Control system, control method, and program

Abstract

According to the present invention, the search operation of a target area using multiple mobile bodies can be performed more appropriately or more efficiently. [Solution] The present invention relates to a control system for searching for an object by controlling the operation of a plurality of mobile bodies equipped with measuring sensors capable of detecting an object to be searched, the control system comprising: a search target value acquisition unit that acquires search target information relating to the target of the search; a search related information acquisition unit that acquires search related information including at least one of search condition information relating to the conditions of the search and search state information relating to actual values ​​or predicted values ​​of the search; and a search method determination unit that determines or changes at least one of the number of mobile bodies, arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time of the plurality of mobile bodies used for the search, based on the search target information and the search related information.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a method for controlling a mobile body for monitoring a monitoring target area using a plurality of mobile bodies equipped with cameras and the like. In particular, a technique for performing movement control of the mobile body so as to improve the coverage rate, which is the ratio of the monitoring area that the mobile body can monitor with respect to the monitoring target area, is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When attempting to commercialize a search system that performs a search operation on a search target area using a plurality of mobile bodies, it is required to meet various requirements demanded when actually operating the search system.

[0005] For example, it is required to pre-evaluate whether sufficient search performance can be exhibited for a specific search purpose specified by the user before the search operation. Also, when the search performance is insufficient, it is required to determine appropriate countermeasures such as changing the system configuration or the operation method of the mobile body in order to exhibit sufficiently high search performance. Further, during the execution of the search operation, if it is evaluated in real time that sufficient search performance cannot be exhibited for a specific search purpose specified by the user, it is required to execute appropriate countermeasures such as changing the system configuration or the operation method of the mobile body.

[0006] Furthermore, when the search area is a region with significant environmental changes such as waves, wind, and weather, such as in marine areas, the mobile performance of the mobile device and the measurement performance of measurement sensors (optical cameras, laser sensors, sonar sensors, etc.) are greatly affected. Therefore, it is necessary to implement appropriate countermeasures, such as changing the system configuration or the operating method of the mobile device, depending on the range that can actually be searched in the search area.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objectives is to provide a system or control method, etc., that can perform the search work of a target area more appropriately or more efficiently using multiple mobile bodies. [Means for solving the problem]

[0008] According to the present invention, a control system is obtained that controls the operation of a plurality of mobile bodies equipped with measuring sensors capable of detecting a target object to be searched for, and searches for the target object, comprising: a search target value acquisition unit that acquires search target information relating to the target of the search; a search related information acquisition unit that acquires search related information including at least one of search condition information relating to the conditions of the search and search state information relating to actual values ​​or predicted values ​​of the search; and a search method determination unit that determines or changes at least one of the number of mobile bodies, arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time of the plurality of mobile bodies used for the search, based on the search target information and the search related information. [Effects of the Invention]

[0009] According to the present invention, the search operation of a target area using multiple mobile bodies can be performed more appropriately or more efficiently. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of control system 1 according to one embodiment of the present invention. [Figure 2]This figure shows an example of an implementation image when the control system 1 is implemented in real space. [Figure 3] This is a diagram showing the stakeholders related to control system 1. [Figure 4] This is a diagram showing the configuration of an unmanned vessel system 1000, which consists of multiple unmanned vessels. [Figure 5] This is a conceptual diagram showing how the unmanned aerial vehicle system 1000, deployed on the sea, searches for target objects 7000. [Figure 6] This diagram shows the relative positions of multiple unmanned aerial vehicles (UAVs) 1010 that make up a platoon. [Figure 7] This diagram shows the relative positions of multiple unmanned aerial vehicles (UAVs) 1010 that make up a multi-platoon. [Figure 8] This is a functional block diagram showing the functional configuration of the unmanned vessel 1010. [Figure 9] This is a conceptual diagram illustrating how an acoustic sensor is used to detect objects underwater. [Figure 10] This is a functional block diagram showing the functional configuration of the 2000 integrated control system. [Figure 11] This figure shows an example of the various types of information acquired by the pre-information acquisition unit 2100. [Figure 12] This figure shows an example of the determination content determined by the object detection and determination unit 2300. [Figure 13] This figure shows an example of environmental disturbance information used in the correction calculation of the disturbance effect correction unit 2530. [Figure 14] This is a flowchart showing the processing flow of control system 1. [Figure 15] This is a sequence diagram showing the signal exchange between systems within control system 1. [Figure 16] This flowchart shows an example of the process flow for determining a search plan by the search plan determination unit 2200. [Figure 17] This figure shows an example of the calculation results of output items in the search plan determination process by the search plan determination unit 2200. [Figure 18]It is a flowchart showing an example of a warning level determination process by a warning level determination unit 2400. [Figure 19] It is a diagram showing an example of a method for determining a warning level according to a detection result of a search target object 7000. [Figure 20] It is a flowchart showing an example of a search state determination process by a search state acquisition unit 2500. [Figure 21] It is a diagram showing an example of a determination result of a search state by a search state acquisition unit 2500. [Figure 22] It is a flowchart showing an example of a determination process flow of a response operation of an unmanned boat system 1000 by a response operation determination unit 2600. [Figure 23] It is a flowchart showing an example of a proposal display and execution process flow of a response operation command. [Figure 24] It is a diagram showing an example of display information proposed and displayed on a display unit 2710 or the like. [Figure 25] It is a diagram showing another example of display information proposed and displayed on a display unit 2710 or the like. [Figure 26] It is a hardware configuration diagram of an overall control system 2000.

Embodiments for Carrying Out the Invention

[0011] The contents of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] In a control system that controls the operations of a plurality of moving bodies equipped with measurement sensors capable of detecting a search target object to perform a search for the search target object, a search target value acquisition unit that acquires search target information regarding the target of the search; a search-related information acquisition unit that acquires at least one of search condition information regarding the conditions of the search and search state information regarding the actual value or predicted value of the search; A control system comprising a search method determination unit that determines or changes at least one of the following for the search: the number of mobile units, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on the search target information and the search-related information. [Item 2] In the control system described in item 1, A control system in which the search condition information acquired by the search-related information acquisition unit includes information relating to at least one of the following: the location or range of the target area of ​​the search, the execution time of the search, the arrangement of the moving body, the search movement speed, the search turning speed, the search movement path, the search movement direction, the search straight-line travel time, the object to be searched, the measurement sensor, the assumed probability that the object to be searched is in the target area, the assumed speed of the object to be searched, and the assumed path of the object to be searched. [Item 3] In the control system described in item 1 or 2, The search method determination unit is a control system that determines, before the start of the search, at least one of the number of mobile bodies to be used for the search, their arrangement and distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on the search target information and the search condition information included in the search-related information. [Item 4] In the control system described in any of items 1 to 3, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following pieces of information: a search rate indicating the ratio of the area that has been moved or measured by the moving body to the target area of ​​the two-dimensional or three-dimensional search, and a detection probability indicating the probability that the moving body detects the object to be searched. [Item 5] In a control system described in any of items 1 to 4, A control system in which at least one of the search rate and the detection probability is calculated according to environmental information in the area to be searched. [Item 6] In a control system described in any of items 1 to 5, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following pieces of information: a predicted search rate indicating the proportion of the area to which the moving body is expected to move or measure in the future relative to the two-dimensional or three-dimensional target area of ​​the search; and a predicted detection probability indicating the probability that the moving body will detect the object to be searched in the future. [Item 7] In a control system described in any of items 1 to 6, A control system in which at least one of the predicted search rate and the predicted detection probability is calculated according to current or future environmental information in the target area. [Item 8] In a control system described in any of items 1 to 7, The aforementioned environmental information is, Solar altitude, fog, rain, snow, light intensity, wave height, sea spray, and other optical measurement disturbance information that affects the detection of the target object by optical imaging, Fog, rain, snow, wave height, sea spray, and other laser measurement disturbance information that affects the detection of the target object by the laser sensor, Seawater concentration, seawater temperature, seawater transparency, and other acoustic measurement disturbance information that affects the detection of the target object present in the sea by acoustic sensors, Lightning, rain, fog, wave height, sea spray, and other radio wave measurement disturbance information that affects the detection of the target object by radio wave sensors, A control system including at least one of the following. [Item 9] In a control system described in any of items 1 to 8, The aforementioned environmental information is, Ocean currents, tidal currents, wave height, current speed, wind speed, and other disturbance information affecting the power performance of the moving body, Information on marine obstacles that obstruct the movement of the aforementioned moving objects, such as seaweed, drift ice, floating debris, ships, and other such obstacles. Water temperature, air temperature, solar radiation, and other thermal disturbance information affecting the temperature of the mobile body, A control system including at least one of the following. [Item 10] In a control system described in any of items 1 to 9, The aforementioned search target information includes: A target overall search rate indicating the target value of the proportion of the area where the moving object has moved or been measured relative to the entire area of ​​the search target, A target local search rate indicating the target value of the ratio of the area where the mobile body has moved or been measured to a local area within a portion of the target area of ​​the search, The probability that the moving body detects the object being searched for is also a target detection probability, which indicates a target value. A control system that includes target information relating to at least one of the following. [Item 11] In a control system described in any of items 1 to 10, A control system which, when the search method determination unit compares the search target information with the search status information and determines that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, makes a decision to change at least one of the following for the search: the number of mobile units used for the search, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time. [Item 12] In a control system described in any of items 1 to 11, The search status information acquired by the search-related information acquisition unit includes: The overall search rate, which represents the ratio of the area where the moving object has moved or been measured to the entire area of ​​the search target, A local search rate, which indicates the ratio of the area where the moving object has moved or been measured to a local area within a portion of the target area of ​​the search, A control system that includes information on at least one of the following. [Item 13] In a control system described in any of items 1 to 12, The overall search rate is a control system that indicates the ratio of the area moved or measured by the mobile body within a predetermined period to the total target area. [Item 14] In a control system described in any of items 1 to 13, The local search rate is a control system that indicates the ratio of the area moved or measured by the mobile body within a predetermined period to a local area that is a part of the target area. [Item 15] In a control system described in any of items 1 to 14, The search method determination unit is a control system that compares the target value of the overall search rate with the actual or predicted value of the overall search rate, and determines that the search target has not been met if the actual or predicted value of the overall search rate is lower than the target value of the overall search rate. [Item 16] In a control system described in any of items 1 to 15, The search method determination unit is a control system that determines that the search target has not been achieved when at least one of the number, area, density, or shape of local areas where the local search rate falls below a predetermined value matches a predetermined failure condition. [Item 17] In a control system described in any of items 1 to 16, The search method determination unit is a control system that determines that the search objective has not been achieved when it receives user input information from the user indicating that the search objective has not been achieved. [Item 18] In a control system described in any of items 1 to 17, The search method determination unit is: If it is determined that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, A control system that modifies the search path of a moving object so that the local search rate is lower than a predetermined value, or so that it enters or passes through a local area where the local search rate is relatively low, or so that it enters or passes through a position where the local area can be measured. [Item 19] In a control system described in any of items 1 to 18, The search method determination unit is: If it is determined that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, A control system that modifies the search path of a moving body so that the local search rate is lower than a predetermined value, or so that the local search rate increases in local areas where the local search rate is relatively low, or so that the overall search rate, which represents the ratio of the area the moving body has moved to or measured to the entire target area, increases. [Item 20] In a control system described in any of items 1 to 19, The search method determination unit is: A control system that determines or modifies at least one of the following for the search: the number of mobile units, their arrangement and distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on area-specific alert level information determined according to externally acquired information, user input information, or detection information of the object to be searched. [Item 21] In a control system described in any of items 1 to 20, A control system comprising a display unit that displays and outputs at least one of the following: search status information relating to actual or predicted values ​​of the search acquired by the search-related information acquisition unit; a search rate indicating the ratio of the area where the moving body has moved or measured to the target area of ​​the two-dimensional or three-dimensional search; a detection probability indicating the probability that the moving body detects the object to be searched; and information relating to the search method determined by the search method determination unit. [Item 22] In a control system described in any of items 1 to 21, A control system comprising an operation command unit that outputs an operation command to the moving object in accordance with user input information relating to the search. [Item 23] In a control system described in any of items 1 to 22, A control system comprising an operation command unit that outputs an operation command to the moving body according to the determination result determined by the search method determination unit. [Item 24] In the control system according to any one of Items 1 to 23, the plurality of moving bodies are unmanned boats equipped with the measurement sensors capable of detecting the search target existing in a two-dimensional or three-dimensional area including a sea area or an underwater area and being movable on the sea, and the control system. [Item 25] In a control method of a control system that controls operations of a plurality of moving bodies equipped with measurement sensors capable of detecting a search target to search for the search target, a computer performs a search target value acquisition step of acquiring search target information regarding the target of the search, a search related information acquisition step of acquiring search related information including at least any one of search condition information for performing the search and search state information regarding the actual value or predicted value of the search, a search method determination step of determining, or determining a change of, at least any one of the number of airframes, arrangement distribution, formation, search moving speed, and search moving route of the plurality of moving bodies used for the search based on the search target information and the search related information, and executes the control method. [Item 26] A program usable in a control system that controls operations of a plurality of moving bodies equipped with measurement sensors capable of detecting a search target to search for the search target, causes a computer to execute a search target value acquisition command for acquiring search target information regarding the target of the search, a search related information acquisition command for acquiring search related information including at least any one of search condition information for performing the search and search state information regarding the actual value or predicted value of the search, a search method determination command for determining, or determining a change of, at least any one of the number of airframes, arrangement distribution, formation, search moving speed, and search moving route of the plurality of moving bodies used for the search based on the search target information and the search related information, and is a program for causing execution.

