication maintenance is desired has passed, the process in this flowchart is terminated. On the other hand, if the time period or date / time for which communication maintenance is desired has not passed, the process proceeds to step 105. In addition to or instead of determining whether the time period or date / time for which communication maintenance is desired has passed in this step, the system may also determine whether the conditions for terminating communication maintenance via the relay communication line are met, or whether the user has given input indicating that communication maintenance via the relay communication line is not required.

[0132] Steps 105-108 described above illustrate the real-time control operation process after the unmanned boat system 1000 has been actually deployed on the sea surface.

[0133] (A-1-6. Processing to identify available communication lines, etc.) Figure 15 is a flowchart showing the processing flow for identifying available communication lines, etc., by the communication line information acquisition unit 2200. In particular, Figure 15 shows the detailed processing of step 102 shown in Figure 14.

[0134] First, the available communication lines are identified by the available line information acquisition unit 2210 (step 201). In this step, for example, information about existing communication infrastructure and information about the unmanned vessel system 1000 are acquired.

[0135] Next, the available line information acquisition unit 2210 obtains the actual values ​​of the normal communication performance of the available communication lines (step 202).

[0136] Next, the line performance fluctuation condition acquisition unit 2220 acquires information regarding the performance fluctuation conditions of the communication line (step 203).

[0137] Next, the environmental information acquisition unit 2230 acquires external environmental information, including weather information and oceanographic information (step 204).

[0138] Next, based on the acquired performance fluctuation conditions of the communication line, the process to proceed to is determined depending on whether or not external environmental information affecting the communication performance of the communication line has been acquired (step 205). In this step, if it is determined that external environmental information affecting communication performance has been acquired, the process proceeds to step 206; on the other hand, if it is determined that external environmental information affecting communication performance has not been acquired, the process proceeds to step 207.

[0139] Next, if it is determined in step 205 that external environmental information affecting communication performance has been acquired, the actual line performance prediction unit 2240 estimates the communication performance taking the external environmental information into account (step 206).

[0140] Next, if it is determined in step 205 that external environmental information affecting communication performance has not been acquired, the actual line performance prediction unit 2240 estimates the actual value of normal communication performance as the communication performance (step 206).

[0141] (A-1-7. Communication line determination process) The details of the communication line determination process will be explained below using Figures 16 to 18.

[0142] (A-1-7-1. Communication line determination process flow) Figure 16 is a flowchart showing the processing flow for determining the relay communication line by the communication line determination unit 2300. Figure 16 specifically shows the detailed processing of step 103 shown in Figure 14.

[0143] First, the estimated communication performance information obtained by the communication line information acquisition unit 2200 is obtained (step 301). In this step, it is possible to obtain not only the communication performance of the unmanned vessel system 1000 (sea AP), the air AP 3000, and the ground AP 4000, but also the communication performance of the communication line composed of combinations of these.

[0144] Next, the request information from the user obtained by the request information acquisition unit 2100 is acquired (step 302).

[0145] Next, the condition-satisfying route candidate determination unit 2310 determines a candidate communication line that satisfies the request information (step 303). The candidate communication line determined in this step does not necessarily have to be a communication line that passes through a single path, but may be a parallel path consisting of multiple lines connected in parallel.

[0146] Next, the process to proceed to is determined based on whether or not there are candidate communication lines that meet the acceptable conditions included in the request information (step 304). In this step, if it is determined that there are candidate communication lines that meet the acceptable conditions, the process proceeds to step 307; on the other hand, if it is determined that there are no candidate communication lines that meet the acceptable conditions, the process proceeds to step 305.

[0147] Next, if it is determined in step 304 that there are no candidate communication lines that meet the acceptable conditions, information suggesting that changes be made to relax the acceptable conditions is displayed to the user via the display information output unit 2610 (step 305).

[0148] Next, the user input receiving unit 2700 receives input from the user regarding the proposed relaxation of the acceptable conditions (step 306). After receiving the input of the changes to the acceptable conditions in this step, the process proceeds to step 303 to determine which communication line candidates satisfy the changed acceptable conditions.

[0149] Next, if it is determined in step 304 that there is a candidate communication line that satisfies the acceptable conditions, the process to proceed to next is determined depending on whether there are multiple candidate communication lines that satisfy the acceptable conditions (step 307). In this step, if it is determined that there is only one candidate communication line that satisfies the acceptable conditions, the process proceeds to step 308. On the other hand, if it is determined that there are multiple candidate communication lines that satisfy the acceptable conditions, the process proceeds to processing step 309.

[0150] Next, if it is determined in step 307 that there is only one candidate communication line that satisfies the acceptable conditions, the communication line using that single candidate communication line is selected (step 308).

[0151] Next, if step 307 determines that there are multiple candidate communication lines that meet the acceptable conditions, the route candidate user proposal unit 2320 proposes and displays information about the multiple candidates to the user (step 309).

