Communication system, communication processing method, and program

Abstract

This invention provides a communication system, communication processing method, and program that provide a communication environment for underwater equipment located in an underwater area to communicate with external communication devices and internet lines. [Solution] The communication system comprises: a system information acquisition unit that acquires information about an underwater communication system that provides an environment for communication connection with an internet line or the like to an underwater object located underwater; at least one unmanned vessel that is navigable on the water surface and equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system; a communication path determination unit that determines a relay communication path for a communication line to relay connection of the underwater object to an internet line using the unmanned vessel and the underwater communication system based on the information acquired by the information acquisition unit; and an unmanned vessel command determination unit that determines control commands for the unmanned vessel to constitute the relay communication path based on the determined relay communication path.

Description

Technical Field

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

Background Art

[0002] Unlike a terrestrial area within the range where wireless communication is possible with an antenna base station or a terrestrial or maritime area where wireless communication is possible with an artificial satellite or the like, an underwater device floating or navigating in a sea area cannot receive radio waves from an antenna base station or an artificial satellite, and thus cannot communicate and connect with an Internet line or an external communication device. Further, as described above, an underwater device floating or navigating in the sea cannot receive radio waves from an antenna base station or an artificial satellite, and thus it is difficult to acquire self-position information calculated based on information obtained from an antenna base station or an artificial satellite.

[0003] [[ID=十六]]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The information communication system described in Patent Document 1 can communicate with underwater equipment using ultrasound in underwater areas where communication with the first data transmission / reception terminal 2 deployed on and underwater is possible. However, if the underwater equipment moves outside the underwater area where communication with the first data transmission / reception terminal 2 is possible, the communication connection with the underwater equipment cannot be maintained.

[0006] Furthermore, as mentioned above, if it is not possible to maintain communication between the underwater equipment and the information and communication system, it will not be possible to calculate the location information of the underwater equipment based on information obtained from external systems such as antenna base stations or satellites.

[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 an underwater object in an underwater area with a communication environment with external communication equipment or an internet line, or to provide an underwater object with location information or information used to calculate location information. [Means for solving the problem]

[0008] According to the present invention, a communication system is obtained comprising: an information acquisition unit that acquires information about an underwater communication system that provides an environment capable of communication connection with an internet line or an external device to an underwater object or underwater target area located underwater, or provides information about the location of the underwater object to the underwater object; at least one unmanned vessel that is navigable on the water surface and has a communication unit capable of communicating with at least one of the underwater object and the underwater communication system; a communication path determination unit that determines a relay communication path for a communication line to relay connection of the underwater object to the internet line or the external device, or to provide information about the location of the underwater object to the underwater object, using the unmanned vessel and the underwater communication system, based on the information acquired by the information acquisition unit; and an unmanned vessel command determination unit that determines a control command for the unmanned vessel to constitute the relay communication path based on the determined relay communication path. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide underwater equipment located in an underwater area with a communication environment with external communication equipment or an internet line, or to provide underwater equipment with location information or information used to calculate location information. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of a communication system 1 according to one embodiment of the present invention. [Figure 2] This figure shows an example of the system configuration of Access Point 3000. [Figure 3] This figure shows an example of a detailed system configuration of communication system 1. [Figure 4] This is a conceptual diagram showing how the unmanned vessel system 1000 and underwater communication system 5000 deployed in the ocean area provide a communication environment to underwater objects 9000. [Figure 5] This is a diagram showing the configuration of an unmanned vessel system 1000, which consists of multiple unmanned vessels. [Figure 6] This figure shows an example of a formation of the Unmanned Vehicle System 1000 deployed at sea. [Figure 7] This is a functional block diagram showing the functional configuration of the unmanned vessel 1010. [Figure 8] This is a conceptual diagram showing how the object communication unit 1440 performs underwater communication with the underwater object 9000. [Figure 9] This is a functional block diagram showing the functional configuration of the 2000 integrated control system. [Figure 10] This figure shows an example of request information acquired by the request information acquisition unit 2110. [Figure 11] This figure shows an example of information regarding the system configuration obtained by the system information acquisition unit 2120. [Figure 12] This figure shows an example of information regarding the system status acquired by the system status information acquisition unit 2130. [Figure 13]It is a diagram showing a first example of a candidate for a relay communication path generated by the communication path candidate determination unit 2210. [Figure 14] It is a diagram showing a second example of a candidate for a relay communication path generated by the communication path candidate determination unit 2210. [Figure 15] An example of a relay communication path when configuring a relay communication path using only the unmanned boat system 1000 without using the underwater communication system 5000 is shown. [Figure 16] An example of a relay communication path when configuring a relay communication path using only the underwater communication system 5000 without using the unmanned boat system 1000 is shown. [Figure 17] A first example of a relay communication path when configuring a relay communication path using the surface buoy 5300 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 18] A second example of a relay communication path when configuring a relay communication path using the surface buoy 5300 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 19] A first example of a relay communication path when configuring a relay communication path using the underwater buoy 5400 or the bottom buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 20] [[ID=二十一]]An example of a second relay communication path when configuring a relay communication path using the underwater buoy 5400 or the bottom buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 21] A third example of a relay communication path when configuring a relay communication path using the underwater buoy 5400 or the bottom buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 22] A first example of a relay communication path when configuring a relay communication path using the surface buoy 5300 and the underwater buoy 5400 or the bottom buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 23]The second example of the relay communication path when configuring the relay communication path using the surface buoy 5300, the underwater buoy 5400, or the bottom buoy 5500 of the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 24] An example of the relay communication path when configuring the relay communication path to the external device 7000 using the unmanned boat system 1000 and the underwater communication system 5000 is shown. [Figure 25] It is a diagram showing a first state of providing a communication environment to an underwater object or an underwater target area by the unmanned boat 1010 and the surface buoy. [Figure 26] It is a diagram showing a second state of providing a communication environment to an underwater object or an underwater target area by the unmanned boat 1010 and the surface buoy. [Figure 27] It is a flowchart showing the operation processing flow of the overall control system 2000. [Figure 28] It is a flowchart showing the determination processing flow of the relay communication path by the communication path determination unit 2200. [Figure 29] It is a diagram showing an example of the display example of the relay communication path determined by the communication path determination unit 2200. [Figure 30] It is a flowchart showing the determination processing flow of the control command for the unmanned boat 1010 by the unmanned boat control command determination unit 2300. [Figure 31] It is a diagram showing an example of the display example of the control command for the unmanned boat determined by the unmanned boat control command determination unit 2300. [Figure 32] It is a flowchart showing the determination processing flow of the control command for maintaining the communication connection by the communication connection maintenance control unit 2400. [Figure 33] It is a diagram showing an example of the display example of the determination result by the system state determination unit 2420 and the target state determination unit 2430. [Figure 34] It is a diagram showing an example of the display example of the update determination result by the connection path update unit 2440 and the unmanned boat operation update unit 2450. [Figure 35] It is a conceptual diagram when providing the position information from the unmanned boat 1010 to the underwater object 9000. [Figure 36] This is a hardware configuration diagram of the 2000 integrated control system. [Modes for carrying out the invention]