[0012] <A. First Embodiment> Embodiments of the present invention will be described below 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 explanations are omitted. Furthermore, the embodiments shown below are merely examples, and other known elements or alternative means can be used depending on the application, purpose, or scale.

[0013] [A.Configuration] (A-1. System Configuration) First, the overall system configuration of the control system 1 according to one embodiment of the present invention will be described using Figures 1 to 3.

[0014] (A-1-1. Overview of System Configuration) Figure 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "System 1") according to one embodiment of the present invention. As shown in Figure 1, the control system 1 comprises an unmanned vessel system 1000 and a central control system 2000. The central control system 2000 is configured to communicate with an external cooperative system 5000 and an external system 6000 via an internet connection or the like, and can input and output information. The central control system 2000 can transmit control commands to the unmanned vessel system 1000 deployed at sea via a ground base station 4000 and a communication satellite 3000, and can also receive the operating status and measurement data of the unmanned vessel system 1000. Therefore, the central control system 2000 can control the operation of the unmanned vessel system 1000, which has multiple unmanned vessels 1010 equipped with measurement sensors capable of detecting the target object 7000, and search for the target object 7000.

[0015] The unmanned vessel system 1000 comprises one or more unmanned vessels 1010. When the unmanned vessel system 1000 is composed of multiple unmanned vessels 1010, the multiple unmanned vessels 1010 are connected to each other by wireless communication and can form a communication network. In addition, the unmanned vessel 1010 has the function of detecting objects to be searched, such as ships, floating objects, and people adrift at sea, as well as objects moving underwater, such as divers and marine organisms (such as whales), using measurement sensors mounted on the vessel (sound wave sensors such as sonar, optical cameras, IR cameras, laser sensors such as LiDAR, and radar sensors such as millimeter-wave sensors and microwave sensors).

[0016] The detection results and measurement data of objects detected by the unmanned vessel system 1000, as well as various information on the operational status of each unmanned vessel 1010 of the unmanned vessel system 1000, are transmitted to the central control system 2000 via the communication satellite 3000 and the ground base station 4000. The central control system 2000 determines operational commands for the unmanned vessel system 1000 based on the information obtained from the unmanned vessel system 1000 and pre-obtained request information. The generated operational commands and other information are transmitted to the cooperative system 5000, and intervention commands can also be obtained from the cooperative system.

[0017] (A-1-2. Example of implementing control system 1 in real space) Figure 2 shows an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Figure 2, a ground base station 4000 and a central control system 2000 are provided on the ground side, as shown in the upper right of the diagram. In addition, a cooperative system 5000 is provided on the ground side, which includes related facilities of external cooperative organizations (including private security organizations, private rescue organizations, etc.), and further, an external system 6000 is provided, which includes an AIS (Automatic Identification System) control center and AIS base stations that manage information on ships navigating the ocean.

[0018] On the other hand, on the ocean side shown on the left of the diagram, the unmanned vessel system 1000, the object to be searched 7000, and part of the cooperative system 5000, including patrol boats operated by external cooperating organizations, are deployed. The unmanned vessel system 1000 also has multiple platoons (1000a, 1000b, 1000c) consisting of a master unit and multiple slave units, and each platoon can communicate directly or via the communication satellite 3000. The unmanned vessel system 1000 can also communicate with the patrol boat directly or via the communication satellite 3000, and for example, detection information regarding the object to be searched 7000 can be notified from the unmanned vessel system 1000 to the patrol boat (or research vessel). The unmanned vessel system 1000 may also be connected to an AIS base station to acquire AIS information.

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

[0020] In the embodiment described in Figures 1 and 2 above, an example was described in which a non-terrestrial network using a geosynchronous orbit or low-earth orbit communication satellite 3000 is used as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned vessel system 1000. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aerial vehicle called a HAPS (High Altitude Platform Station) can also be used. In this case, for example, an unmanned aerial vehicle that circles at an altitude of about 8 to 50 km can be used. Furthermore, as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned vessel 1010, it is also possible to use a communication network that directly connects the ground base station 4000 to the unmanned vessel 1010 via wireless communication, without going through the communication satellite 3000 or HAPS. Note that the ground base station 4000 is not limited to a stationary fixed base station, but may consist of a mobile base station.

[0021] (A-1-3. Stakeholders regarding Control System 1) Figure 3 shows the stakeholders related to the control system 1. As shown in Figure 3, the control system 1 has an operator who operates the unmanned vessel system 1000 by inputting and outputting information via the user interface unit 2700 of the integrated control system 2000. If all or part of the functions implemented in the integrated control system 2000 shown in this embodiment are implemented in a coastal field base on land (not shown) or a manned mother ship at sea, the operator can operate and manage the unmanned vessel system 1000 at the coastal field base or the manned mother ship.

[0022] Furthermore, the external cooperative monitoring organization facilities of the cooperative system 5000 have monitoring supervisors, and the monitoring boats have monitors, who work together to search for targets in the marine area. In addition, the cooperative system 5000 may also include private security companies and private rescue organizations. Furthermore, the AIS control center of the external system 6000 has personnel responsible for generating, operating, and managing AIS information. Moreover, the external system 6000 includes a weather information provision system that provides weather information, and the weather information provision system has personnel responsible for generating, managing, and distributing weather information.

[0023] Furthermore, the objects to be searched, 7000, by the control system 1 and the cooperative system 5000 include objects moving on the surface of the sea such as ships, floating objects, and people adrift, as well as objects moving underwater such as divers navigating the sea and marine life (such as whales). By communicating and coordinating with the cooperative system 5000 and the external system 6000, the control system 1 can more efficiently search for the objects to be searched, 7000.

[0024] (A-2. Unmanned Vehicle System 1000) Next, the system configuration of the unmanned boat system 1000 according to one embodiment of the present invention will be described with reference to Figures 4 to 7.

[0025] (A-2-1. Overview of the Unmanned Vehicle System 1000) Figure 4 is a configuration diagram showing an unmanned vessel system 1000 composed of multiple unmanned vessels. As shown in Figure 4, the unmanned vessel system 1000 is composed of one or more platoons (1000a, 1000b), and each platoon is composed of multiple unmanned vessels 1010. Furthermore, the multiple unmanned vessels 1010 that make up each platoon are configured to act as a master unit 1001 capable of wireless communication with the communication satellite 3000, or as slave units 1002 capable of communicating directly or indirectly with the master unit 1001. The master unit 1001 communicates with the communication satellite 3000, aggregates information collected from the multiple slave units 1002 and transmits it to the communication satellite 3000, and has the function of directly or indirectly transmitting information related to operation commands acquired from the communication satellite 3000 and information it generates itself to each slave unit 1002.

[0026] The platoon 1000a shown in Figure 4 comprises a primary connected slave unit 10021 that communicates with the master unit 1001, a secondary connected slave unit 10022 that communicates with the primary connected slave unit 10021, and a tertiary connected slave unit 10023 that communicates with the secondary connected slave unit 10022. Each slave unit (primary connected slave unit 10021, secondary connected slave unit 10022, and tertiary connected slave unit 10023) has the function of relaying information received from other master units 1001 or slave units 1002 to other master units 1001 or slave units 1002, thereby forming a communication network between the master unit 1001 and the multiple slave units 1002.

[0027] (A-2-2. Search using the Unmanned Vehicle System 1000) Figure 5 is a conceptual diagram showing how an unmanned vessel system 1000 deployed on the sea searches for a target object 7000. As shown in Figure 5, multiple unmanned vessels 1010 constituting a platoon are deployed on the sea, and measurement sensors 1110 mounted on each unmanned vessel 1010 can detect the target object 7000 that is within the measurable range on or under the sea. The measurement data and detection judgment results of the detected target object 7000 are collected by the master unit 1001 via a communication network between the unmanned vessels 1010, transmitted from the master unit 1001 to the communication satellite 3000, and then transmitted to the central control system 2000 via a ground base station 4000 or the internet. In addition, each unmanned vessel 1010 is equipped with a navigation unit 1300 that allows it to navigate in any direction, and it is possible to perform the task of searching for the target object 7000 based on the operation commands transmitted by the central control system 2000.

[0028] (A-2-3. Positional relationships of multiple unmanned vessels 1010 within the platoon, etc.) The following describes a squad consisting of multiple unmanned vessels 1010, using Figures 6 and 7.

[0029] (A-2-3-1. Configuration of 1010 unmanned vessels forming a single platoon) Figure 6 shows the positional relationship of multiple unmanned vessels 1010 that make up a platoon. In the example shown in Figure 6, platoon 1000a consists of one master unit 1001 and multiple slave units 1002. Furthermore, the master unit 1001 and the multiple slave units 1002 are connected by wireless communication, as shown by the solid lines, thereby forming a wireless communication network at sea. Each slave unit 1002 has a primary connecting slave unit 10021 that connects wirelessly to the master unit 1001, and a secondary connecting slave unit 10022 that connects wirelessly to the primary connecting slave unit 10021.