[0152] Next, the user input receiving unit 2700 determines which communication line to use based on the user's selection input for multiple proposed communication line candidates (step 310).

[0153] Steps 309 and 310 show an example where, when there are multiple candidate communication lines, one communication line is selected based on the user's selection input. However, the method of determining the communication line is not limited to this. A relay communication line can also be determined from among multiple candidates based on the communication line priority criteria information acquired in advance by the communication circuit priority condition acquisition unit 2140.

[0154] (A-1-7-1. Results of communication line selection) Figure 17 shows an example of a communication line candidate that satisfies the request information determined by the condition-satisfying route candidate determination unit 2310. The example shown in Figure 17 specifically shows a communication line candidate that enables communication between a communication target terminal 7000 mounted on an aircraft flying in the air and an internet line 6000.

[0155] The example shown in Figure 17 includes patterns (lines 001-004) in which aerial communication aircraft (drone) relays communication between a communication target terminal 7000 mounted on an aircraft and a maritime relay system (unmanned vessel system 1000), and a pattern (line 005) in which the communication target terminal 7000 and the maritime relay system (unmanned vessel system 1000) are directly connected wirelessly. Furthermore, as a system for relaying between the maritime relay system and the internet line 6000, lines 001-003 and 005 utilize aerial APs (aerial relay systems), and line 004 utilizes a ground AP (ground relay system). In addition, the relay device used as an aerial AP may include a GEO satellite, a LEO satellite, or a stratospheric aerial platform (HAPS).

[0156] As shown in Figure 17, if there are multiple communication line candidates that meet the requirements, information on the multiple communication line candidates will be displayed in step 309 of Figure 16, as shown in Figure 17.

[0157] (A-1-7-2. Proposal for relaxation of acceptable conditions) Figure 18 shows an example of display information when the communication line determination unit 2300 proposes changes to the acceptable conditions. The example shown in Figure 18 specifically shows an example of the display of proposed changes to the acceptable conditions that are presented to the user in step 305 of the flowchart shown in Figure 16. In the example shown in Figure 18, the current acceptable conditions include information on the acceptable values ​​for communication speed, communication strength, and communication delay, as well as information on proposed changes to the acceptable conditions for communication speed, communication strength, and communication delay.

[0158] Furthermore, although it has been determined that there are no candidate communication circuits that meet the current acceptable conditions, information on communication lines that have been determined not to meet the current acceptable conditions can also be displayed. By displaying this information, users can understand which communication lines would become available if the acceptable conditions were changed.

[0159] (A-1-8. Determination of the operation of the unmanned vessel system, etc.) Figure 19 is a flowchart showing the decision-making process flow for the operation of the unmanned vessel system 1000 by the maritime relay operation decision unit 2400. In particular, Figure 19 shows the detailed processing of step 104 of the flowchart shown in Figure 14.

[0160] First, the unmanned vessel configuration determination unit 2410 determines the required number of unmanned vessels and other equipment necessary to configure the maritime relay system (step 401).

[0161] Next, the field relay method determination unit 2420 determines the unmanned vessel and its placement location to wirelessly connect with the communication target terminal 7000 and external access points (such as the airborne AP3000 and ground AP4000) (step 402).

[0162] Next, the unmanned vessel formation determination unit 2410 determines the placement positions of all unmanned vessels within the unmanned vessel system 1000 (step 403).

[0163] Next, the on-site relay method determination unit 2420 determines the communication network configuration between unmanned vessels (step 404).

[0164] (A-1-9. Maintaining and controlling wireless communication connections) The following describes the content and process of maintaining wireless communication connections, using Figures 20 to 25.

[0165] (A-1-9-1. Flowchart for maintaining and controlling wireless communication connections) Figure 20 is a flowchart illustrating the control flow for maintaining the wireless communication connection by the communication maintenance control unit 2500. In particular, Figure 20 shows the detailed processing of step 105 of the flowchart shown in Figure 14.

[0166] First, the communication status monitoring unit 2510 acquires status information of the communication status (including communication strength, communication speed, and communication delay), and the target object status monitoring unit 2520 acquires status information of the location and speed of the communication target terminal 7000 (step 501). In this step, in addition to the status information described above, external environmental status information (weather, sea conditions, etc.) that affects communication quality may also be acquired.

[0167] Next, it is determined whether the currently used communication line satisfies the request conditions obtained by the request information acquisition unit 2100 (step 502).

[0168] Next, the process to proceed to is determined based on whether the currently used communication line meets the required conditions (step 503). If it is determined in this step that the currently used communication line meets the required conditions, the process proceeds to step 508. On the other hand, if it is determined that the currently used communication line does not meet the required conditions, the process proceeds to step 504.