[0011] The embodiments of the present invention are described below. The present invention has the following configuration. [Item 1] An information acquisition unit that acquires information about an underwater communication system that provides an environment capable of communicating with an internet line or external device to an underwater object or underwater target area, or provides information about the location of the underwater object to the underwater object, An unmanned vessel capable of navigating on the water and equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, A communication path determination unit determines a relay communication path for a communication line to relay connection of the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or to provide the underwater object with information regarding the position of the underwater object, based on the information acquired by the information acquisition unit. A communication system comprising: an unmanned vessel command determination unit that determines control commands for the unmanned vessel to constitute the relay communication path based on the determined relay communication path. [Item 2] In the communication system described in item 1, A communication system in which the information acquired by the information acquisition unit includes information regarding the number, location, communication performance, and communication destination of at least one of the communication relay units installed on the surface, underwater, or at the bottom of the underwater communication system. [Item 3] In the communication system described in item 1 or 2, A communication system in which the information acquired by the information acquisition unit includes information relating to at least one of the following: request information regarding the underwater object for which a communication environment is provided; request information regarding the underwater area for which a communication environment is provided; a time, date, time, or period for which communication is requested; and a request for the provision of position coordinate information of the underwater object. [Item 4] In a communication system described in any of items 1 to 3, A communication system in which the information acquired by the information acquisition unit includes communication quality, including at least one of the following: communication strength, upload communication speed, download communication speed, communication delay time, and communication capacity of the communication environment provided to the underwater object or the underwater target area, or request information regarding line redundancy of the communication path of the communication environment provided to the underwater object or the underwater target area. [Item 5] In a communication system described in any of items 1 to 4, The communication path determination unit determines, as the relay communication path, a communication path for relaying communication between the underwater object or the underwater target area and a communication relay unit installed on the surface, underwater, or on the seabed of the underwater communication system, using the unmanned vessel. [Item 6] In a communication system described in any of items 1 to 5, When the aforementioned communication relay unit is a floating buoy on the water, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the underwater object or underwater target area and the surface buoy, using the communication unit of the unmanned vessel. [Item 7] In a communication system described in any of items 1 to 6, When the communication relay unit is an underwater buoy floating in the water, or a bottom buoy in contact with the seabed, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the underwater object or underwater target area and the underwater buoy or bottom buoy, using the communication unit of the unmanned vessel. [Item 8] In a communication system described in any of items 1 through 7, The communication path determination unit determines, as the relay communication path, a communication path for relaying communication between a communication relay unit installed on the surface, underwater, or seabed of the underwater communication system and a communication satellite, communication aircraft, or ground base station connected to the Internet line, using the unmanned vessel. [Item 9] In a communication system described in any of items 1 through 8, When the aforementioned communication relay unit is a floating buoy on the water, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communications between the communication satellite or the communication aircraft and the surface buoy, using the communication unit of the unmanned vessel. [Item 10] In a communication system described in any of items 1 to 9, When the communication relay unit is an underwater buoy floating in the water, or a bottom buoy installed on the seabed, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communications between the communication satellite or the communication aircraft or the ground base station and the underwater buoy or the bottom buoy, using the communication unit of the unmanned vessel. [Item 11] In a communication system described in any of items 1 to 10, When the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or at the bottom of the water, The communication path determination unit determines a communication path for relaying communication between a plurality of communication relay units using the unmanned vessel as the relay communication path. [Item 12] In a communication system described in any of items 1 to 11, When the multiple communication relay units include a first surface buoy and a second surface buoy, The unmanned vessel command determination unit is a communication system that determines control commands to relay communication between the first surface buoy and the second surface buoy using the communication unit of the unmanned vessel. [Item 13] In a communication system described in any of items 1 to 12, When multiple communication relay units include a surface buoy and an underwater buoy or a bottom buoy, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the surface buoy and the underwater buoy or the bottom buoy, using the communication unit of the unmanned vessel. [Item 14] In a communication system described in any of items 1 through 13, When multiple communication relay units include a first underwater buoy or a first submersible buoy and a second underwater buoy or a second submersible buoy, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the first underwater buoy or first submarine buoy and the second underwater buoy or second submarine buoy, using the communication unit of the unmanned vessel. [Item 15] In a communication system described in any of items 1 through 14, When the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or at the bottom of the water, The communication path determination unit determines a communication path for relaying communication between the communication relay unit and the external device using the unmanned vessel as the relay communication path. [Item 16] In a communication system described in any of items 1 through 15, The control command for the unmanned vessel determined by the unmanned vessel command determination unit includes: A communication system that includes commands relating to at least one of the following: the number of unmanned vessels, the deployment formation of the multiple unmanned vessels, the movement path of the unmanned vessels, the movement speed, the tracking pattern of the underwater object, and the replacement, towing, recovery, lifting, and power supply of the unmanned vessels. [Item 17] In a communication system described in any of items 1 to 16, The control commands for the unmanned vessel determined by the unmanned vessel command determination unit include: A communication system that includes control commands relating to the detection and determination process of the recipient with whom the unmanned vessel will communicate, or the authentication process for initiating communication, when initiating communication relay using the aforementioned relay communication path. [Item 18] In a communication system described in any of items 1 through 17, The control commands for the unmanned vessel determined by the unmanned vessel command determination unit include: A communication system that, upon receiving a communication relay termination command to terminate communication relay using the aforementioned relay communication path, includes a command to disconnect the communication connection with the underwater communication system or terminate data transmission after the unmanned vessel has completed transmitting the data received from the communication partner to another communication partner. [Item 19] In a communication system described in any of items 1 through 18, When the unmanned vessel communicates with the underwater object, The unmanned vessel command determination unit is a communication system that determines control commands relating to a plurality of unmanned vessels, including at least one of the following: the position of the unmanned vessels, the deformation of their deployed shape, the expansion or contraction of their deployment range, and the spacing between them, according to the current or future expected position of the underwater object or underwater target area, whether or not they are moving, their movement speed, and their movement acceleration. [Item 20] In a communication system described in any of items 1 through 19, The aforementioned unmanned vessel command decision unit is: When the position of the underwater object or the position of the underwater target area moves in a downward direction, a control command is determined to move the multiple unmanned vessels such that the spacing between the multiple unmanned vessels becomes narrower. Alternatively, a communication system that determines a control command to move a plurality of unmanned vessels such that the spacing between them widens when the position of the underwater object or the position of the underwater target area moves in an upward direction. [Item 21] In a communication system described in any of items 1 through 20, When the underwater object communicating with the aforementioned unmanned vessel performs a predetermined task, including searching for, investigating, tracking, monitoring, or inspecting a predetermined object, The unmanned vessel command determination unit is a communication system that determines a command concerning a plurality of unmanned vessels, including at least one of the position, deployment shape, and spacing of the unmanned vessels, according to the status or alert level of the underwater object relating to the predetermined mission. [Item 22] In a communication system described in any of items 1 to 21, A communication system comprising a communication connection maintenance control unit that updates the relay communication path determined by the communication path determination unit. [Item 23] In a communication system described in any of items 1 to 22, When the unmanned vessel communicates with the underwater object, The communication connection maintenance control unit updates the relay communication path when it determines, based on the position, movement status, movement speed, and movement acceleration of the underwater object, that there is an indication that the underwater object is about to deviate from the communication range of the unmanned vessel. [Item 24] In a communication system described in any of items 1 through 23, A communication system in which the communication connection maintenance control unit updates the relay communication path according to the measurement or estimation result of the communication quality in the relay communication path determined by the communication path determination unit. [Item 25] In a communication system described in any of items 1 through 24, It is equipped with a user input receiving unit that receives user input information, A communication system in which, when the user input receiving unit receives user input information regarding the relay communication path, the communication path determination unit determines the relay communication path according to the user input information. [Item 26] In a communication system described in any of items 1 through 25, It is equipped with a user input receiving unit that receives user input information, A communication system in which, when the user input receiving unit receives user input information relating to the control command for the unmanned vessel, the unmanned vessel command determination unit determines the control command according to the user input information. [Item 27] In a communication system described in any of items 1 through 26, A communication system comprising a position estimation unit that estimates the relative position of the unmanned vessel with respect to the surface buoy, or the relative position of the unmanned vessel with respect to the other unmanned vessel, based on the received intensity and direction of a wireless communication signal, which includes at least one of radio waves, optical signals, and sound waves, received from a surface buoy equipped with the underwater communication system that communicates wirelessly with the unmanned vessel, or from another unmanned vessel that communicates with the unmanned vessel. [Item 28] An underwater communication system comprising a communication relay unit installed on the water surface, underwater, or on the seabed, and an information processing method that provides an environment for communication connection with an internet line or external device to an underwater object or underwater target area, or provides information regarding the location of the underwater object, using at least one unmanned vessel capable of navigating on the water surface, Computers An information acquisition step to acquire information related to the underwater communication system, A communication path determination step, based on the information acquired by the information acquisition unit, determines a relay communication path for a communication line to relay connection of the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or to provide the underwater object with information regarding the location of the underwater object; A communication processing method that performs the following steps: an unmanned vessel command determination step of determining a control command for the unmanned vessel to constitute the relay communication path based on the determined relay communication path. [Item 29] An underwater communication system including a communication relay unit installed on water, in water, or underwater, and using at least one unmanned boat capable of navigating on water to provide an environment capable of communicating with the Internet line or an external device to an underwater object or an underwater target area existing in water, or a program used in a communication system that provides information regarding the position of the underwater object to the underwater object, to cause a computer to execute an information acquisition command for acquiring information regarding the underwater communication system, and based on the information acquired by the information acquisition unit, execute a communication path determination command for determining a relay communication path of a communication line for relaying and connecting the underwater object to the Internet line or the external device using the unmanned boat and the underwater communication system, or for providing information regarding the position of the underwater object to the underwater object, and a program for causing the computer to execute an unmanned boat command determination command for determining a control command for the unmanned boat for configuring the relay communication path based on the determined relay communication path.