[0030] In this embodiment, the number of relay devices used to form a platoon is not limited, and it may include tertiary, quaternary, or even higher-level connecting devices. The primary connecting device 10021 shown in Figure 6 has the function of relaying information transmission and reception between the master device 1001 and the secondary connecting device 10022, thereby enabling the exchange of information between the master device 1001 and multiple secondary connecting devices 10022.

[0031] Furthermore, the number of secondary connection units 10022 that wirelessly connect to the primary connection unit 10021 is not limited to one. Multiple secondary connection units 10022 can be wirelessly connected to the primary connection unit 10021, thereby forming a tree-like communication network in which multiple unmanned vessels 1010 branch off within the platoon 1000a. In addition, since there is an upper limit to the wireless communication distance between each unmanned vessel 1010, the positions of at least one of the two unmanned vessels 1010 that communicate wirelessly with each other, for example, the master unit 1001 and the primary connection unit 10021, and the primary connection unit 10021 and the secondary connection unit 10022, are controlled so that the relative distance between the unmanned vessels 1010 is maintained within the communication distance (for example, about 1.5 km). Furthermore, if the relative distance between the two unmanned vessels 1010 increases and the other unmanned vessel 1010 moves outside the communication range, wireless communication between them will become impossible, and control commands from the central control system 2000 will not be able to be transmitted. Therefore, it is desirable for the two unmanned vessels 1010 that are connected to each other to perform self-position control to maintain the relative distance between them within the communication range, with a higher priority than other control functions.

[0032] On the other hand, the relative distance between unmanned vessels 1010 that do not communicate wirelessly with each other does not require the maintenance of the aforementioned communication connection. However, in order to efficiently search for the target object 7000, which is the objective of the unmanned vessel system 1000, it is preferable for each unmanned vessel 1010 to maintain an appropriate distance so that the measurement ranges of the measurement sensors of each unmanned vessel 1010 do not overlap, or overlap to a moderate degree, rather than being too close together and having most of the measurement ranges of the measurement sensors overlap. Therefore, for the relative distance between unmanned vessels 1010 that do not communicate with each other, the position of at least one of the unmanned vessels 1010 is controlled with a relatively lower priority so as to maintain a preset steady-state relative distance (for example, about 1 km). This control to maintain the steady-state relative distance can be achieved by applying, for example, a control based on the Boids algorithm.

[0033] Furthermore, if the relative distance between the unmanned vessels 1010 becomes too close and there is a possibility of collision, position control is performed to increase the relative distance with a relatively high priority in order to avoid a collision and prevent damage to the unmanned vessels 1010.

[0034] As described above, the control that maintains the relative distance between unmanned vessels 1010 that communicate with each other within the communication range, and the avoidance control that avoids collisions with other unmanned vessels approaching at close range, are executed with relatively high priority. On the other hand, the control that maintains the relative distance between unmanned vessels 1010 that do not communicate with each other is executed with relatively low priority.

[0035] (A-2-3-2. Configuration of unmanned vessel 1010 comprising multiple platoons) Figure 7 shows the positional relationship of multiple unmanned vessels 1010 that constitute a multi-platoon. In the example shown in Figure 7, two platoons (1000a and 1000b) cooperate to control their positions. For example, the relative distance between the secondary connection slave unit 10022a in platoon 1000a and the secondary connection slave unit 10022b in platoon 1000b can be controlled to maintain a steady relative distance (for example, about 1 km). Furthermore, the steady relative distance can be set to a distance shorter than the communication range.

[0036] Furthermore, by positioning the two adjacent unmanned vessels (10022a and 10022b) within a distance range where the measurement ranges of their measurement sensors 1110 overlap, the area of ​​gaps that cannot be measured by the measurement sensors 1110 can be reduced. On the other hand, when searching a wider area, by positioning the two adjacent unmanned vessels (10022a and 10022b) at a distance greater than a predetermined distance so that the measurement ranges of their measurement sensors 1110 do not overlap, efficient and waste-free searching can be performed.

[0037] For example, operational status information (position, direction of movement, speed, etc.) of each unmanned vessel 1010 within each platoon is transmitted to the central control system 2000 via the master unit 1001, and the corresponding operation determination unit 2600 of the central control system 2000 generates operation commands to control the position and formation of each unmanned vessel 1010, thereby enabling appropriate control of the operation of the unmanned vessels 1010 within each platoon. As another example, operational status information of the unmanned vessels 1010 in each platoon can be shared between the master unit 1001a of platoon 1000a and the master unit 1001b of platoon 1000b via a communication satellite 3000 or the like (or by direct communication), and the master unit 1001 within each platoon generates operation commands to control the operation of the unmanned vessels 1010 within that platoon, thereby enabling appropriate control of the operation of the unmanned vessels 1010 within each platoon.

[0038] (A-2-4. Configuration of Unmanned Vehicle 1010) Figure 6 is a functional block diagram showing the functional configuration of the unmanned vessel 1010. Although Figure 6 describes the functional block diagram of the unmanned vessel 1010, the master unit 1001 and the slave unit 1002 of the unmanned vessel 1010 can both implement the same functions as shown in Figure 6. 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.

[0039] The measurement unit 1100 is a functional unit that uses a measurement sensor 1110 to detect search targets 7000 that exist within the measurable range on or under the sea surrounding the unmanned vessel 1010, and acquires measurement information regarding the search targets 7000. The measurement unit 1100 comprises a measurement sensor 1110 and a measurement control unit 1120.

[0040] The measurement sensor 1110 may include one (monocular) or more electro-optical sensors for acquiring image data of 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. The measurement sensor 1110 acquires measurement data of the search targets 7000 that are within the measurable range of a two-dimensional plane on the sea surface by measuring the area around the unmanned vessel 1010. In addition, each of the above sensors can be used as a distance measuring sensor to measure the distance to the target based on the measurement data.

[0041] 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 acquire measurement data of the search target object 7000 that is within the measurable range in the three-dimensional space underwater. It can also 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 being measured 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 off objects underwater, or a passive sonar that measures the sound emitted from objects underwater. The active sonar can be composed of, for example, a side-scan sonar, a multi-beam sonar, or a single-beam sonar. The acoustic wave sensor may also be composed of a USBL transceiver or an acoustic communication modem.

[0042] 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 changing device that can change the attitude of the measurement sensor 1110. Also, for example, if the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. Also, if the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the emitting laser. Also, if the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. Also, if the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

[0043] 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 status 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 and fuel levels of the battery installed on the vessel, the distance that can be traveled calculated from the remaining energy and fuel levels, temporary abnormal conditions of equipment installed on the vessel (temperature abnormalities, communication abnormalities, etc.), and equipment failure status. Furthermore, the external status determination unit 1230 determines the communication quality status, such as communication strength (dB value, etc.), communication speed, and communication delay, of wireless communication with other unmanned vessels 1010 within the unmanned vessel system 1000, or wireless communication with the integrated control system 2000 via the communication satellite 3000 or ground base station 4000, 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.

[0044] 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.

[0045] 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.

[0046] Next, the navigation unit 1300 comprises a thrust generation unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the aircraft in any direction according to operation commands received via the communication unit 1400. The thrust generation unit 1310 can be made of any means capable of generating thrust, and as an example, it can be made of a propeller driven using the power of an engine or electric motor. The thrust generation unit 1310 can also be made of a sail that generates thrust by receiving wind, or it can be made of a wave glider that generates thrust by receiving wave force.

[0047] The attitude control mechanism 1320 consists of a rudder plate 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 aircraft's heading direction (yaw angle) can be controlled. In addition, the attitude angles of the aircraft's roll angle around the X axis and 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.

[0048] Furthermore, the navigation control unit 1330 is a functional unit that controls the aircraft's navigation operation by controlling the thrust generation unit 1310 and the attitude control mechanism 1320. The navigation control unit 1330 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.

[0049] 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.

[0050] Next, the communication unit 1400 comprises an inter-unmanned vessel communication unit 1410 and a central control communication unit 1420, and is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000 and the central control system 2000. The inter-unmanned vessel communication unit 1410 is equipped with a communication antenna used for the maritime wireless communication network and communicates with other unmanned vessels 1010 within the unmanned vessel system 1000. The central control communication unit 1420 is equipped with a satellite communication antenna capable of communicating with the communication satellite 6100, or a communication antenna capable of communicating with the ground base station 6200, and communicates with the central control system 2000 via the communication satellite 6100 or the ground base station 6200. In addition to the above-mentioned communication units, the communication unit may also include a communication unit equipped with an AIS antenna or a VHF antenna that communicates with external patrol boats or AIS base stations.

[0051] Next, the determination unit 1500 is a functional unit that performs data processing such as primary processing and data compression of measurement data acquired by the measurement sensor 1110. For example, the determination unit 1500 can perform primary processing to process the raw data (measurement data) after measurement acquired by the measurement sensor 1110 and generate transmission data for wireless transmission from the unmanned boat system 1000 to the central control system 2000. Furthermore, in order to reduce the transmission load when wirelessly transmitting the transmission data from the unmanned boat system 1000 to the central control system 2000, the determination unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement and generate transmission data.

[0052] Furthermore, the determination unit 1500 can interpret the state of the object to be searched 7000 by performing primary processing on the measurement data, and can determine the presence or absence of a detected object, the size of the detected object, etc. It may also have a function to determine whether or not to transmit measurement data and data for transmission from the unmanned vessel system 1000 to the integrated control system 2000, or to select the data to be transmitted, based on the interpretation results.

[0053] Next, the recording unit 1600 comprises a measurement data recording unit 1610, a self-operated machine status recording unit 1620, and a judgment information recording unit 1630. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The self-operated machine status recording unit 1620 records various status information about the self-operated machine determined by the self-operated machine status determination unit 1200. The judgment information recording unit 1630 records various judgment information determined by the determination unit 1500.

[0054] (A-2-5. Detection of underwater objects using sound wave sensors) In this embodiment, various types of sensors can be used as measurement sensors, such as optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter-wave sensors and microwave sensors, and acoustic sensors such as sonar, and objects on or underwater can be detected. Below, as an example, a method for detecting underwater objects using an acoustic sensor such as sonar will be described. Figure 9 is a conceptual diagram showing how an acoustic sensor is used to detect an underwater object. In the example shown in Figure 9, a side-scan sonar is used to detect marine life such as whales and underwater divers, and a USBL transceiver and acoustic communication modem are used to detect the position of underwater divers with whom mutual communication is possible.

[0055] When using side-scan sonar, the surface material, size, and position of an underwater object can be determined based on sound wave intensity information obtained from sound waves emitted from the unmanned vessel 1010 that are reflected back by underwater objects.

[0056] Furthermore, when detecting the position of an underwater diver or other person capable of mutual communication using a USBL transceiver or acoustic communication modem, the USBL transceiver transmits an acoustic signal (call), and the USBL transceiver receives an acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver, thereby detecting the diver's relative position to the unmanned vessel 1010. In addition, the absolute position coordinates of the diver can be calculated based on the self-position coordinates calculated by the navigation state determination unit 1210 inside the unmanned vessel 1010, and data including the diver's absolute position coordinates can be transmitted from the acoustic communication modem to the diver.