[0169] Next, it is determined whether it is necessary to change the number, formation, or arrangement of unmanned vessels within the unmanned vessel system 1000, or the communication network configuration between multiple unmanned vessels, and the next processing step to proceed to is determined according to the result of this determination (step 504). In this step, if it is determined that it is necessary to change the number, formation, or arrangement of unmanned vessels, or the communication network configuration, the process proceeds to step 505. On the other hand, if it is determined that it is not necessary to change the number, formation, or arrangement of unmanned vessels, or the communication network configuration, the process proceeds to step 506.

[0170] Next, if step 504 determines that a change is necessary to the number, formation, or placement of the unmanned vessels, or to the communication network configuration, a command is issued to change the number, formation, or placement of the unmanned vessels, or to change the communication network configuration of the unmanned vessel system 1000 (step 505). After this process is completed, the process transitions to step 506.

[0171] Next, if it is determined in step 504 that no changes are needed to the number, formation, or arrangement of the unmanned vessels, or to the communication network configuration, the need to change the external communication lines of the unmanned vessel system 1000 is determined, and the next processing step to which the system will proceed is determined according to the result of that determination (step 506). In this step, if it is determined that a change to the external communication lines of the unmanned vessel system 1000 is necessary, the system proceeds to step 507. On the other hand, if it is determined that no change to the external communication lines of the unmanned vessel system 1000 is necessary, the system proceeds to step 508.

[0172] Next, if step 506 determines that it is necessary to change the external communication line of the unmanned vessel system 1000, a command to change the communication line is issued (step 507). After this process is completed, the process transitions to step 509.

[0173] Next, if step 503 determines that the currently used communication line meets the required conditions, or if step 506 determines that there is no need to change the external communication line of the unmanned vessel system 1000, then a decision is made that there is no need to change the communication line (step 508). After this step, the process proceeds to step 509.

[0174] Next, the communication status of available communication line candidates, including communication lines currently in use or not in use, is determined (step 509).

[0175] Next, it is determined whether there is another communication line with better communication status than the currently used communication line, and the next processing step to proceed to is determined according to the result of this determination (step 510). If it is determined in this step that there is no other communication line with better communication status than the currently used communication line, the process proceeds to step 511. On the other hand, if it is determined that there is another communication line with better communication status than the currently used communication line, the process proceeds to step 512.

[0176] Next, if step 510 determines that there are no other communication lines with better communication conditions than the currently used communication line, a decision is made that there is no need to change the communication line (step 511). After this step is completed, the process proceeds to step 514.

[0177] Next, if step 510 determines that there is another communication line with better communication conditions than the currently used communication line, a display output is sent to the user suggesting a change of communication line (step 512).

[0178] Next, the changes to the communication line are determined based on the selection input information from the user (step 513).

[0179] Next, the user is notified of the decision (step 514).

[0180] Here, steps 503 to 508 show the operation flow when the currently used communication line does not meet the required conditions, and steps 509 to 514 show the operation flow when the currently used communication line meets the required conditions.

[0181] (A-1-9-2. Maintenance and control of wireless communication connection) Figure 21 shows the process of maintaining and controlling communication between a communication target terminal 7000 installed on a ship and an internet line 6000. In particular, Figure 21 shows how the communication line switches from the communication path at time t1 to the communication path at time t2.

[0182] At time t1 in the upper part of Figure 21, a communication target terminal 7000 mounted on a ship is connected to a ground AP 4000 via a maritime relay system equipped with multiple unmanned vessels, and further communication is connected from the ground AP 4000 to the internet line 6000. At this time, at least one unmanned vessel (master unit) within the maritime relay system is located within the communication range of the ground AP 4000. Here, the ground AP 4000 can be composed of, for example, a Broadband Wireless Access (BWA) radio communication base station using radio waves in the 2.5GHz band, in particular a privately operated BWA base station, and an unmanned vessel located within the communication range of the BWA radio communication base station can communicate directly with the radio communication base station. Also, at time t1, the ship is moving away from the location where the ground AP 4000's radio communication base station is installed (direction of the arrow), so the multiple unmanned vessels of the maritime relay system are also moving in the direction of the ship's movement in order to prevent interruption of radio communication between the ship and the unmanned vessels, and between multiple unmanned vessels.

[0183] Here, the communication range varies depending on the communication standard and the frequency band of the radio waves used for communication. When using the 2.4GHz band such as Wi-Fi, the communication range is about 50m, and when using the 920MHz band, it is several kilometers to tens of kilometers. Therefore, in order to prevent interruptions in wireless communication between the communication target terminal 7000 installed on the ship and the unmanned vessels, and between multiple unmanned vessels, the multiple unmanned vessels of the maritime relay system are also moved in the direction of the ship's movement so as not to deviate from the communication range corresponding to the communication standard that has been determined in advance.