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

[0013] [A. Configuration] (A-1. System Configuration) First, the system configuration of a communication system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

[0014] (A-1-1. Outline of System Configuration) Figure 1 is an overall configuration diagram of a communication system 1 (hereinafter also referred to as "System 1") according to one embodiment of the present invention. As shown in Figure 1, the communication system 1 has an unmanned vessel system 1000 composed of a plurality of unmanned vessels 1010 (master unit 1001, slave unit 1002, etc.), a central control system 2000, a user terminal device 4000, and an underwater communication system 5000. The communication system 1 also has the function of connecting an underwater object 9000 to an internet line 6000 via an access point 3000, or connecting an underwater object 9000 to an external device 7000.

[0015] The central control system 2000 can receive the operational status of the unmanned vessel system 1000 and measurement data collected by the unmanned vessel system 1000 deployed at sea via the access point 3000, and can transmit control commands to the unmanned vessel system 1000. The central control system 2000 has the function of acquiring oceanographic and meteorological information in the deployment area of ​​the unmanned vessel system 1000 from the external system 8000, and also acquires user input information from the user terminal device 4000, and has the function of determining control commands to the unmanned vessel system 1000 based on the acquired information.

[0016] The unmanned vessel system 1000 consists of multiple unmanned vessels 1010 capable of navigating the sea (water), and is equipped with a master unit 1001 that can communicate with an access point 3000, and multiple slave units 1002 that can communicate directly or indirectly with the master unit 1001, and a maritime communication network (hereinafter also referred to as the "maritime relay system") is established between the multiple slave units 1002 and the master unit 1001. In addition, at least one of the multiple unmanned vessels 1010 of the unmanned vessel system 1000 has the function of communicating with communication terminals installed on underwater objects (underwater drones, divers, marine life, etc.) using acoustic communication, optical communication, etc. that can communicate underwater.

[0017] The underwater communication system 5000 includes floating or installed surface buoys (or surface communication antennas), underwater buoys, and seabed buoys. These surface buoys and other components have underwater communication capabilities for communicating with underwater objects 9000, and wireless communication capabilities for communicating with access points 3000 and external devices. Furthermore, it has the functionality to establish a communication line in cooperation with the unmanned vessel system 1000 and the underwater communication system 5000.

[0018] Access Point 3000 includes the aerial AP3100, which consists of artificial satellites and communication aircraft (such as HAPS) flying in the stratosphere, and the ground AP3200, which consists of ground-based wireless communication base stations, enabling communication connections between the unmanned vessel system 1000, the underwater communication system 5000, and the internet line 6000. In addition, Access Point 3000 can communicate between the unmanned vessel system 1000 and the central control system 2000.

[0019] The external system 8000 includes a weather information provision system and a Maritime Domain Awareness (MDA) system, and provides the integrated control system 2000 with oceanographic information (wave height, wave speed, ocean current speed, ocean current direction, tidal current speed, tidal current direction), meteorological conditions (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather conditions (fog, thunderstorms, rain, snow, hail, sleet, cloudy, etc.), and seawater conditions (seawater temperature, seawater density, salinity, pH value, presence or absence of seaweed beds, etc.) for the deployment area of ​​the unmanned vessel system 1000.

[0020] The external device 7000 includes any device that communicates with the underwater object 9000 using the unmanned vessel system 1000 or the underwater communication system 5000, and includes, for example, devices installed on a mother ship navigating the sea or devices installed on land.