[0057] (A-3. 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 pre-information acquisition unit 2100, a search plan determination unit 2200, an object detection determination unit 2300, a warning level determination unit 2400, a search status acquisition unit 2500, a corresponding action determination unit 2600, a user interface unit 2700, and an action command unit 2800.

[0058] (A-3-1. Advance information acquisition unit 2100) The pre-information acquisition unit 2100 is a functional unit that acquires information to be processed or used by each functional unit within the integrated control system 2000 from the unmanned vessel system 1000, the cooperative system 5000, or the external system 6000, etc. The pre-information acquisition unit 2100 includes a search condition acquisition unit 2110 and a search target value acquisition unit 2120.

[0059] The search condition acquisition unit 2110 is a functional unit that acquires search condition information regarding various conditions when searching for the target object 7000 using the unmanned vessel system 1000. The search condition acquisition unit 2110 acquires information such as the target object 7000 and the target area to be searched, the time to perform the search, and the conditions of the unmanned vessel and measurement sensors used for the search. Furthermore, the search condition acquisition unit 2110 can include assumed information about the target object 7000 that will be used when calculating the search rate and search performance through simulation, as described later.

[0060] The Search Target Value Acquisition Unit 2120 is a functional unit that acquires search target information related to the search target when searching for the object 7000 using the unmanned vessel system 1000. The Search Target Value Acquisition Unit 2120 is a functional unit that acquires target values ​​related to the search rate (also called the coverage rate), which indicates the proportion of the area that has been moved or measured by the unmanned vessel 1010 relative to the target area of ​​the search, and the detection probability (also called the target discovery probability, detection rate, or encounter rate), which indicates the probability that the unmanned vessel 1010 will detect the object 7000.

[0061] The following describes the various types of information acquired by the pre-information acquisition unit 2100, using Figure 11 as an example. Figure 11 shows an example of the various types of information acquired by the pre-information acquisition unit 2100.

[0062] As shown in Figure 11, the search condition information acquired by the search condition acquisition unit 2110 includes the object to be searched, the search area, the search time, the placement and movement conditions of the unmanned vessel, information on the measurement sensors used for the search, and assumed information about the object to be searched 7000.

[0063] The search condition information includes details about the objects to be searched, such as objects on or under the sea that will be detected during the search, including ships, floating buoys, and divers. The search area information includes the location and extent of the two-dimensional or three-dimensional area where the search will take place. For example, the search area may include information indicating the location and extent of a two-dimensional surface area or a three-dimensional underwater area.

[0064] Information regarding the search time includes the date, time, and time period during which the search will be performed, for example, information indicating the start and end times of the search. Next, information regarding the placement of the unmanned vessels includes, for example, random placement of multiple unmanned vessels, uniform placement, or density-changing placement where the density of unmanned vessels is varied depending on the area.

[0065] Next, information regarding the unmanned vessel's movement conditions includes the vessel's speed, turning speed, direction of movement, path of movement, and straight-line travel time. Furthermore, information regarding the measurement sensors includes the type of measurement sensor (optical sensor, LiDAR sensor, sonar sensor, etc.) and the measurable range (measurable distance, measurable angle, etc.).

[0066] Next, the assumed information for the object to be searched includes the probability of existence, which is the probability that object 7000 is located within the search area. Furthermore, the assumed information for the object to be searched includes assumed information about the object's behavior, such as its assumed speed, assumed path, and assumed straight-line travel time.

[0067] Furthermore, as shown in Figure 11, the search target information acquired by the search target value acquisition unit 2120 includes the target search rate and the target search performance. The target search rate may include the overall area target search rate, which is a target value relating to the proportion of the area where the unmanned vessel 1010 has moved or measured relative to the entire search target area, or the local area target search rate, which is a target value relating to the proportion of the area where the unmanned vessel 1010 has moved or measured relative to a local area within the search target area.

[0068] Furthermore, the target search performance includes the target detection probability (also called the target discovery probability, detection rate, or encounter rate), which is a target value related to the detection probability that indicates the probability that the unmanned vessel 1010 will detect the target object 7000.

[0069] (A-3-2. Exploration Plan Determination Unit 2200) The search plan determination unit 2200 is a functional unit that determines at least one of the following for the number of unmanned craft 1010 to be used for the search, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on the search condition information obtained by the search condition acquisition unit 2110 and the search target information obtained by the search target value acquisition unit 2120 (in particular, the determination is made before the start of the search). The search plan determination unit 2200 comprises a calculation condition determination unit 2210, a system configuration determination unit 2220, and an operation plan determination unit 2230.

[0070] The calculation condition determination unit 2210 is a functional unit that determines various conditions to be calculated by the system configuration determination unit 2220. For example, the calculation condition determination unit 2210 determines the calculation model used for calculations to determine the system configuration, and determines the input items and output items for the calculation model. For example, the calculation condition determination unit 2210 can determine input items such as target detection probability, search execution time, unmanned craft movement speed, unmanned craft placement, unmanned craft movement direction, unmanned craft straight-line movement time, and assumed trajectory of the object to be searched, and determine output items such as the number of unmanned craft.

[0071] The system configuration determination unit 2220 calculates output items (for example, the number of unmanned vessels) based on the determined calculation model and various information from the input items. If the calculated output items, such as the number of unmanned vessels, are within an acceptable range, the system configuration determination unit 2220 determines the calculated number of vessels as the required system configuration. On the other hand, if the calculated output items, such as the number of unmanned vessels, are outside an acceptable range (for example, if the calculated number of vessels is greater than the number of vessels owned), the system configuration determination unit 2220 can change the input items, such as the search condition information and search target information, and recalculate the output items. In addition to the system configuration such as the number of unmanned vessels, the system configuration determination unit 2220 can also determine the placement and operation methods of the unmanned vessels.

[0072] The motion plan determination unit 2230 can determine the motion plan for the unmanned vessel 1010 based on the determination result by the system configuration determination unit 2220.

[0073] (A-3-3. Object detection and determination unit 2300) The object detection and determination unit 2300 is a functional unit that determines the appearance and dynamic state of the object to be searched 7000 based on measurement data acquired by the measurement unit 1100 of the unmanned vessel system 1000, or the interpretation results interpreted by the determination unit 1500 of the unmanned vessel 1010. The object detection and determination unit 2300 comprises an appearance determination unit 2310 and a dynamic state determination unit 2320.

[0074] The appearance determination unit 2310 is a functional unit that makes determinations regarding the appearance of the detected object 7000. The dynamic state determination unit 2320 is a functional unit that makes determinations regarding the dynamic state of the object 7000. The determinations made by the appearance determination unit 2310 and the dynamic state determination unit 2320 will be explained below with reference to Figure 12.

[0075] Figure 12 shows an example of the determination content made by the object detection and determination unit 2300. As shown in Figure 12, the appearance information of the search target object 7000 determined by the appearance determination unit 2310 can include the type of search target object 7000 (ship, floating buoy, diver, etc.), size, length, number, orientation (heading direction), identification information (ship name, ship number, etc.), AIS registration information, and hull material. The hull material can be determined by the reflection intensity of measurement data measured by the acoustic sensor, and the determination result of the hull material can be used to determine the type of search target object 7000 (shipwreck, marine life, diver, etc.).

[0076] Furthermore, the dynamic state of the object being searched 7000, as determined by the dynamic state determination unit 2320, may include the position coordinates, movement speed, course direction, course trajectory, turning speed, turning angle, turning radius, maximum speed, and maximum acceleration of the object being searched 7000. However, it is difficult to actually measure the maximum speed and maximum acceleration. Therefore, they may be estimated and calculated using the size and type of the vessel, or measured values ​​of acceleration and speed.

[0077] Furthermore, the object detection and determination unit 2300 may also have a function to update in real time the assumed information such as the probability of existence of the object to be searched, assumed speed, assumed path, and assumed straight-line travel time of the object to be searched, which is acquired by the search condition acquisition unit 2110, based on the information about the object to be searched 7000 determined by the appearance determination unit 2310 and the dynamic state determination unit 2320.

[0078] (A-3-4. Alert Level Determination Unit 2400) The alert level determination unit 2400 is a functional unit that determines the alert level during the search for the target object 7000. The alert level determination unit 2400 can determine the alert level for each area, for example, depending on the area and time of the search, or conditions such as weather deterioration (weather deterioration that causes a reduction in the measurable range, etc.) and sea conditions obtained from the weather information provision system of the external system 6000.

[0079] As another example, if a target object 7000 is detected, the alert level determination unit 2400 can determine the alert level for each area based on the detection result of the detected target object 7000 (detection flag), the type, number, size, length, movement speed, and direction of movement of the target object 7000. As yet another example, the alert level can be determined for each area based on the duration for which the detection probability calculated based on the detection result of the target object 7000 is below a predetermined value, the change in the probability of the presence of the target object 7000, and the change in the assumed speed of the target object 7000.

[0080] Furthermore, as another example, if information regarding the alert level is received from a user via the user input reception unit 2720 described later, the alert level can be determined for each area based on the user input information.

[0081] (A-3-5. Search status acquisition unit 2500) The search status acquisition unit 2500 is a functional unit that determines the search status regarding the actual or predicted values ​​of the search for the object 7000. The search status acquisition unit 2500 includes a current search status calculation unit 2510, a search performance prediction calculation unit 2520, and a disturbance effect correction unit 2530.

[0082] The current search status calculation unit 2510 is a functional unit that calculates the current search status, and calculates at least one of the following: a search rate, which is the ratio of the area that has been moved or measured by the unmanned vessel 1010 to the target area of ​​a two-dimensional or three-dimensional search; and a detection probability, which is the probability that the unmanned vessel 1010 will detect the object 7000 being searched for.

[0083] Here, the current search state calculation unit 2510 can calculate actual values ​​such as the search rate and detection probability by using the latest assumed information such as the probability of existence, assumed speed, assumed path, and assumed straight-line travel time of the search target object 7000, which has been updated in real time by the object detection determination unit 2300. Alternatively, actual values ​​such as the search rate and detection probability may be calculated using assumed information of the search target object 7000 input from the user via the user interface unit 2700, which will be described later.

[0084] Here, the search rate calculated by the current search status calculation unit 2510 may include an overall search rate, which represents the proportion of the area that the unmanned vessel 1010 has moved to or measured relative to the entire area to be searched. In this case, the overall search rate can be calculated as a value that represents the proportion of the area that the unmanned vessel 1010 has moved to or measured within a predetermined period relative to the entire area to be searched.

[0085] #Claim 12# #Claim 14# Furthermore, the search rate calculated by the current search status calculation unit 2510 may include a local search rate that indicates the ratio of the area that the unmanned vessel 1010 has moved to or measured to a local area within the area to be searched. In this case, the local search rate can be calculated as a value that indicates the ratio of the area that the unmanned vessel 1010 has moved to or measured within a predetermined period to the local area of ​​the area to be searched.