[0184] At time t2 in the lower part of Figure 21, the ship and the maritime relay system moved away from the location where the ground AP4000 wireless communication base station was installed, causing the unmanned vessel's master unit to move near the boundary of the ground AP4000's communication range. In such cases, the communication maintenance control unit 2500 of the central control system 2000 switches the communication circuit. That is, the unmanned vessel's master unit is connected wirelessly to the airborne AP3000, and then connected to the internet line 6000 via the airborne AP. After wirelessly connecting to the internet line 6000 via the airborne AP3000, communication between the maritime relay system's master unit and the ground AP4000 is disconnected.

[0185] In this way, by switching from a communication line using the ground AP4000 to a communication line via the airborne AP3000 depending on the movement status of the communication target terminal 7000, it is possible to maintain the connection between the communication target terminal 7000 and the internet line even when the communication target terminal 7000 is mounted on a mobile device.

[0186] Next, Figure 22 shows the process of maintaining and controlling communication between the first communication target terminal 7000a installed on the ship and the second communication target terminal 7000b installed at the offshore base. In particular, Figure 22 shows how the communication line is switched from the communication path at time t1 to the communication path at time t2.

[0187] At time t1 in the upper part of Figure 22, the first communication target terminal 7000a, mounted on the ship, is connected to the second communication target terminal 7000b via a maritime relay system equipped with multiple unmanned vessels. At this time, at least one unmanned vessel (master unit) within the maritime relay system is located within the communication range of the second communication target terminal 7000b, which is mounted on a maritime base (an island, maritime infrastructure facility, etc.). Also, at time t1, the ship is moving away from the maritime base (direction of the arrow), so to prevent interruption of wireless communication between the ship and the unmanned vessels, and between multiple unmanned vessels, the multiple unmanned vessels of the maritime relay system are also moving in the direction of the ship's movement (direction of the arrow).

[0188] At time t2 in the lower part of Figure 22, the ship and the offshore relay system moved away from the location of the offshore base, causing the unmanned vessel's master unit to move near the boundary of the communication range of the offshore base's second communication target terminal 7000b. In such cases, the communication maintenance control unit 2500 of the central control system 2000 switches the communication circuit. That is, the unmanned vessel's master unit is connected wirelessly to the aerial AP 3000, and then connected to the offshore base's second communication target terminal 7000b via the aerial AP 3000, the internet line 6000, and another aerial AP 3000. After wirelessly connecting with the second communication target terminal 7000b via the aerial AP 3000, direct communication between the offshore relay system's master unit and the second communication target terminal 7000b is disconnected.

[0189] In this way, by switching from direct communication with the second communication terminal 7000b using the maritime relay system to a communication line via the aerial AP3000 and the internet line 6000, depending on the movement status of the first communication target terminal 7000a (i.e., the change in distance between the first communication target terminal 7000a and the second communication target terminal 7000b), the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b can be maintained even when the distance between them increases.

[0190] Next, Figure 23 shows the process of maintaining and controlling communication between a first communication target terminal 7000a installed on a ship and a second communication target terminal 7000b installed on another ship. In particular, Figure 23 shows how the communication line is switched from the communication path at time t1 to the communication path at time t2.

[0191] At time t1 in the upper part of Figure 23, the first communication target terminal 7000a, mounted on the first vessel, is connected to the second communication target terminal 7000b, mounted on another second vessel, via a maritime relay system equipped with multiple unmanned vessels. Also, at time t1, the first and second vessels are moving in opposite directions (direction of the arrows), so the positions of the multiple unmanned vessels are controlled so that the distance between the first vessel and the unmanned vessel conducting wireless communication, between the second vessel and the unmanned vessel conducting wireless communication, and between the multiple unmanned vessels conducting wireless communication do not exceed the wireless communication range.

[0192] At time t2 in the lower part of Figure 23, the first and second vessels moved away from each other, causing the distance between the unmanned vessels (1002a and 1002b) that were communicating wirelessly to exceed the wireless communication range. In such cases, the communication maintenance control unit 2500 of the central control system 2000 switches the communication circuit. Specifically, the master unit 1001a of the unmanned vessel is connected wirelessly to the aerial AP 3000, and then connected to the master unit 1001b of the unmanned vessel via the aerial AP 3000a, the internet line 6000, and another aerial AP 3000b. Furthermore, the master unit 1001a is controlled to move in accordance with the first vessel (equipped with the first communication target terminal 7000a) and be within the communication range, and the master unit 1001b is controlled to move in accordance with the second vessel (equipped with the second communication target terminal 7000b) and be within the communication range.

[0193] In this way, by switching from direct communication using the maritime relay system to a communication line via the aerial AP3000 and the internet line 6000, depending on the movement status of the first communication target terminal 7000a and the second communication target terminal 7000b (i.e., the change in distance between the first communication target terminal 7000a and the second communication target terminal 7000b), the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b can be maintained even when the distance between them increases.