[0021] (A-1-2. Overview of Access Point 3000) Figure 2 shows an example of the system configuration of Access Point 3000. In particular, Figure 2 shows an example of the aerial access point 3100 and the ground access point 3200 that make up Access Point 3000. The aerial AP3100 can be used to communicate with the unmanned vessel system 1000 and the underwater communication system 5000, such as the GEO satellite 3111 located in high orbit (geosynchronous orbit) at an altitude of approximately 36,000 km, the LEO satellite 3112 located in low orbit (low Earth orbit) at an altitude of approximately 600 km, or the stratospheric aircraft 3120 (High Altitude Platform Station, hereinafter also called HAPS) located in the stratosphere at an altitude of approximately 10 to 50 km. In other words, the AP3100 in the air is capable of wireless communication with multiple unmanned vessels 1010 or surface buoys that constitute the underwater communication system 5000, and is equipped with artificial satellites (LEO satellites 3112, LEO satellites 3112) or stratospheric aircraft 3120 (HAPS) that fly in the stratosphere and can communicate directly or indirectly with the central control system 2000, the internet line 6000, and external devices 7000. Here, the LEO satellite 3112 can communicate with the unmanned vessel system 1000 or the underwater communication system 5000 and the internet line 6000 on its own, or it can communicate by relaying communication through multiple LEO satellites 3112. Furthermore, the HAPS 3120 can utilize not only aircraft but also balloons and airships.

[0022] Figure 2 also shows an example of wirelessly connecting an unmanned vessel system 1000 or an underwater communication system 5000 with a ground-based AP 3200 located on land. Here, the ground AP 3200 is equipped with a ground-based wireless communication base station that can wirelessly communicate with at least one of the multiple unmanned vessels 1010 or a surface buoy 5300 of the underwater communication system 5000, and can communicate directly or indirectly with an internet line 6000 or an external device 7000. The wireless communication base station equipped with the ground AP 3200 may be a stationary facility installed on a ground structure, but is not limited to this; it may also be a mobile base station mounted on a vehicle, or a removable temporary base station.

[0023] (A-1-3. Detailed configuration of communication system 1) Figure 3 illustrates an example of the system configuration when communication system 1 is implemented in both marine and land areas. Figure 3 is a diagram showing a detailed example of the system configuration of communication system 1.

[0024] In the example shown in Figure 3, a satellite base station for communicating with the aerial AP3100, a ground AP3200, and a central control system 2000 are located on the ground side, as shown in the upper right of the diagram. Also on the ground side are a user terminal device 4000 connected to the central control system 2000 via a network, an external system 8000, and a cooperative system control base 5100.

[0025] On the ocean side shown on the left of the diagram, multiple unmanned vessels 1010 belonging to the unmanned vessel system 1000, a maritime communication antenna 5200 belonging to the underwater communication system 5000, a surface buoy 5300 floating on the water, an underwater buoy 5400 floating in the sea, and a bottom buoy 5500 installed on the seabed are deployed, forming a communication network between the devices and providing a communication environment to underwater objects 9000 present in the water and to a predetermined underwater area where the underwater objects 9000 are active.

[0026] Furthermore, the communication system 1 forms a communication network between the unmanned vessel system 1000 and the underwater communication system 5000, and can acquire positional information or information necessary for calculating the positional information of underwater objects 9000 from orbital AP satellites, ground AP 3200, external devices 7000 (such as devices on a mother ship deployed at sea), or maritime communication antennas 5200.

[0027] Furthermore, the cooperative system control center 5100 of the underwater communication system 5000 has the function of monitoring the status of the wireless communication network composed of the underwater communication system 5000, deciding on changes to the wireless communication network, and issuing commands to each surface buoy 5300, etc.

[0028] (A-1-4. Providing a communication environment to underwater object 9000) Figure 4 is a conceptual diagram showing how an unmanned vessel system 1000 and an underwater communication system 5000 deployed in an ocean area provide a communication environment to underwater objects 9000. As shown in Figure 4, multiple unmanned vessels 1010 are deployed on the sea surface, and the communication unit 1400 mounted on each unmanned vessel 1010 communicates with underwater objects 9000 that are within the communication range underwater using acoustic communication technology, etc.

[0029] The underwater communication system 5000's surface communication antenna 5200, surface buoy 5300, underwater buoy 5400, and seabed buoy 5500 are also deployed or installed on or under the sea, and communication is performed using acoustic communication technology, etc., with underwater objects 9000 that are within the communication range underwater via communication devices installed on each buoy.

[0030] Furthermore, the unmanned vessel 1010 can be connected to the maritime communication antenna 5200, surface buoy 5300, underwater buoy 5400, and bottom buoy 5500 via an underwater communication or maritime radio communication network. In this way, by configuring a communication network between the unmanned vessel system 1000 and the underwater communication system 5000, even if it is difficult for the unmanned vessel system 1000 or the underwater communication system 5000 to provide the underwater object 9000 with an internet connection 6000 or a communication environment with external devices 7000, or to provide the underwater object 9000 with location information, the above-mentioned communication environment and location information can be provided.

[0031] (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 5 to 8.

[0032] (A-2-1. Overview of the Unmanned Vehicle System 1000) Figure 5 is a diagram showing the configuration of an unmanned vessel system 1000, which is composed of multiple unmanned vessels. As shown in Figure 5, the unmanned vessel system 1000 is composed of one or more groups (1000a, 1000b), and each group consists of multiple unmanned vessels 1010 that can communicate with each other. Furthermore, the multiple unmanned vessels 1010 that make up each group are configured to act as a master unit 1001 that can wirelessly communicate with an aerial AP3100 (or ground AP3200), or as slave units 1002 that can communicate directly or indirectly with the master unit 1001. The master unit 1001 communicates with the airborne AP3100 (or ground AP3200), aggregates information collected from multiple slave units 1002 and transmits it to the airborne AP3100 (or ground AP3200), and also has the function of directly or indirectly transmitting information related to operation commands acquired from the central control system 2000 and information it generates itself to each slave unit 1002 via the airborne AP3100 (or ground AP3200).

[0033] Group 1000a, shown in Figure 5, 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.

[0034] Figure 5 shows the configuration of a group having a master unit 1001 and a slave unit 1002, but it is not limited to this, and a group 1000 of unmanned vessels 1010 can consist of multiple unmanned vessels 1010 connected to each other by a network that enables wireless communication directly or indirectly.

[0035] (A-2-2. Configuration of the unmanned vessel 1010 that makes up the group) Figure 6 shows an example of a formation of the unmanned vessel system 1000 deployed at sea. In the example shown in Figure 6, when multiple unmanned vessels 1010 are to perform a search according to the search plan, the formation of a group composed of multiple unmanned vessels 1010 and the communication connection relationships are shown.