[0086] The search performance prediction calculation unit 2520 is a functional unit that predicts and calculates future search conditions, and predicts and calculates at least one of the following: a predicted search rate, which is the proportion of the area that the unmanned vessel 1010 is expected to move to or measure in the future relative to the target area of ​​a two-dimensional or three-dimensional search; and a predicted detection probability, which is the probability that the unmanned vessel 1010 will detect the search target object 7000 in the future.

[0087] The disturbance effect correction unit 2530 is a functional unit that performs calculations to correct the search rate and detection probability calculated by the current search status calculation unit 2510, taking into account the degree to which disturbances such as weather affect the search rate and detection probability, in accordance with environmental disturbance information such as weather in the target area under search. Furthermore, the disturbance effect correction unit 2530 can also perform calculations to correct the predicted search rate and predicted detection probability calculated by the search performance prediction calculation unit 2520, taking into account the degree to which disturbances such as weather affect the predicted search rate and predicted detection probability, in accordance with environmental disturbance information such as weather in the target area under search.

[0088] The environmental disturbance information considered in the calculations of the disturbance effect correction unit 2530 includes measurement performance disturbances that affect the measurement performance of the measurement sensor 1110 and power performance disturbances that affect the power performance of the unmanned vessel 1010. The environmental disturbance information considered in the calculations of the disturbance effect correction unit 2530 will be explained below with reference to Figure 13.

[0089] Figure 13 shows an example of environmental disturbance information used in the correction calculation of the disturbance effect correction unit 2530. As shown in Figure 13, the measurement performance disturbance includes optical measurement disturbance information that affects the detection of the target object 7000 by optical imaging, laser measurement disturbance information that affects the detection of the target object 7000 by laser sensors, acoustic measurement disturbance information that affects the detection of the target object 7000 located in the sea by acoustic sensors, and radio wave measurement disturbance information that affects the detection of the target object 7000 by radio wave sensors.

[0090] Optical measurement disturbance information includes, for example, solar altitude, fog, rain, snow, light intensity, wave height, sea spray, and other environmental disturbances that affect the acquisition of optical images. Here, during sunset and sunrise when the solar altitude is low, backlighting occurs when measuring with optical sensors, which reduces the performance of optical image acquisition by optical sensors and affects the search rate and detection probability. Therefore, it is desirable to consider this as an environmental disturbance that affects the acquisition of optical images and to take it into account when correcting for the effects of disturbances. Laser measurement disturbance information includes, for example, fog, rain, snow, wave height, sea spray, and other environmental disturbances that affect laser measurements. Acoustic measurement disturbance information includes, for example, seawater concentration, seawater temperature, seawater transparency, and other environmental disturbances that affect underwater acoustic measurements. Radio wave measurement disturbance information includes, for example, lightning strikes, rain, fog, wave height, sea spray, and other environmental disturbances that affect radio wave measurements.

[0091] Furthermore, as shown in Figure 13, power performance disturbances include information on moving object resistance disturbances that create resistance for the unmanned vessel 1010, information on marine obstacles that hinder the movement of the unmanned vessel 1010, and temperature disturbance information that affects the operation of the navigation unit 1300 of the unmanned vessel 1010.

[0092] The information on moving object resistance disturbances includes ocean currents, tidal currents, wave height, current speed, wind speed, and other environmental disturbances that create resistance to the unmanned vessel 1010 and affect its propulsion performance. The information on marine obstacles includes seaweed, drift ice, floating debris, ships, and other obstacles that hinder the movement of the unmanned vessel 1010, and the information on temperature disturbances includes water temperature, air temperature, solar radiation, and other environmental disturbances that affect the temperature of the unmanned vessel 1010 and affect the operation of the navigation unit 1300.

[0093] (A-3-6. Corresponding operation determination unit 2600) The corresponding action determination unit 2600 is a functional unit that determines changes to at least one of the following: the number of unmanned vessels 1010 used for the search, their deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time. The corresponding action determination unit 2600 comprises a search target achievement action determination unit 2610, a warning level corresponding action determination unit 2620, a detection result corresponding action determination unit 2630, and an action command generation unit 2640.

[0094] The search target achievement action determination unit 2610 compares the search target information with the search status information calculated by the search status acquisition unit 2500 and, if it determines that the actual or predicted value of the search included in the search status information is not reached compared to the target value of the search included in the search target information, it makes a decision to change at least one of the following: the number of unmanned vessels 1010 used for the search, their deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time.

[0095] Here, the search goal achievement action determination unit 2610 can determine whether the search goal has not been achieved by the following method. For example, by comparing the target value of the overall search rate with the actual or predicted value of the overall search rate, if the actual or predicted value of the overall search rate is lower than the target value of the overall search rate, it can be determined that the search goal has not been achieved.

[0096] Furthermore, the search target achievement action determination unit 2610 can determine that the search target has not been achieved if, for example, at least one of the number, area, density, or shape of local areas where the local search rate falls below a predetermined value matches a predetermined failure condition.

[0097] Furthermore, the search target achievement action determination unit 2610 can also determine areas where the search target has not been achieved if it determines that the search target has not been achieved. There are several methods for determining areas where the search target has not been achieved. For example, areas where the actual value of the local search rate in each local area obtained by dividing the search target area into a mesh can be determined as areas where the search target has not been achieved.

[0098] As another example, if there are multiple adjacent local areas where the actual local search rate does not meet the search target value, and the area of ​​these multiple adjacent local areas exceeds a predetermined value, these multiple local areas can be determined as areas where the target has not been met. Furthermore, as yet another example, even if multiple local areas where the actual local search rate does not meet the search target value are not adjacent, if they exist within a predetermined distance range, these multiple local areas clustered within the predetermined range can be determined as areas where the target has not been met. In this way, by determining areas where the target has not been met, the risk of overlooking search targets 7000 that remain within these areas can be reduced.

[0099] Furthermore, as another example, if there are multiple adjacent local areas where the actual local search rate does not meet the search target value, and the shape of these multiple adjacent local areas forms a line shape, then these multiple local areas can be determined as areas where the target has not been met. By determining these areas where the target has not been met, the risk of the search target object 7000 passing through the search target area via these areas can be reduced.

[0100] If there are multiple adjacent local areas where the actual local search rate does not meet the search target value, and the shape of these adjacent local areas forms a circle or an ellipse, then these multiple local areas can be determined to be areas where the target has not been reached. By determining these areas where the target has not been reached, the risk of overlooking a search target 7000 that is circling within a circular or elliptical area where the target has not been reached can be reduced.

[0101] Furthermore, the search goal achievement action determination unit 2610 can determine that the search goal has not been achieved if it receives user input information from the user indicating that the search goal has not been achieved, for example, via the user input reception unit 2720, which will be described later.

[0102] Furthermore, if the search target achievement action determination unit 2610 determines that the search target has not been achieved, it can change the search movement path as an example of changing the search movement path, for example, by entering or passing through the aforementioned target unachieved area, or a local area where the local search rate is lower than a predetermined value, or a local area where the local search rate is relatively low, or by entering or passing through a position where the local area can be measured.

[0103] Furthermore, if it is determined that the search objective has not been achieved, another example of changing the search route is to change the search route of the unmanned vessel 1010 so as to increase the local search rate in the aforementioned areas where the objective has not been achieved, or in local areas where the local search rate is lower than a predetermined value or the local search rate is relatively low, or so as to increase the overall search rate, which is the ratio of the area to which the unmanned vessel 1010 has moved or measured relative to the entire area to be searched.

[0104] The alert level response action determination unit 2620 is a functional unit that determines a response action according to the alert level for each area determined by the alert level determination unit 2400. Here, the response action may include at least one of the following: the number of unmanned craft 1010 used for the search, their deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time.

[0105] As another example, the alert level response action determination unit 2620 can quantitatively acquire information on sea conditions (ocean currents, tidal currents, high waves, etc.) and weather conditions in areas where search activities are not possible due to these conditions. When it determines that conditions have become suitable for search activities, such as when ocean currents have weakened or the weather has improved, it can adjust the deployment distribution, formation, and search movement routes of multiple unmanned vessels 1010 to concentrate multiple unmanned vessels 1010 or platoons in that area and prioritize search activities in that area.

[0106] As another example, when the unmanned vessel system 1000 targets a three-dimensional underwater space as the search area, the alert level response action determination unit 2620 can change the formation of the multiple unmanned vessels 1010 into a column formation consisting of multiple rows, and set the movement path so that each row patrols in opposing directions, thereby reducing the gaps in the underwater target area that may be missed during the search. Alternatively, the alert level response action determination unit 2620 may also arrange the formation of the multiple unmanned vessels 1010 into a triangular or hexagonal shape, and have them anchored or patrolling.

[0107] As another example, when the unmanned vessel system 1000 is used to explore the three-dimensional underwater space in a strait area, the gaps in the underwater area that may be missed during exploration can be reduced by arranging multiple unmanned vessels 1010 at predetermined intervals (for example, intervals of about 1 km).

[0108] The detection result response action determination unit 2630 is a functional unit that determines the corresponding action according to the detection result of the search target object 7000 determined by the object detection determination unit 2300.

[0109] The operation command generation unit 2640 is a functional unit that generates operation commands for the unmanned vessel system 1000 based on the corresponding actions determined by the search target achievement action determination unit 2610, the alert level response action determination unit 2620, and the detection result response action determination unit 2630, respectively.

[0110] (A-3-7. User Interface Unit 2700) The user interface unit 2700 is a functional unit that displays and outputs acquired information, judgment results, or decision information from each functional unit within the integrated control system 2000, and accepts input information from the user. The user interface unit 2700 comprises a display unit 2710 and a user input receiving unit 2720. The user interface unit 2700 may be a portable mobile device such as a smartphone, tablet, or notebook PC.

[0111] The display unit 2710 can display and output information such as information acquired by the pre-information acquisition unit 2100, calculation conditions determined by the search plan determination unit 2200, system configuration, operation plan, and other determined information, the detection result of the search target object 7000 by the object detection determination unit 2300, the alert level determination result by the alert level determination unit 2400, the calculation results of the current search status and future search performance prediction calculated by the search status acquisition unit 2500, the search rate showing the ratio of the area where the unmanned vessel 1010 has moved or measured to the target area of ​​the two-dimensional or three-dimensional search, the detection probability showing the probability that the unmanned vessel 1010 will detect the search target object 7000, and the content of the change operation determined by the corresponding operation determination unit 2600.

[0112] When the display unit 2710 displays the current search status and the calculation results of the future search performance prediction calculated by the search status acquisition unit 2500, it can display the current search status and the future search performance prediction on a two-dimensional plane on the sea or on a map of the three-dimensional space underwater.

[0113] The user input receiving unit 2720 is a functional unit that receives user input for each piece of information displayed by the display unit 2710, or other user input. User input information can also be received via operation buttons provided on the display screen of the display unit 2710.

[0114] The user input receiving unit 2720 can receive user input, including approval, rejection, and modification, regarding the operation command information generated by the operation command generation unit 2640 and displayed on the display unit 2710.

[0115] Furthermore, the user input receiving unit 2720 may also have a function to switch the operation of the designated unmanned vessel 1010 from autonomous operation to manual operation by the user, and to receive operation input to directly control the operation of the unmanned vessel 1010 in real time.