[0194] Next, Figure 24 shows the process of maintaining and controlling communication between the first ground-based communication target terminal 7000a and the second ground-based communication target terminal 7000b. In particular, Figure 24 shows how the communication line is switched from the communication path at time t1 to the communication path at time t2.

[0195] At time t1 in the upper part of Figure 24, a first communication target terminal 7000a installed on a ground vehicle is connected to a second communication target terminal 7000b installed on ground equipment via a maritime relay system equipped with multiple unmanned vessels. Alternatively, either or both of the first and second communication target terminals 7000a and 7000b may be mounted on ground equipment located on an outlying island. At time t1, the positions of the multiple unmanned vessels are controlled so that the distance between the first communication target terminal 7000a and the unmanned vessel, the distance between the second communication target terminal 7000b and the unmanned vessel, and the distance between the multiple unmanned vessels do not exceed the wireless communication range.

[0196] At time t2 on the lower side of Figure 24, the communication quality deteriorates due to environmental disturbances (precipitation (rain, snow, hail, sleet, etc.), fog, lightning, etc.) in the area where the maritime relay system is deployed. As a result, the wireless communication between the two unmanned vessels (1002a and 1002b), which were communicating wirelessly with each other, no longer meets the acceptable conditions of the communication line. In such cases, the communication maintenance control unit 2500 of the overall control system 2000 switches the communication circuit. Specifically, the master unit 1001a of the unmanned vessel is connected wirelessly to the aerial AP 3000, and then connected to the master unit 1001b of the unmanned vessel via the aerial AP 3000a, the internet line 6000, and another aerial AP 3000b. Furthermore, the master unit 1001a maintains a communication connection with the first communication target terminal 7000a via a slave unit, and similarly, the master unit 1001b maintains a communication connection with the second communication target terminal 7000b via another slave unit.

[0197] In this way, depending on the environmental disturbances around the maritime relay system that relays communication between the first communication target terminal 7000a and the second communication target terminal 7000b (environmental conditions including, for example, precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, solar flare conditions, etc.), the communication can be switched from direct communication using the maritime relay system to a communication line via the aerial AP3000 and the internet line 6000. This allows the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b to be maintained even when the environmental conditions between them change.

[0198] In the example shown in Figure 24, a switch is made from direct communication using the maritime relay system to a communication line via the aerial AP3000 and the internet line 6000. However, the reverse is also possible: a switch can be made from a communication line via the aerial AP3000 and the internet line 6000 to direct communication using the maritime relay system. In other words, since the communication quality of the communication line via the aerial AP3000 and the internet line 6000 deteriorates due to ionospheric conditions and solar flares, a switch can be made to direct communication using the maritime relay system when such environmental disturbances or deterioration of communication quality occur.

[0199] Next, Figure 25 shows an example of a maritime communication network for maintaining and controlling communication between a first communication target terminal 7000a installed on a ship and a second communication target terminal 7000b installed on another ship.

[0200] In the example shown at the top of Figure 25, a first communication target terminal 7000a, mounted on a first vessel, is connected to a second communication target terminal 7000b, mounted on another second vessel, via a maritime communication network composed of multiple unmanned vessels. Here, the communication network provided by the maritime relay system is not just a single communication path formed by connecting multiple unmanned vessels in series, but a communication network with multiple communication paths formed by arranging multiple unmanned vessels in multiple rows. In this way, by configuring a communication network with multiple communication paths using multiple unmanned vessels arranged in multiple rows, communication toughness can be improved by making the communication path between the first communication target terminal 7000a and the second communication target terminal 7000b redundant, in order to improve the reliability of the communication connection (communication toughness) when communication quality deteriorates due to environmental disturbances in the deployment area of ​​the maritime relay system, or when reliability conditions for communication connections are specified as requirements for the communication line.

[0201] In the example shown at the bottom of Figure 25, a first communication target terminal 7000a mounted on a first vessel is connected to a second communication target terminal 7000b mounted on another second vessel via a maritime communication network composed of multiple unmanned vessels. Here, the communication network provided by the maritime relay system is not just a single or multiple communication paths formed by connecting multiple unmanned vessels in series, but also constitutes a multipath communication network where the unmanned vessels of the maritime relay system communicate wirelessly with multiple other unmanned vessels. In this way, a communication network composed of multipath communication paths formed by 1-to-N wireless communication between multiple unmanned vessels can further improve the reliability of communication connections (communication toughness) when communication quality deteriorates due to environmental disturbances in the deployment area of ​​the maritime relay system, or when reliability requirements for communication connections are specified as requirements for the communication lines.

[0202] In addition to changing the communication network configuration within the maritime relay system as shown in Figure 25, it is also possible to combine this with switching external communication paths (airborne APs, ground APs, etc.) that connect to the maritime relay system, as shown in Figure 24.