[0036] Group 1000a, shown in Figure 6, comprises one master unit 1001 and multiple slave units 1002. Furthermore, the master unit 1001 and the multiple slave units 1002 are connected via wireless communication, as shown by the solid lines, thereby forming a wireless communication network at sea. Each slave unit 1002 includes a primary connected slave unit 10021 that wirelessly connects to the master unit 1001, and a secondary connected slave unit 10022 that wirelessly connects to the primary connected slave unit 10021.

[0037] In this embodiment, the number of relays by the slave units 1002 when forming a group is not limited, and it may include third-level, fourth-level, or higher-level connected slave units. The primary connected slave unit 10021 shown in Figure 6 has the function of relaying the transmission and reception of information between the master unit 1001 and the secondary connected slave units 10022, thereby enabling the exchange of information between the master unit 1001 and multiple secondary connected slave units 10022.

[0038] Furthermore, the number of secondary connection slave units 10022 that wirelessly connect to the primary connection slave unit 10021 is not limited to one. Multiple secondary connection slave units 10022 can be wirelessly connected to the primary connection slave unit 10021, thereby forming a tree-like communication network in which multiple unmanned vessels 1010 branch off within group 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 slave unit 10021, and the primary connection slave unit 10021 and the secondary connection slave unit 10022, are controlled so that the relative distance between the unmanned vessels 1010 is maintained within the upper limit of the communication distance.

[0039] 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.

[0040] 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 communication connection described above. However, in order to more efficiently perform the task of connecting the underwater object 9000, which is the activity objective of the unmanned vessel system 1000, to the internet line 6000 or external device 7000, it is desirable for each unmanned vessel 1010 to maintain an appropriate distance from each other so that their communication ranges do not overlap or overlap to a moderate degree, rather than having each unmanned vessel 1010 get too close and perform communication relay multiple times over a short distance. For this reason, the relative distance between unmanned vessels 1010 that do not communicate with each other is controlled with a relatively lower priority so as to maintain a preset steady-state relative distance, by controlling the position of at least one of the unmanned vessels 1010. This control to maintain the steady-state relative distance can be achieved by applying, for example, a control based on the Boids algorithm.

[0041] Furthermore, if the relative distance between the unmanned vessels 1010 becomes too close and there is a possibility of collision, position control can be 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.

[0042] As described above, control to maintain the relative distance between unmanned vessels 1010 that communicate with each other within the communication range, and avoidance control to avoid collisions with other unmanned vessels approaching at close range are executed with relatively high priority, while control to maintain the relative distance between unmanned vessels 1010 that do not communicate with each other is executed with relatively low priority.

[0043] (A-2-3. Configuration of the unmanned vessel 1010) Figure 7 is a functional block diagram showing the functional configuration of the unmanned vessel 1010. Although Figure 7 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 7. 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.

[0044] The measurement unit 1100 is a functional unit that detects underwater objects 9000 present within the measurable range in the sea using the measurement sensor 1110 and acquires measurement information regarding the underwater objects 9000. The measurement unit 1100 comprises a measurement sensor 1110 and a measurement control unit 1120.

[0045] The measurement sensor 1110 may include one (monocular) or more electro-optical sensors for acquiring underwater image data, an optical camera, an infrared sensor (IR sensor), a laser sensor such as a depth sounder LiDAR for acquiring point cloud data (e.g., a green laser sensor, a blue laser sensor, etc.), an underwater optical communication sensor, and a sound wave sensor (also called a sound wave measurement unit) including sonar that utilizes sound waves such as ultrasound. The measurement sensor 1110 can acquire measurement data of underwater objects 9000 that are within the measurable range of the three-dimensional space underwater. It may also have the function of acquiring measurement data of underwater objects 9000 not only underwater but also in the air above the water.

[0046] Furthermore, when using a sound wave sensor underwater, the sound wave sensor may be either an active sonar that generates sound waves and measures the sound waves that reflect 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.

[0047] 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 irradiating laser. Also, if the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. Also, if the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

[0048] Next, the self-vehicle state determination unit 1200 comprises a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state, internal state, and external state of the unmanned vessel 1010. The navigation state determination unit 1210 determines the self-vehicle's position (two-dimensional or three-dimensional), speed, heading, direction of movement, acceleration / deceleration, turning speed, and other state quantities related to the navigation state. The internal state determination unit 1220 determines the remaining energy and fuel levels of the battery installed on the self-vehicle, the distance that can be traveled calculated from the remaining energy and fuel levels, temporary abnormal conditions of equipment installed on the self-vehicle (temperature abnormalities, communication abnormalities, etc.), and equipment failure states.

[0049] Furthermore, the external status determination unit 1230 can determine 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 central control system 2000 via the access point 3000, or the sea conditions around the vessel (wave height, wave speed, ocean current speed, ocean current direction, tidal current speed, tidal current direction), meteorological conditions (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather conditions (fog, thunderstorms, rain, snow, hail, sleet, cloudy, etc.), seawater conditions (seawater temperature, seawater density, salinity, pH value, presence or absence of seaweed beds, underwater noise level), solar-related information (solar position (altitude, azimuth, trajectory), backlighting, frontlighting, solar radiation), and other conditions (moon position (altitude, azimuth, trajectory, lunar phase), ionospheric disturbances (solar flares, etc.)).

[0050] The method by which the navigation status determination unit 1210 determines the position, speed, direction of movement, and acceleration / deceleration rate of the aircraft is not particularly limited, but for example, the current position, speed, and direction of movement of the aircraft can be determined using information obtained from artificial satellites such as GNSS (Global Navigation Satellite System), GPS (Global Positioning System), and RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System). Furthermore, the current position, speed, and direction of movement of the aircraft can also be determined based on information obtained not only from artificial satellites, but also from ground AP3200 or maritime communication antenna 5200.

[0051] Furthermore, as another example of how the navigation state determination unit 1210 determines the position, speed, direction of movement, and acceleration / deceleration of the aircraft, if the measurement sensor 1110 can detect the seabed shape, the current position, speed, and direction of movement of the aircraft can be determined using SLAM (Simultaneous Localization And Mapping) technology based on the previously recorded seabed shape and the seabed shape detected by the measurement sensor 1110.

[0052] Furthermore, based on the received signal strength and direction of radio waves received from the communication partner (such as the surface buoy 5300 of the underwater communication system or other unmanned vessels 1010) acquired by the communication unit 1400 described later, the relative position, speed, and direction of movement of the aircraft with respect to the communication partner (such as the surface buoy 5300 of the underwater communication system or other unmanned vessels 1010) can be estimated.

[0053] Here, the positional 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. Furthermore, acceleration and deceleration can be calculated based on the time change of the determined movement speed.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Next, the communication unit 1400 is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000, as well as with underwater objects 9000, underwater communication systems 5000, external devices 7000, and access points 3000. It comprises an inter-unmanned vessel communication unit 1410, a central control communication unit 1420, a relay communication unit 1430, and an object communication unit 1440.