[0116] (A-3-8. Operation command section 2800) The operation command unit 2800 is a functional unit that confirms the operation plan determined by the operation plan determination unit 2230 of the search plan determination unit 2200 and the operation command determined by the operation command generation unit 2640 of the corresponding operation determination unit 2600, and transmits the command signal to the unmanned vessel system 1000. The operation command unit 2800 comprises an operation confirmation unit 2810 and a command output unit 2820.

[0117] The operation confirmation unit 2810 is a functional unit that confirms operation commands based on user input, including user approval, rejection, and modification, of operation command information received by the user input receiving unit 2720. Furthermore, if the operation confirmation unit 2810 receives user input, including user approval, rejection, and modification, of operation command information from the cooperative system 5000, it can also confirm the operation command based on said user input information.

[0118] The command output unit 2820 is a functional unit that transmits the operation command signal confirmed by the operation confirmation unit 2810 to the unmanned vessel system 1000.

[0119] (A-3. 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 pre-information acquisition unit 2100, a search plan determination unit 2200, an object detection determination unit 2300, a warning level determination unit 2400, a search status acquisition unit 2500, a corresponding action determination unit 2600, a user interface unit 2700, and an action command unit 2800.

[0120] (A-4. Control flow of control system 1) Next, the control flow of the entire control system 1 will be explained. Figure 14 is a flowchart showing the processing flow of the control system 1. Steps 101 to 102 shown in Figure 14 are preparatory processes performed before the search is executed, and steps 103 to 107 are processes performed during the search.

[0121] First, the pre-information acquisition unit 2100 acquires pre-information (step 101).

[0122] Next, the exploration plan determination unit 2200 determines the system configuration of the unmanned vessel system 1000 (step 102).

[0123] Next, the object detection and determination unit 2300 determines the appearance and dynamic state of the object to be searched 7000 based on the measurement data acquired by the measurement unit 1100 of the unmanned vessel system 1000, or the interpretation results interpreted by the determination unit 1500 of the unmanned vessel 1010 (step 103).

[0124] Next, the alert level determination unit 2400 determines the alert level for the search target object 7000 (step 104).

[0125] Next, the search status acquisition unit 2500 determines the search status regarding the actual or predicted values ​​of the search target object 7000 (step 105).

[0126] Next, the corresponding action determination unit 2600 determines a change to the corresponding action, which includes at least one of the following: the number of unmanned craft 1010s used for the search, their arrangement and distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time (step 106).

[0127] Next, the user interface unit 2700 proposes a corresponding operation, and the operation command unit 2800 outputs a command for the confirmed corresponding operation (step 107).

[0128] (A-5. Control sequence within control system 1) Next, we will explain the control sequences between each system within control system 1. Figure 15 is a sequence diagram showing the signal exchange between systems within control system 1.

[0129] First, preliminary information and other data are transmitted from the cooperative system 5000 to the central control system 2000.

[0130] Next, the search plan determination unit 2200 of the central control system 2000 determines the system configuration and operation plan of the unmanned vessel system 1000, and a search control command generated according to the determination result is transmitted to the master unit 1001 of the unmanned vessel system 1000. The master unit 1001 then relays the received search control command to the slave unit 1002.

[0131] Next, the slave unit 1002, which performed a search in accordance with the search control command, detects the object to be searched 7000, and transmits the detection result from the slave unit 1002 to the master unit 1001. The master unit 1001 then transmits the detection result to the central control system 2000.

[0132] Next, the corresponding action determination unit 2600 of the central control system 2000 determines candidate corresponding actions according to the detection result of the object to be searched 7000 and transmits information on the candidate corresponding actions to the cooperative system 5000. The cooperative system 5000 obtains user input for the candidate corresponding actions and transmits the user input information to the central control system 2000.

[0133] Next, the central control system 2000 determines the corresponding operation according to the user input information and transmits the corresponding operation command (for example, a command to change the search operation) to the master unit 1001 of the unmanned vessel system 1000. The master unit 1001 then relays the received corresponding operation command to the slave unit 1002.

[0134] (A-6. Process for determining the search plan) Next, the process of determining the search plan by the search plan determination unit 2200 will be explained using Figures 16 and 17.

[0135] (A-6-1. Process flow for determining the search plan) Figure 16 is a flowchart illustrating an example of the process flow for determining a search plan by the search plan determination unit 2200. In particular, Figure 16 shows the details of step 102 of the flowchart shown in Figure 14.

[0136] First, the calculation condition determination unit 2210 determines the input items to be input into the calculation model for calculating the system configuration, etc., and the output items to be calculated by the calculation model (step 201). In this step, for example, the search condition information acquired by the search condition acquisition unit 2110 and the search target information acquired by the search target value acquisition unit 2120 can be determined as input items. In addition, at least one of the following can be determined as output items: the number of unmanned craft 1010 used for the search, their deployment distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time.

[0137] Next, the system configuration determination unit 2220 calculates the information to be determined as output items using a calculation model based on the information of the input items (step 202).

[0138] Next, the system configuration determination unit 2220 determines the next processing step to proceed to, depending on whether the information of the outputted calculation item is within an acceptable range (step 203). In this step, for example, if the number of unmanned vessels 1010 is calculated as an output item, the next processing step to proceed to is determined by whether the calculated number of vehicles is within the range of the number of vehicles that can be procured. In this step, if it is determined that the information of the calculated output item is not within an acceptable range, the process proceeds to step 204. On the other hand, if it is determined that the information of the calculated output item is within an acceptable range, the process proceeds to step 205.

[0139] Next, if it is determined that the information of the output items calculated in step 203 is not within an acceptable range, the system modifies at least one of the search conditions and search target values ​​obtained by the pre-information acquisition unit 2100 (step 204). In this step, the system configuration determination unit 2220 can make the changes automatically, but the system may also accept input from the user to change the search conditions or search target values ​​via the user interface unit 2700.

[0140] Next, if it is determined that the information of the output items calculated in step 203 is within an acceptable range, the system configuration determination unit 2220 determines the system configuration, etc. (step 205). The determination of the system configuration, etc. in this step includes, for example, the determination of parameters including at least one of the following: the number of unmanned craft 1010s used for the search, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time.

[0141] Next, based on the system configuration determined in step 205, the operation plan determination unit 2230 determines the search plan (step 206).

[0142] (A-6-2. Example of calculating output items for the exploration plan) Figure 17 shows an example of the calculation results of output items in the search plan determination process by the search plan determination unit 2200. In particular, Figure 17 shows an example of the results of calculating multiple parameters related to the search using a calculation model.

[0143] The example shown in Figure 17 includes, as parameters related to the search, the detection probability of the target object, the number of unmanned craft 1010s, the time constraints for the search, the distribution of the unmanned craft 1010s, the speed of the unmanned craft 1010s, the movement path of the unmanned craft 1010s, the straight-line movement time of the unmanned craft 1010s, and the movement path of the target object 7000. Note that the example shown in Figure 17 is just one example, and the search rate of the target object can be used instead of the detection probability of the target object 7000.

[0144] For example, the calculation condition determination unit 2210 can determine the detection probability, time constraint, distribution, speed, movement path, straight-line travel time, and the path of the object to be searched as input items. In this case, the values ​​of each item obtained by the search condition acquisition unit 2110 are input to the time constraint, distribution, speed, movement path, straight-line travel time, and the path of the object to be searched. In addition, for the detection probability, the value must be greater than or equal to the target value of the detection probability obtained by the search target value acquisition unit 2120, which is input as a calculation condition for the number of aircraft, which is an output item. Based on this input information, the number of aircraft that can satisfy the conditions of each input item can be calculated.

[0145] The output items in the search plan determination process by the search plan determination unit 2200 are not limited to the number of aircraft, but can also be other parameters. For example, detection probability, number of aircraft, time constraint, movement path, straight-line travel time, and the path of the object to be searched can be determined as input items. In this case, the values ​​of each item obtained by the search condition acquisition unit 2110 are input to the detection probability, number of aircraft, time constraint, movement path, straight-line travel time, and the path of the object to be searched. In addition, for the detection probability, the value must be greater than or equal to the target value of the detection probability obtained by the search target value acquisition unit 2120, which is input as a calculation condition for the number of aircraft, which is an output item. Based on this input information, the deployment distribution and movement speed of the unmanned craft 1010 that can satisfy the conditions of each input item can be calculated.

[0146] Furthermore, as another example, in the search plan determination process by the search plan determination unit 2200, the detection probability can be used as an output item, and the number of aircraft, time constraints, distribution, speed, movement path, straight-line travel time, and the path of the object to be searched can be used as input items. In this case, the values ​​of each item acquired by the search condition acquisition unit 2110 are input to the number of aircraft, time constraints, distribution, speed, movement path, straight-line travel time, and the path of the object to be searched. Based on this input information, the detection probability that satisfies the conditions of each input item can be calculated. The search plan determination unit 2200 compares the detection probability calculated as an output item with the target value of the detection probability acquired by the search target value acquisition unit 2120. If the calculated detection probability is lower than the target value of the detection probability, the unit can change one of the input items or the target value of the detection probability to determine the parameters related to the search that can satisfy the search target value.

[0147] (A-7. Method for determining alert levels) Next, the method for determining the alert level by the alert level determination unit 2400 will be explained using Figures 18 and 19.

[0148] (A-7-1. Flowchart for determining alert levels) Figure 18 is a flowchart showing an example of the alert level determination process flow by the alert level determination unit 2400. In particular, Figure 18 shows the details of the process in step 104 of Figure 14.

[0149] First, the alert level is calculated based on the area, time of day, weather, etc. (Step 301). In this step, for example, the alert level can be calculated based on pre-set information regarding the correspondence between areas, time periods, and alert levels. Furthermore, if the weather is bad and affects the detection of objects being searched, the alert level may be increased during the calculation.

[0150] Next, the object detection and determination unit 2300 determines the next processing step to proceed to, depending on whether or not it has detected the object to be searched 7000 (step 302). In this step, if the object to be searched 7000 is detected, the process proceeds to step 303; on the other hand, if the object to be searched 7000 is not detected, the process proceeds to step 304.

[0151] Next, if the target object 7000 is detected in step 302, the alert level is calculated according to the detection result of the detected target object 7000 (step 303). The method for calculating the alert level in this step will be explained in detail using Figure 19, which will be described later.

[0152] Next, the calculated alert level is displayed on the display unit 2710 or the like, and input information regarding the alert level is received from the user via the user input reception unit 2720 or the like (step 304).

[0153] Next, the alert level is determined considering the user input information (step 305).

[0154] (A-7-2. Method for determining the alert level based on the detection results of 7000 target objects) Figure 19 shows an example of a method for determining the alert level based on the detection results of the target object 7000. In the example shown in Figure 19, the information regarding the detection results of the target object 7000 includes the presence or absence of a detection flag for the object, the type of target object 7000, the number and size of the target objects, the movement speed of the target objects, the direction of the target objects' movement, the time period during which the target objects were detected, the detection location of the target objects, the duration for which the encounter rate with the target objects was below a predetermined value, the increase in the probability of the target objects being present, and the increase in the assumed speed of the target objects.