[0203] (A-1-10. How to display the communication status) Figure 26 shows an example of communication status information displayed by the display information output unit 2610. As shown in Figure 26, the user can select each communication section of each communication path candidate on the display device screen where multiple communication path candidates are displayed, using a mouse or touch panel, and display real-time information regarding the communication quality (communication speed, strength, delay, etc.) for each section. Furthermore, the user can select not only each communication section, but the entire communication circuit from the starting point to the ending point from the communication target terminal to the internet line 6000, and display real-time measurement information of the communication quality along the entire path.

[0204] Furthermore, the communication speed for each communication section includes the uplink speed, which is the transmission speed in the upstream direction, and the downlink speed, which is the transmission speed in the downstream direction, and these are measured separately. In addition, the uplink speed and downlink speed for the entire path from the target terminal 7000 to the internet line 6000 will be bottlenecked by the communication speed of the section with the slowest communication speed within the entire path. However, the section that is the bottleneck for the uplink speed and the section that is the bottleneck for the downlink speed are not necessarily the same section.

[0205] Furthermore, users can view not only real-time communication quality but also a history of past communication quality for a selected communication section.

[0206] (A-1-11. Hardware Configuration) Figure 27 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.

[0207] The input device 100 can constitute a user input receiving unit 2700 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.

[0208] The output device 200 is a device that outputs various types of information generated by the integrated control system 2000, and can constitute the display information output unit 2610. Specifically, the output device 200 can constitute the display information output unit 2610 with eyewear, AR, VR display devices, etc., and may also be a printer or a speaker.

[0209] 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.

[0210] 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.

[0211] The communication device 600 is a device that performs wireless or wired information communication with the outside world, and can constitute the aforementioned information communication unit 2800.

[0212] In the embodiments described above, a communication system 1 utilizing an unmanned vessel system 1000 consisting of multiple unmanned vessels 1010 operating on the sea or water was described. However, the present invention is not limited to unmanned vessels 1010, and can be applied as a maritime relay system to a ship system consisting of manned vessels, or a ship system in which unmanned vessels and manned vessels are mixed.

[0213] The embodiments described above are merely illustrative to facilitate understanding of the present invention and are not intended to limit its scope. The present invention can be modified and improved without departing from its spirit, and it goes without saying that the present invention includes equivalents thereof.

[0214] [A-2. Effects of this embodiment] The above-described embodiment makes it possible to provide a more stable communication environment to devices located in sea areas far from the coast. For example, when connecting a communication target terminal 7000 located in a sea area to an internet line 6000, a more stable communication environment can be provided by selecting or switching between relay communication lines configured via at least one of a maritime relay system, an aerial relay system, or a ground relay system, depending on the situation. [Explanation of Symbols]

[0215] 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 system 1001...Main unit 1002...Slave unit 1010...Unmanned boat 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…Communication Department 1410…Inter-unmanned-boat Communication Department 1420…Overhead AP Communication Department 1430…Ground AP Communication Department 1440…External Device Communication Department 1500…Judgment Department 1510…Object Detection and Judgment Department 1600…Recording Department 1610…Measurement Data Recording Department 1620…Self-vehicle Status Recording Department 2000…Overall Control System 2100…Requirement Information Acquisition Department 2110…Communication Target Information Acquisition Department 2120…Required Movement Information Acquisition Department 2130…Required Communication Performance Acquisition Department 2140…Communication Circuit Priority Condition Acquisition Department 2200…Communication Line Information Acquisition Department 2210…Available Line Information Acquisition Department 2220…Line Performance Variation Condition Acquisition Department 2230…Environmental Information Acquisition Department 2240…Line Actual Performance Prediction Department 2300…Communication Line Decision Department 2310…Condition Satisfaction Route Candidate Judgment Department 2320…Route Candidate User Proposal Department 2330…Communication Line Confirmation Department 2400…In-sea Relay Operation Decision Department 2410…Unmanned-boat Formation Decision Department 2420…On-site Relay Method Decision Department 2500…Communication Maintenance Control Department 2510…Communication Status Monitoring Department 2520…Object Status Monitoring Department 2530…Communication Line Change Department 2540…Unmanned-boat Network Control Department 2600…Command Output Department 2610…Display Information Output Department 2620…Control Command Output Department 2700…User Input Reception Department 2800…Information Communication Department 3000…Overhead AP 4000…Ground AP 5000…User Terminal 6000…Internet Line 7000…Communication Target Terminal

Claims

1. A communication system that provides a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and the internet line, using a vessel that can move on the sea, A communication line information acquisition unit that acquires information on multiple candidate relay communication lines, The system includes a communication line determination unit that determines which relay communication line to use for communication from among multiple candidate relay communication lines. The aforementioned communication line determination unit, A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A communication system for determining the relay communication line from a plurality of candidates for the relay communication line, which includes at least one of the ground relay systems, or a combination thereof, that are capable of wireless communication with at least one of the plurality of the aforementioned vessels and that are capable of directly or indirectly communicating with at least one of the internet line and the second terminal device, and that includes ground wireless communication equipment.