[0060] The unmanned vessel communication unit 1410 is equipped with a communication antenna for use in a maritime wireless communication network and communicates with other unmanned vessels 1010 within the unmanned vessel system 1000.

[0061] The central control and communication unit 1420 is equipped with a communication antenna capable of communicating with the access point 3000 and communicates with the central control system 2000 via the airborne AP3100 and ground AP3200.

[0062] The relay communication unit 1430 is equipped with a communication antenna capable of communicating with the underwater communication system 5000, external devices 7000, and access point 3000, and relays the communication connection between the underwater object 9000 and the internet line 6000 or external device 7000. If the communication partner's device is an underwater device such as the underwater buoy 5400 or bottom buoy 5500 of the underwater communication system 5000, the relay communication unit 1430 is equipped with a USBL transceiver or acoustic communication modem capable of underwater communication.

[0063] The object communication unit 1440 is equipped with a USBL transceiver and an acoustic communication modem that can communicate with the underwater object 9000 located underwater, and communicates with the underwater object 9000. In addition to the above-mentioned communication units, the communication unit 1400 may also be equipped with an AIS antenna and a VHF antenna, and communication equipment that can communicate with external surveillance vessels and AIS base stations.

[0064] 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.

[0065] Furthermore, the determination unit 1500 can interpret the state of the underwater object 9000 by performing primary processing on the measurement data, and can determine the presence or absence of the 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.

[0066] 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.

[0067] (A-2-4. Object detection using sound wave sensors) Figure 8 is a conceptual diagram showing how the object communication unit 1440 performs underwater communication with the underwater object 9000. In the example shown in Figure 8, an acoustic communication is performed with the underwater object 9000 (such as a diver) using a USBL transceiver and an acoustic communication modem, respectively.

[0068] When calculating the position coordinates of an underwater object 9000 (such as a diver) using a USBL transceiver or acoustic communication modem, an acoustic signal (call) is transmitted from the USBL transceiver, and an acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver is received by the USBL transceiver, thereby determining the relative position of the underwater object 9000 to the unmanned vessel 1010. Furthermore, based on the global coordinates of the self-position coordinates calculated by the navigation state determination unit 1210 inside the unmanned vessel 1010 and the relative position of the underwater object 9000 to the unmanned vessel 1010, the global coordinates of the underwater object 9000 can be calculated, and data including the position coordinates of the underwater object 9000 can be transmitted from the acoustic communication modem to the underwater object 9000. For example, the acoustic signal (call) transmitted by a USBL transceiver is set to have a relatively wide directional angle, while the acoustic signal (response) transmitted in response by the acoustic positioning transponder can be transmitted in the direction of reception of the acoustic signal (call) with a relatively narrow directional angle of several tens of degrees.

[0069] (A-3. Description of the Integrated Control System 2000) Next, the functions and contents of the integrated control system 2000 will be explained using Figure 9. Figure 9 is a functional block diagram showing the functional configuration of the integrated control system 2000. As shown in Figure 9, the integrated control system 2000 includes an information import unit 2100, a communication route determination unit 2200, an unmanned vessel control command determination unit 2300, a communication connection maintenance control unit 2400, a user input reception unit 2500, and an information output unit 2600.

[0070] (A-3-1. Information Import Unit 2100) The information import unit 2100 is a functional unit that imports information to be processed or used in each functional unit within the integrated control system 2000 from the unmanned vessel 1010, user terminal device 4000, underwater communication system 5000, external system 8000, etc. The information import unit 2100 includes a request information acquisition unit 2110, a system information acquisition unit 2120, a system status information acquisition unit 2130, and a disturbance information acquisition unit 2140.

[0071] The request information acquisition unit 2110 is a functional unit that acquires information regarding requests for communication supplementation to underwater objects 9000 or underwater target areas. Figure 10 shows an example of request information acquired by the request information acquisition unit 2110. The request information shown in Figure 10 can be acquired via the user terminal device 4000 or the user input reception unit 2500, which will be described later.

[0072] As shown in Figure 10, the request information acquired by the request information acquisition unit 2110 includes, for example, request information regarding various items such as communication target equipment or area, request for provision of location coordinate information, communication time, communication quality, and communication redundancy. The communication target equipment or area includes request information regarding the underwater object 9000 that provides the communication environment (for example, information that can identify the underwater object), or request information regarding the underwater target area that provides the communication environment (for example, information that can identify the underwater target area). The request for provision of location coordinate information includes information on whether or not there is a request to provide the location coordinate information of the underwater object 9000 to the underwater object 9000. The communication time includes, for example, information on the requested communication time, such as the date, time, and period for communication compensation.

[0073] Furthermore, the communication quality requirements include communication strength, upload speed, download speed, communication delay time, and communication capacity of the communication environment provided to the underwater object 9000 or the underwater target area. Users can set a higher value for the communication capacity requirements if they wish to transmit large amounts of data.

[0074] Furthermore, communication redundancy includes request information regarding redundant lines in the communication path of the communication environment provided to the underwater object 9000 or the underwater target area. Request information regarding redundant lines in the communication path includes, for example, specification information such as whether or not redundancy is present on the communication path, the location where redundancy is requested, the number of redundant lines, and the type of redundant communication. In addition, if the user wishes to avoid interruptions in communication connections (for example, for applications such as remote control), they can request redundancy for any section they specify in order to avoid interruptions in communication between each device such as the underwater object 9000, the unmanned vessel 1010, surface buoys, underwater buoys, bottom buoys, air APs, and ground APs.

[0075] The system information acquisition unit 2120 is a functional unit that acquires information regarding the system configuration of the unmanned vessel system 1000 and the underwater communication system 5000. Figure 11 shows an example of the system configuration information acquired by the system information acquisition unit 2120.

[0076] As shown in Figure 11, the information acquired by the system information acquisition unit 2120 includes information about the unmanned vessel system and information about the underwater communication system. The information about the unmanned vessel system includes information about the system configuration, such as the number of units, identification information and location of each of the unmanned vessels (master unit) and unmanned vessels (slave units) that make up the unmanned vessel system, communication performance, and communication connection destination. Here, the information about the position of the unmanned vessel includes the relative distance of the unmanned vessel to other unmanned vessels and other devices, relative position, and global position coordinates.

[0077] Furthermore, the information regarding the underwater communication system includes, for each of the surface buoys, underwater buoys, seabed buoys, and surface communication antennas that constitute the underwater communication system, the number of units, identification information for multiple units, and system configuration information including location, communication performance, and communication connection destination. Communication performance includes normal communication performance information such as communication range, upload speed, download speed, communication capacity, and latency. The system information acquisition unit 2120 can acquire information regarding the system configuration, as shown in Figure 11, in advance from the user terminal device 4000, the underwater communication system 5000, the external system 8000, or other systems.