[0155] The example shown in Figure 19 illustrates how to calculate the alert level for each of the detection results described above. For example, if the detection result for the target object 7000 shows that the object has a detection flag, the alert level is increased compared to when there is no detection flag. Alternatively, the alert level is calculated based on the type of the detected target object 7000 (the type can be determined according to the material of the outer shell of the target object 7000, etc.) and the pre-set correspondence information between the type and the alert level.

[0156] Alternatively, the alert level may be increased depending on the number and size of detected objects, with a higher number or size increasing the alert level. Alternatively, the alert level may be increased depending on the speed of movement of detected objects, with a higher speed increasing the alert level. Alternatively, the alert level may be increased depending on the direction of movement of detected objects, if the direction of movement is towards an important facility.

[0157] Alternatively, the alert level is calculated based on the time period in which the target object 7000 was detected and the pre-set response information. Alternatively, the alert level is calculated based on the detection location in which the target object 7000 was detected and the pre-set response information. Alternatively, the alert level is reduced if the measurement time is long, depending on the length of time during which the encounter rate is below a predetermined value.

[0158] Alternatively, if the probability of the target object being present is increased based on the detection results, the alert level will be raised. Alternatively, if the expected speed of the target object is increased based on the detection results, the alert level will be raised.

[0159] (A-8. Method for determining the search state) Next, we will explain the method for determining the search state and the determination results using Figures 20 and 21.

[0160] (A-8-1. Process flow for determining the search state) Figure 20 is a flowchart showing an example of the search state determination process flow by the search state acquisition unit 2500. Steps 401 and 402 in Figure 20 show the calculation process of the current search state, steps 403 and 404 show the correction of the current search state based on disturbance information, steps 405 and 406 show the prediction of the future search state, and step 407 shows the prediction correction of the future search state based on disturbance information.

[0161] First, the current exploration status calculation unit 2510 calculates the current exploration performance value (step 401). In this step, for example, the exploration rate is calculated, which indicates the proportion of the area that has been moved or measured by the unmanned vessel 1010 relative to the target area of ​​a two-dimensional or three-dimensional exploration.

[0162] Next, the current search status calculation unit 2510 calculates an estimated value of the current search performance (step 402). In this step, for example, the detection probability, which indicates the probability that the unmanned vessel 1010 will detect the object 7000, is calculated.

[0163] Next, the disturbance effect correction unit 2530 acquires environmental disturbance information (step 403). In this step, information such as measurement performance disturbances and power performance disturbances, as shown in Figure 13, is acquired.

[0164] Next, the disturbance effect correction unit 2530 corrects the actual search values ​​and estimated search performance values ​​based on environmental disturbance information (step 404). By performing corrections based on environmental disturbance information in this step, the actual search values ​​and estimated search performance values ​​can be calculated more accurately.

[0165] Next, the exploration performance prediction calculation unit 2520 predicts and calculates future exploration performance values ​​(step 405). In this step, for example, the predicted exploration rate is calculated, which represents the proportion of the area that the unmanned vessel 1010 is expected to move to or measure in the future relative to the target area of ​​a two-dimensional or three-dimensional exploration.

[0166] Next, the search performance prediction calculation unit 2520 predicts and calculates an estimated value for future search performance (step 406). In this step, for example, the predicted detection probability, which indicates the probability that the unmanned vessel 1010 will detect the object 7000 in the future, is calculated.

[0167] Next, the disturbance effect correction unit 2530 corrects the future predicted values ​​of the actual search values ​​and estimated search performance based on environmental disturbance information (step 407). By performing corrections based on environmental disturbance information in this step, the future predicted values ​​of the actual search values ​​and estimated search performance can be calculated more accurately.

[0168] (A-8-2. Results of determining the search status) Figure 21 shows an example of the determination result of the search status by the search status acquisition unit 2500. In particular, Figure 21 shows an example of the determination result of the local search rate, which shows the ratio of the area where the unmanned vessel 1010 has moved or measured to a local area within a part of the target area of ​​the search.

[0169] In the example shown in Figure 21, the local search rate for each local area divided into a mesh is indicated by the intensity of the color. Local areas with a high local search rate are displayed in a dark color, while local areas with a low local search rate are displayed in a light color. This figure shows an example of showing the distribution of local search rates for each local area on a two-dimensional map of the ocean. However, when representing the local search rate for each local area in a three-dimensional area underwater, the distribution of local search rates for each local area can be shown on a three-dimensional map.

[0170] (A-9. Process for determining the corresponding action) Next, the process for determining the response action will be explained using Figure 22. Figure 22 is a flowchart showing an example of the process flow for determining the response action of the unmanned vessel system 1000 by the response action determination unit 2600. In particular, Figure 22 shows the detailed processing content of step 106 of the flowchart shown in Figure 14. Steps 501 to 503 in Figure 22 show the process for determining the response action according to the target achievement status, steps 504 to 505 show the process for determining the response action according to the alert level, and steps 506 to 507 show the process for determining the response action according to the detection result of the search target object 7000.

[0171] First, the search target achievement action determination unit 2610 compares and determines the actual value of the search state calculated by the search state acquisition unit 2500 with the search target value acquired by the search target value acquisition unit 2120 (step 501). In this step, for example, the actual value of the overall search rate for the entire target area or the local search rate for a local area within the target area can be compared with the search target value.

[0172] Next, based on the comparison result from step 501, areas where the actual value of the search state does not meet the search target value are determined (step 502). In this step, for example, areas where the actual value of the local search rate in each local area obtained by dividing the target area of ​​the search into a mesh shape does not meet the search target value can be determined as areas where the target has not been met.

[0173] Next, the content of the corresponding action is determined according to the result of the determination of the target unmet area in step 502 (step 503). In this step, it is also possible to determine whether or not changes are necessary to the system configuration or operation plan within each platoon that makes up the unmanned vessel system 1000, or to determine whether or not changes are necessary to the system configuration (number of platoons, etc.) or operation plan (platoon movement plan, etc.) at the platoon level.

[0174] Next, the alert level response action determination unit 2620 determines whether a response action is necessary according to the alert level determined by the alert level determination unit 2400 (step 504). In this step, it is also possible to determine whether changes are necessary to the system configuration or operation plan within each platoon that constitutes the unmanned vessel system 1000, or to determine whether changes are necessary to the system configuration (number of platoons, etc.) or operation plan (platoon movement plan, etc.) at the platoon level.

[0175] Next, if it is determined that a response action is necessary based on the alert level in step 504, the content of the response action corresponding to the alert level is determined (step 505).

[0176] Next, the detection result response action determination unit 2630 determines whether a corresponding action is necessary according to the detection result of the object to be searched 7000 (step 506). In this step, it is also possible to determine whether changes are necessary to the system configuration or operation plan within each platoon that constitutes the unmanned vessel system 1000, or to determine whether changes are necessary to the system configuration (number of platoons, etc.) or operation plan (platoon movement plan, etc.) on a platoon basis.

[0177] Next, the detection result response action determination unit 2630 determines the content of the response action according to the detection result of the object to be searched 7000 (step 507). In this step, it is also possible to determine the changes in the system configuration and operation plan within each platoon that constitutes the unmanned vessel system 1000, or to determine the changes in the system configuration (number of platoons, etc.) and operation plan (platoon movement plan, etc.) on a platoon basis.

[0178] Next, the operation command generation unit 2640 generates a corresponding operation command based on the corresponding operation determined in the above step (step 508). The corresponding operation command generated in this step includes the system configuration and operation plan for each unit of unmanned vessels 1010 or platoon that constitute the unmanned vessel system 1000, and includes, for example, at least one of the following: the number of unmanned vessels 1010 or platoons, the arrangement distribution of unmanned vessels 1010 or platoons, the formation of the platoons, the search movement speed of the unmanned vessels 1010 or platoons, the search turning speed of the unmanned vessels 1010, the search movement path of the unmanned vessels 1010 or platoons, the search movement direction of the unmanned vessels 1010 or platoons, and the search straight-line travel time of the unmanned vessels 1010 or platoons.

[0179] Furthermore, the corresponding action command generated in step 508 may also include a command specifying the role to be assigned to the unmanned vessel 1010 or the platoon, in addition to the above.

[0180] (A-10. Proposed and executed corresponding actions) Next, using Figures 23 to 25, we will explain the process of proposing the corresponding action to the user and the process of executing the corresponding action.

[0181] (A-10-1. Display of suggested actions and execution process flow) Figure 23 is a flowchart illustrating an example of the proposed display and execution process flow for corresponding operation commands. In particular, Figure 23 shows the detailed processing content of step 107 in the flowchart shown in Figure 14.

[0182] First, the display unit 2710 or the display unit within the cooperative system 5000 proposes and displays candidate commands for the corresponding operations (step 601).

[0183] Next, the user input for the corresponding operation command candidate is received from the user input receiving unit 2720 or the cooperative system 5000 (step 602).

[0184] Next, the operation confirmation unit 2810 confirms the corresponding operation based on the user input information (step 603).

[0185] Next, the command output unit 2820 outputs a command for the confirmed corresponding operation (step 604).

[0186] (A-10-2. Example of suggested operation display) Next, we will explain examples of suggested actions using Figures 24 and 25. Figure 24 is a diagram showing an example of the display information suggested on the display unit 2710, etc. The example shown in Figure 24 specifically shows a suggested action screen for when the detection probability, which is the actual value of the search, does not reach the target detection probability.

[0187] As shown in Figure 24, the top of the display screen shows a message indicating that the actual detection probability has not reached the target detection probability. Furthermore, the target detection probability (90%) and the actual detection probability (86%) are displayed. In addition, the lower left of the screen displays the actual search rate for each local area, which is a mesh-like division of the search area, in map format.

[0188] Furthermore, the lower right corner of the screen displays items related to the current system configuration and search method of the Unmanned Vehicle System 1000 (number of vehicles, distribution, speed, straight-line travel time, direction of travel, etc.), along with the current values ​​for each item and the proposed values ​​for changes. In this diagram, proposed changes include increasing the number of vehicles from 100 to 250 and changing the distribution from random to uniform. Additionally, the display screen shows edit input buttons for the user to change the values ​​for each item, as well as corresponding action approval buttons to approve the displayed proposed changes.

[0189] Next, Figure 25 shows another example of the display information proposed to be displayed on the display unit 2710, etc. As shown in Figure 25, a message indicating that the alert level has risen is displayed at the top of the display screen, and further, it is displayed that the type of detected search target object 7000 is a ship and that the alert level after the rise is level 4. In addition, the distribution of alert levels for each local area, which is a mesh-like division of the search target area, is displayed in map format at the bottom left of the screen.

[0190] Furthermore, the lower right corner of the screen displays items related to the current system configuration and search method of the Unmanned Vehicle System 1000 (number of vehicles, distribution, speed, straight-line travel time, direction of travel, etc.), along with the current values ​​for each item and the proposed values ​​for changes. In this diagram, proposed changes include changing the distribution from random to variable (changed for each area) and changing the number of vehicles from 100 to 200. In addition, the display screen shows correction input buttons for the user to input changes to the values ​​for each item, as well as corresponding action approval buttons for approving the displayed proposed changes.