2. In the communication system described in claim 1, A communication system in which the communication line determination unit determines the relay communication line based on request information relating to at least one of the following: the type, location, expected movement area, planned movement speed, planned movement route, desired communication maintenance time period, and communication line usage fee of the first terminal device or the second terminal device.

3. In the communication system described in claim 2, A communication system in which the type of the first terminal device or the second terminal device includes information that can identify whether the first terminal device or the second terminal device is located at sea, in the air, underwater, or on land.

4. In the communication system described in claim 1, A communication system in which the communication line determination unit determines the relay communication line based on request information indicating whether the connection destination for communication connection with the first terminal device is the second terminal device, the internet line, or both the second terminal device and the internet line.

5. In the communication system described in claim 1, A communication system in which the communication line determination unit determines the relay communication line based on request information regarding the communication quality or communication standards of the communication line connecting the first terminal device and the Internet line, or the communication line connecting the first terminal device and the second terminal device.

6. In the communication system described in claim 1, A communication system in which the information acquired by the communication line information acquisition unit includes multiple candidates for the relay communication line, including the maritime relay system, the aerial relay system, the ground relay system, or a combination thereof, or information regarding the communication performance of other existing communication infrastructure, the location of wireless communication base stations, or communication line usage fees.

7. In the communication system described in claim 6, A communication system in which the aforementioned communication performance includes information regarding at least one of the following: communication area, communication strength, communication speed, communication delay, and communication capacity.

8. In the communication system described in claim 6, It has an environmental information acquisition unit that acquires environmental information including at least one of precipitation, fog, lightning, ionospheric conditions, and solar flare conditions. The aforementioned communication performance is information generated taking into account the impact on the communication performance of the maritime relay system or the ground relay system caused by precipitation, fog, or lightning strikes, or the impact on the communication performance of the upper-air relay system caused by ionospheric disturbance or solar flares, or the impact on existing communication infrastructure caused by at least one of precipitation, fog, lightning strikes, ionospheric conditions, solar flare conditions, time of day, or date and time, in a communication system.

9. In the communication system described in claim 1, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, and the second terminal device.

10. In the communication system described in claim 1, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, the aerial relay system, and the internet line.

11. In the communication system described in claim 1, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the maritime relay system, the first aerial relay system, the internet line, the second aerial relay system, and the second terminal device.

12. In the communication system described in claim 1, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the first maritime relay system, the first aerial relay system, the internet line, the second aerial relay system, the second maritime relay system, and the second terminal device.

13. In the communication system described in claim 1, The communication line determination unit determines the communication line to be the relay communication line, which is connected in the order of the first terminal device, the maritime relay system, the land relay system, and the internet line.

14. In the communication system described in claim 1, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the maritime relay system, the first land relay system, the internet line, the second land relay system, and the second terminal device.

15. In the communication system described in claim 1, A communication system in which the communication line determination unit determines a communication line to be connected in the following order as the relay communication line: the first terminal device, the first maritime relay system, the first land relay system, the internet line, the second land relay system, the second maritime relay system, and the second terminal device.

16. In the communication system described in claim 1, When the first terminal device or the second terminal device is in the air, A communication system in which the communication line determination unit determines a communication line as the relay communication line that directly connects the first terminal device and the ship, or connects the first terminal device and the ship via an aerial communication aircraft, or directly connects the second terminal device and the ship, or connects the second terminal device and the ship via an aerial communication aircraft.

17. In the communication system described in claim 1, The communication line determination unit determines the parallel use of multiple communication circuits as the relay communication line if the parallel use of multiple communication circuits satisfies predetermined criteria required for the relay communication line.

18. In the communication system described in claim 1, When there is one or more communication line candidates that meet the predetermined criteria required for the relay communication line, the system includes a display information output unit that displays information including multiple such communication line candidates to the user. The aforementioned communication line determination unit is a communication system that determines the relay communication line based on the communication line specification information received from the user.

19. In the communication system described in claim 1, When there are multiple candidate communication lines that meet the predetermined criteria required for the aforementioned relay communication line, The aforementioned communication line determination unit determines the relay communication line based on previously acquired priority criteria information for communication lines.

20. In the communication system described in claim 1, A communication system comprising a maritime relay operation determination unit that determines the operation of a plurality of ships for maritime communication relay according to the relay communication line determined by the communication line determination unit.