[0078] The system status information acquisition unit 2130 is a functional unit that acquires the current communication status of wireless communication or underwater communication between the unmanned vessel system 1000, the underwater communication system 5000, and the underwater object 9000, or the power status or abnormal status of the unmanned vessel system 1000 and the underwater communication system 5000. Figure 12 is a diagram showing an example of system status information acquired by the system status information acquisition unit 2130.

[0079] As shown in Figure 12, the information acquired by the system status information acquisition unit 2130 includes information on the status of the unmanned vessel system and information on the status of the underwater communication system. The information on the status of the unmanned vessel system includes system status information for each of the unmanned vessels (master unit) and unmanned vessels (slave unit) that constitute the unmanned vessel system 1000, including the number of units, identification information for each of the multiple units, current communication status, power status, and abnormal status. The information on the status of the underwater communication system includes system status information for each of the surface buoys, underwater buoys, seabed buoys, and surface communication antennas that constitute the underwater communication system, including the number of units, identification information for each of the multiple units, current communication status, power status, and abnormal status.

[0080] The communication status includes current communication quality information such as communication range, upload speed, download speed, communication capacity, and latency. The power status includes information on the charge status of the power source, such as the battery installed in each device. The abnormal status includes information on whether or not each device is malfunctioning or broken.

[0081] The disturbance information acquisition unit 2140 is a functional unit that acquires environmental disturbance information in the area on or under the sea where the unmanned vessel system 1000 and the underwater communication system 5000 are deployed. The disturbance information acquisition unit 2140 can acquire environmental disturbance information, for example, by acquiring information determined by the external state determination unit 1230 of the unmanned vessel 1010. The disturbance information acquisition unit 2140 can also acquire environmental disturbance information from the external system 8000.

[0082] The disturbance information acquired by the disturbance information acquisition unit 2140 includes, for example, oceanographic information (wave height, wave speed, ocean current speed, ocean current direction, tidal current speed, tidal current direction), meteorological conditions (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather conditions (fog, thunderstorms, rain, snow, hail, sleet, cloudy, etc.), and seawater conditions (seawater temperature, seawater density, salinity, pH value, presence or absence of seaweed beds, underwater noise level). In particular, the disturbance information acquired by the disturbance information acquisition unit 2140 acquires disturbance information that affects the performance of wireless communication and underwater communication between the unmanned vessel system 1000, the underwater communication system 5000, and the underwater object 9000.

[0083] (A-3-2. Communication route determination unit 2200) The communication path determination unit 2200 is a functional unit that determines the relay communication path of a communication line for relaying connection between the underwater object 9000 and the Internet line 6000 or external device 7000, or for providing the underwater object 9000 with information regarding the location of the underwater object 9000, based on information acquired by the system information acquisition unit 2120, using the unmanned boat system 1000 and the underwater communication system 5000. The communication path determination unit 2200 includes a communication path candidate determination unit 2210 and a connection path determination unit 2220.

[0084] The communication path candidate determination unit 2210 is a functional unit that determines candidate relay communication paths for a communication line used to relay connection between the underwater object 9000 and an internet line 6000 or an external device 7000, or for providing the underwater object 9000 with information regarding its location. The communication path candidate determination unit 2210 determines candidate relay communication paths based, for example, request information acquired by the request information acquisition unit 2110 and system information of the unmanned vessel system 1000 and the underwater communication system 5000 acquired by the system information acquisition unit 2120.

[0085] Figure 13 shows a first example of a candidate relay communication path generated by the communication path candidate determination unit 2210. Figure 14 shows a second example of a candidate relay communication path generated by the communication path candidate determination unit 2210.

[0086] The example shown in Figure 13 illustrates, in particular, the candidate communication paths that pass through the aerial AP3100, among the multiple candidate relay communication paths. These candidates include patterns that do not utilize surface buoy 5300, patterns that utilize surface buoy 5300, patterns that utilize bottom buoy 5500, and patterns that utilize both bottom buoy 5500 and surface buoy 5300.

[0087] The patterns that do not utilize the surface buoy 5300, as shown in Figure 13, include, for example, the following two candidate relay communication path patterns. • Underwater object → Unmanned boat → Aerial AP → Internet connection • Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat → Aerial AP → Internet connection

[0088] The patterns utilizing the surface buoy 5300 shown in Figure 13 include, for example, the following five candidate relay communication path patterns. • Underwater object → surface buoy → unmanned vessel → aerial AP → internet connection • Underwater object → Unmanned boat → Surface buoy → Aerial AP → Internet connection • Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Aerial AP → Internet connection • Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Surface buoy → Aerial AP → Internet connection • Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat → Surface buoy → Aerial AP → Internet connection

[0089] The patterns utilizing the submarine buoy 5500 shown in Figure 13 include, for example, the following five candidate relay communication path patterns. • Underwater object → bottom buoy → unmanned boat → aerial access point → internet connection • Underwater object 9001 → bottom buoy → underwater object 9002 → unmanned boat → aerial AP → internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Aerial AP → Internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Bottom buoy → Unmanned boat → Aerial AP → Internet connection • Underwater object 9001 → Unmanned boat → Bottom buoy → Underwater object 9002 → Unmanned boat → Aerial AP → Internet connection

[0090] The patterns that utilize both the submarine buoy 5500 and the surface buoy 5300, as shown in Figure 13, include, for example, the following six candidate relay communication path patterns. • Underwater object → bottom buoy → unmanned boat → surface buoy → aerial access point → internet connection • Underwater object 9001 → bottom buoy → underwater object 9002 → unmanned boat → surface buoy → aerial AP → internet connection • Underwater object 9001 → bottom buoy → underwater object 9002 → surface buoy → unmanned boat → aerial AP → internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Surface buoy → Aerial AP → Internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Surface buoy → Unmanned boat → Aerial AP → Internet connection • Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Bottom buoy → Unmanned boat → Aerial AP → Internet connection

[0091] Next, the example shown in Figure 14 illustrates, in particular, the candidate communication paths that pass through the ground AP3200, among the variations of multiple candidate relay communication paths. These candidates include patterns that do not utilize the surface buoy 5300, patterns that utilize the surface buoy 5300, patterns that utilize the bottom buoy 5500, and patterns that utilize both the bottom buoy 5500 and the surface buoy 5300.

[0092] The patterns that do not utilize the surface buoy 5300, as shown in Figure 14, include, for example, the following two candidate relay communication path patterns. Underwater object → Unmanned boat → Unmanned boat... → Ground AP → Internet connection Underwater object 9001 → Unmanned boat → Underwater object 9002 → Unmanned boat... → Ground AP → Internet connection As described above, multiple unmanned vessels 1010 are linked together to form a relay communication path to the ground AP3200. However, it is not always necessary to link multiple unmanned vessels 1010; a relay communication path connecting a single unmanned vessel 1010 to the ground AP is also acceptable.