[0191] (A-11. Hardware Configuration) Figure 26 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 device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

[0192] The input device 100 can constitute the user input receiving unit 2720 of the user interface unit 2700, and is a device for the user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, keyboard, mouse, or voice input device such as a microphone.

[0193] The output device 200 is a device that outputs various information generated by the integrated control system 2000, and can constitute the display unit 2710 of the user interface unit 2700. Specifically, the output device 200 can constitute the display unit 2710 with eyewear, AR, VR display devices, etc., and may also be a printer or a speaker.

[0194] 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.

[0195] The main memory 400 is a memory device including RAM and ROM that allows reading and temporary writing to memory elements at arbitrary addresses as needed during processing, without requiring waiting times dependent on access patterns. For example, RAM is temporarily written to and read from during programs, application programs, and various other processes executed by the processing unit 300. ROM is a non-volatile memory in which recorded information is not lost even if the device's power is lost. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0196] The communication device 600 is a device that performs wireless or wired information communication between the integrated control system 2000 and the outside.

[0197] 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.

[0198] [A-2. Effects of this embodiment] The above-described embodiment allows for more appropriate and efficient exploration of a target area using multiple mobile units. For example, when conducting an exploration using multiple unmanned vessels, the configuration and operation plan of the unmanned vessel system can be determined according to the target value of the exploration, or the configuration and operation plan of the unmanned vessel system can be changed according to a comparison between the current exploration status and the target value, thereby enabling more appropriate and efficient exploration. [Explanation of Symbols]

[0199] 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 10021... Primary connected slave unit 10022... Secondary connected slave unit 10023...Third-level connection 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 unit 1310... Thrust generation unit 1320...Attitude control mechanism 1330...Navigation control unit 1400... Communications Department 1410... Unmanned Vessel Communications Department 1420... Satellite Communications Department 1500…Judgment section 1600... Recording unit 1610... Measurement data recording unit 1620... Player's status recording unit 1630... Judgment information recording unit 2000... Integrated control system 2100...Pre-information acquisition unit 2110...Search condition acquisition unit 2120... Search target value acquisition unit 2200... Search plan determination unit 2210... Calculation condition determination unit 2220...System configuration determination unit 2230...Operation plan determination unit 2300...Object detection and determination unit 2310...Appearance determination unit 2320... Dynamic state determination unit 2400... Alert Level Determination Unit 2500... Search state acquisition unit 2510... Current search state calculation unit 2520... Search performance prediction calculation unit 2530... Disturbance effect correction unit 2600...Corresponding action determination unit 2610...Search target achievement action determination unit 2620... Alert level response action determination unit 2630... Detection result response action determination unit 2640…Operation command generation unit 2700...User Interface Department 2710...Display unit 2720...User input reception unit 2800…Operation command unit 2810...Operation confirmation unit 2820...Command output unit 3000...Communication satellite 4000...Ground base station 5000... Cooperative system 6000... External system 7000...Object to search for

Claims

1. In a control system that controls the movement of multiple mobile bodies equipped with measurement sensors capable of detecting the target object, in order to search for the target object, A search target value acquisition unit that acquires search target information relating to the search objective, A search-related information acquisition unit acquires search-related information that includes search condition information relating to the conditions of the search and search status information relating to the actual values ​​or predicted values ​​of the search, A control system comprising a search method determination unit that determines or changes at least one of the following for the search: the number of mobile units, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on the search target information and the search-related information.

2. In the control system according to claim 1, A control system in which the search condition information acquired by the search-related information acquisition unit includes information relating to at least one of the following: the location or range of the target area of ​​the search, the execution time of the search, the arrangement of the moving body, the search movement speed, the search turning speed, the search movement path, the search movement direction, the search straight-line travel time, the object to be searched, the measurement sensor, the assumed probability that the object to be searched is in the target area, the assumed speed of the object to be searched, and the assumed path of the object to be searched.

3. In the control system according to claim 1, The search method determination unit is a control system that determines, before the start of the search, at least one of the number of mobile bodies to be used for the search, their arrangement and distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on the search target information and the search condition information included in the search-related information.

4. In the control system according to claim 1, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following pieces of information: a search rate indicating the ratio of the area that has been moved or measured by the moving body to the target area of ​​the two-dimensional or three-dimensional search, and a detection probability indicating the probability that the moving body detects the object to be searched.

5. In the control system according to claim 4, A control system in which at least one of the search rate and the detection probability is calculated according to environmental information in the area to be searched.

6. In the control system according to claim 1, A control system in which the search status information acquired by the search-related information acquisition unit includes at least one of the following pieces of information: a predicted search rate indicating the proportion of the area to which the moving body is expected to move or measure in the future relative to the two-dimensional or three-dimensional target area of ​​the search; and a predicted detection probability indicating the probability that the moving body will detect the object to be searched in the future.

7. In the control system according to claim 6, A control system in which at least one of the predicted search rate and the predicted detection probability is calculated according to current or future environmental information in the target area.

8. In the control system according to claim 5 or 7, The aforementioned environmental information is, Solar altitude, fog, rain, snow, light intensity, wave height, sea spray, and other optical measurement disturbance information that affects the detection of the target object by optical imaging, Fog, rain, snow, wave height, sea spray, and other laser measurement disturbance information that affects the detection of the target object by the laser sensor, Seawater concentration, seawater temperature, seawater transparency, and other acoustic measurement disturbance information that affects the detection of the target object present in the sea by acoustic sensors, Lightning, rain, fog, wave height, sea spray, and other radio wave measurement disturbance information that affects the detection of the target object by radio wave sensors, A control system including at least one of the following.

9. In the control system according to claim 7, The aforementioned environmental information is, Ocean currents, tidal currents, wave height, current speed, wind speed, and other disturbance information affecting the power performance of the moving body, Information on marine obstacles that obstruct the movement of the aforementioned moving objects, such as seaweed, drift ice, floating debris, ships, and other such obstacles. Water temperature, air temperature, solar radiation, and other thermal disturbance information affecting the temperature of the mobile body, A control system including at least one of the following.

10. In the control system according to claim 1, The aforementioned search target information includes: A target overall search rate indicating the target value of the proportion of the area where the moving object has moved or been measured relative to the entire area of ​​the search target, A target local search rate indicating the target value of the ratio of the area where the mobile body has moved or been measured to a local area within a portion of the target area of ​​the search, The probability that the moving body detects the object being searched for is also a target detection probability, which indicates a target value. A control system that includes target information relating to at least one of the following.

11. In the control system according to claim 1, A control system which, when the search method determination unit compares the search target information with the search status information and determines that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, makes a decision to change at least one of the following for the search: the number of mobile units used for the search, their arrangement distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time.

12. In the control system according to claim 11, The search status information acquired by the search-related information acquisition unit includes: The overall search rate, which represents the ratio of the area where the moving object has moved or been measured to the entire area of ​​the search target, A local search rate, which indicates the ratio of the area where the moving object has moved or been measured to a local area within a portion of the target area of ​​the search, A control system that includes information on at least one of the following.

13. In the control system according to claim 12, The overall search rate is a control system that indicates the ratio of the area moved or measured by the mobile body within a predetermined period to the total target area.

14. In the control system according to claim 12, The local search rate is a control system that indicates the ratio of the area moved or measured by the mobile body within a predetermined period to a local area that is a part of the target area.

15. In the control system according to claim 12, The search method determination unit is a control system that compares the target value of the overall search rate with the actual or predicted value of the overall search rate, and determines that the search target has not been met if the actual or predicted value of the overall search rate is lower than the target value of the overall search rate.

16. In the control system according to claim 12, The search method determination unit is a control system that determines that the search target has not been achieved when at least one of the number, area, density, or shape of local areas where the local search rate falls below a predetermined value matches a predetermined failure condition.

17. In the control system according to claim 11, The search method determination unit is a control system that determines that the search objective has not been achieved when it receives user input information from the user indicating that the search objective has not been achieved.

18. In the control system according to claim 11, The search method determination unit is: If it is determined that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, A control system that modifies the search path of a mobile body such that the local search rate, which indicates the ratio of areas the mobile body has moved to or measured to a portion of the target area of ​​the search, is lower than a predetermined value, or so that the mobile body enters or passes through a local area where the local search rate is relatively low, or so that the mobile body enters or passes through a position where the local area can be measured.

19. In the control system according to claim 11, The search method determination unit is: If it is determined that the actual value or predicted value of the search included in the search status information has not reached the target value of the search included in the search target information, A control system that modifies the search path of a mobile body so that the local search rate, which indicates the ratio of areas where the mobile body has moved or measured to a local area of ​​a part of the target area of ​​the search, is lower than a predetermined value, or so that the local search rate of a local area where the local search rate is relatively low increases, or so that the overall search rate, which indicates the ratio of areas where the mobile body has moved or measured to the entire target area of ​​the search, increases.

20. In the control system according to claim 1, The search method determination unit is: A control system that determines or modifies at least one of the following for the search: the number of mobile units, their arrangement and distribution, formation, search movement speed, search turning speed, search movement path, search movement direction, and search straight-line movement time, based on area-specific alert level information determined according to externally acquired information, user input information, or detection information of the object to be searched.

21. In the control system according to claim 1, A control system comprising a display unit that displays and outputs at least one of the following: search status information relating to actual or predicted values ​​of the search acquired by the search-related information acquisition unit; a search rate indicating the ratio of the area where the moving body has moved or measured to the target area of ​​the two-dimensional or three-dimensional search; a detection probability indicating the probability that the moving body detects the object to be searched; and information relating to the search method determined by the search method determination unit.

22. In the control system according to claim 1, A control system comprising an operation command unit that outputs an operation command to the moving object in accordance with user input information relating to the search.

23. In the control system according to claim 1, A control system comprising an operation command unit that outputs an operation command to the moving body according to the determination result determined by the search method determination unit.

24. In the control system according to claim 1, A control system comprising a plurality of the aforementioned mobile bodies, each consisting of an unmanned vessel capable of moving over the sea and equipped with the aforementioned measurement sensors capable of detecting the search target objects located in a two-dimensional or three-dimensional area including a sea surface area or an underwater area.

25. A control method for a control system that searches for a target object by controlling the movement of multiple mobile bodies equipped with measuring sensors capable of detecting the target object, Computers A search target value acquisition step to acquire search target information relating to the objective of the search, A step to acquire search-related information includes acquiring search-related information that includes search condition information for performing the search and search status information relating to the actual value or predicted value of the search, A search method determination step in which, based on the search target information and the search-related information, a decision is made to determine or change at least one of the number of mobile units, their arrangement distribution, formation, search movement speed, and search movement path to be used in the search. A control method for executing this.

26. A program usable in a control system that controls the movement of multiple mobile bodies equipped with measuring sensors capable of detecting the target object, in order to search for the target object, On the computer, A command to obtain search target value for obtaining search target information relating to the target of the search, A command to acquire search-related information includes search condition information for performing the search and search status information relating to the actual value or predicted value of the search, A search method determination command is issued to determine or change at least one of the following for the search: the number of mobile units, their arrangement and distribution, their formation, their search movement speed, and their search movement path, based on the search target information and the search-related information. A program that executes the command.

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