21. In the communication system described in claim 20, The maritime relay operation determination unit determines at least one of the number, formation, arrangement, and movement route of the ships required for the relay communication line determined by the communication line determination unit, and is a communication system.

22. In the communication system described in claim 20, The maritime relay operation determination unit determines the vessel that will establish a wireless communication connection with at least one of the first terminal device, the second terminal device, the airborne relay system, and the ground relay system, according to the relay communication line determined by the communication line determination unit.

23. In the communication system described in claim 20, When the communication line determination unit determines the communication line for wirelessly connecting the maritime relay system and the aerial relay system as the relay communication line, The maritime relay operation determination unit determines the artificial satellite or communication aircraft of the aerial relay system to wirelessly connect with the ship of the maritime relay system.

24. In the communication system described in claim 20, When the communication line determination unit determines the communication line for wirelessly connecting the maritime relay system and the ground relay system as the relay communication line, The maritime relay operation determination unit is a communication system that determines the wireless communication equipment of the land relay system to wirelessly connect with the vessel of the maritime relay system.

25. In the communication system described in claim 1, A communication system comprising a communication maintenance control unit that determines changes to at least one of the following: the communication lines, the number, formation, arrangement, and movement routes of the vessels, the vessels that wirelessly connect to the outside of the maritime relay system, the artificial satellites or communication aircraft of the aerial relay system that are wirelessly connected to the maritime relay system, or the wireless communication equipment of the ground relay system that is wirelessly connected to the maritime relay system, according to the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and other communication lines.

26. In the communication system described in claim 1, The system includes a communication maintenance control unit that determines whether the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and other communication lines, meets predetermined standards required for the relay communication line. If the communication maintenance control unit determines that the communication performance of the relay communication line, or the communication performance of the relay communication line and other communication lines, does not meet the predetermined criteria, the system includes a display information output unit that displays information regarding the communication performance of at least one of the relay communication line and other communication lines to the user. The aforementioned communication maintenance control unit is a communication system that changes the relay communication line based on communication line change instruction information received from the user.

27. In the communication system described in claim 1, The information acquired by the aforementioned communication line information acquisition unit includes information regarding the communication performance of the relay communication line and other communication lines. A communication system comprising a display information output unit that displays information regarding the communication performance of the aforementioned relay communication line and other communication lines to the user.

28. In the communication system described in claim 1, A communication system comprising a communication maintenance control unit that changes the relay communication line based on communication line change instruction information received from a user via a user input reception unit.

29. In the communication system described in claim 1, The information acquired by the aforementioned communication line information acquisition unit includes measurement information of the current communication performance of the aforementioned maritime relay system. A communication system comprising a communication maintenance control unit that determines a change in the route of the communication network between multiple ships of the maritime relay system.

30. In the communication system described in claim 1, If the communication line determination unit determines that there are no candidate communication lines that meet the predetermined criteria required for the relay communication line, A communication system comprising a display information output unit that proposes to the user a change to the aforementioned predetermined criteria.

31. In the communication system described in claim 1, The communication line determination unit determines the relay communication line from a plurality of candidate communication lines based on information of at least one of the current or future number, formation, arrangement, and movement path of the plurality of vessels of the maritime relay system.

32. A communication control method that provides a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and the internet line, using a vessel that can move on the sea, Computers A communication line information acquisition step involves acquiring information about multiple candidates for the aforementioned relay communication line, The system includes a communication line determination step in which a relay communication line to be used for communication is determined from among multiple candidates for the relay communication line, The aforementioned communication line determination step is: A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A communication control method for determining the relay communication line from a plurality of candidates for the relay communication line, which includes at least one of the following: a ground relay system equipped with ground wireless communication equipment capable of wirelessly communicating with at least one of the plurality of vessels and capable of directly or indirectly communicating with at least one of the Internet line and the second terminal device, or a combination thereof.

33. A program usable in a communication system that provides a relay communication line that enables communication between a first terminal device and a second terminal device, or between the first terminal device and an internet line, or between the first terminal device, the second terminal device and the internet line, using a vessel that can move on the sea, On the computer, A communication line information acquisition command that acquires information about multiple candidates for the aforementioned relay communication line, The command to determine which relay communication line to use for communication from among the multiple candidates for the relay communication line is executed. The aforementioned communication line determination command is: A maritime relay system comprising a plurality of the aforementioned vessels capable of communicating directly or indirectly with the first terminal device, An aerial relay system comprising an artificial satellite or a communication aircraft flying in the stratosphere capable of wirelessly communicating with at least one of the multiple aforementioned vessels and directly or indirectly communicating with at least one of the internet line and the second terminal device, A program that determines which relay communication line to use for communication from a plurality of candidates for the relay communication line, including at least one of a plurality of the aforementioned vessels and a terrestrial wireless communication facility that can communicate directly or indirectly with at least one of the Internet line and the second terminal device, or a combination thereof.

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