[0093] The patterns utilizing the surface buoy 5300 shown in Figure 14 include, for example, the following three candidate relay communication path patterns. Underwater object → Surface buoy → Unmanned boat → Unmanned boat... → Ground AP → Internet connection Underwater object → Unmanned boat → Surface buoy → Unmanned boat... → Ground AP → Internet connection Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Surface buoy → Unmanned boat... → Ground AP → Internet connection

[0094] The patterns utilizing the submarine buoy 5500, as shown in Figure 14, include, for example, the following six candidate relay communication path patterns. • Underwater object → bottom buoy → unmanned boat → land AP → internet connection • Underwater object 9001 → bottom buoy → underwater object 9002 → unmanned boat → land AP → internet connection • Underwater object 9001 → bottom buoy → underwater object 9002 → bottom buoy → unmanned boat → land AP → internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Ground AP → Internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Bottom buoy → Unmanned boat → Ground AP → Internet connection • Underwater object 9001 → Unmanned boat → Bottom buoy → Underwater object 9002 → Unmanned boat → Ground AP → Internet connection

[0095] The patterns that utilize both the submarine buoy 5500 and the surface buoy 5300, as shown in Figure 14, include, for example, the following three candidate relay communication path patterns. • Underwater object 9001 → bottom buoy → underwater object 9002 → surface buoy → unmanned boat → land AP → internet connection • Underwater object → Unmanned boat → Bottom buoy → Unmanned boat → Surface buoy → Unmanned boat → Ground AP → Internet connection • Underwater object → Unmanned boat → Surface buoy → Unmanned boat → Bottom buoy → Unmanned boat → Ground AP → Internet connection

[0096] In addition, while Figures 13 and 14 describe an example of connecting an underwater object to an internet line as one of the multiple candidate relay communication paths, if the request for communication compensation is to provide a communication environment with a predetermined external device instead of an internet line, the candidate relay communication path may include relaying communication from an unmanned vessel or surface buoy to the external device without going through an aerial AP or ground AP. Furthermore, the multiple candidate relay communication paths may also include a relay communication path that uses only the underwater communication system without using the unmanned vessel system 1000.

[0097] The connection path determination unit 2220 is a functional unit that determines a relay communication path using the unmanned vessel system 1000 and the underwater communication system 5000 from among multiple candidate relay communication paths generated by the communication path candidate determination unit 2210, based on information acquired by the system information acquisition unit 2120, etc. The connection path determination unit 2220 can also determine a relay communication path based on information acquired by the request information acquisition unit 2110. As an example in this case, if the delay time of the communication quality included in the request information is relatively short, the path via the ground AP 3200 can be determined as the relay communication path, rather than the airborne AP 3100 which has a relatively long delay time.

[0098] The following describes specific examples of relay communication paths determined by the connection path determination unit 2220, using Figures 15 to 22.

[0099] Figure 15 shows an example of a relay communication path when configuring a relay communication path using only the unmanned vessel system 1000 and without using the underwater communication system 5000. In the example shown in Figure 15, the underwater object 9001 determines a path that connects to the airborne AP 3100 or ground AP 3200 via the unmanned vessel 1013 and unmanned vessel 1001 as the relay communication path. The example also shows the underwater object 9002 determining a path that connects to the airborne AP 3100 or ground AP 3200 via the unmanned vessel 1012, underwater object 9003, unmanned vessel 1012, and unmanned vessel 1001 as the relay communication path. The connection path determination unit 2220 can determine a path as shown in Figure 15 as a relay communication path when there is a system malfunction in the underwater communication system 5000, or when the underwater object 9000 is far from the communication range of the underwater communication system and a relay communication path can be established by the unmanned vessel system 1000 without going through the underwater communication system 5000.

[0100] Next, Figure 16 shows an example of a relay communication path when configuring a relay communication path using only the underwater communication system 5000 without using the unmanned vessel system 1000. In the example shown in Figure 16, the underwater object 9001 is determined to be connected to the aerial AP 3100 via surface buoys 5301 and 5302 as the relay communication path. Also in the example shown in Figure 16, the underwater object 9002 is determined to be connected to the surface buoys 5301 and 5302 via underwater buoy 5400 or bottom buoy 5501, and further connected to the aerial AP 3100 as the relay communication path. The connection path determination unit 2220 can determine a relay communication path consisting solely of the underwater communication system, as shown in Figure 16, without going through the unmanned boat system 1000, in the event of an abnormality in the unmanned boat system 1000, or when the underwater object 9000 is within the communication range of the underwater communication system and communication compensation by the unmanned boat system 1000 is unnecessary.

[0101] Next, Figure 17 shows a first example of a relay communication path when configuring a relay communication path using the unmanned boat system 1000 and the surface buoy 5300 of the underwater communication system 5000. In the example shown in Figure 17, the unmanned boat 1011 has the function of relaying communication between the underwater object 9001 and the surface buoy 5301. In addition, the unmanned boat 1012 relays communication between the underwater objects 9002 and 9003, and the unmanned boat 1013 relays communication between the underwater object 9003 and the surface buoy 5301. In other words, the connection path determination unit 2220 can determine a communication path in which the unmanned boat 1010 relays communication between the underwater object or underwater target area and the surface buoy of the underwater communication system as a relay communication path.

[0102] Furthermore, the relay communication path between the surface buoy 5301 and the internet line 6000 is determined to be a path that connects the surface buoy 5301 to the internet line 6000 via the aerial AP 3100, or a path that connects the surface buoy 5301 to the internet line 6000 via the unmanned vessel 1001 and the aerial AP 3100, or a path that connects the surface buoy 5301 to the internet line 6000 via the unmanned vessel 1001, the surface buoy 5302 and the aerial AP 3100, or a path that connects the surface buoy 5301 to the internet line 6000 via the unmanned vessel 1001, the unmanned vessel 1014 and the ground AP 3200. In other words, the connection path determination unit 2220 can determine a communication path as a relay communication path that relays communication between the surface buoys of the underwater communication system and the aerial AP 3100 or ground AP 3200 which is connected to the internet line, via the unmanned vessel 1010.

[0103] Furthermore, as shown in Figure 17, the unmanned vessel 1001 has the function of relaying communication between the surface buoy 5301 and the surface buoy 5302. In other words, the connection path determination unit 2220 can determine a communication path in which the unmanned vessel 1010 relays communication between the multiple surface buoys 5301 and 5302 as a relay communication path.

[0104] Next, Figure 18 shows a second example of a relay communication path when configuring a relay communication path using the surface buoy 5300 of the unmanned vessel system 1000 and the underwater communication system 5000. In the example shown in Figure 18, the underwater object 9001 and the surface buoy 5301 communicate, and the unmanned vessel 1001 is responsible for relaying the communication between the surface buoy 5301 and the internet line 6000. In other words, the connection path determination unit 2220 can determine as relay communication paths a path connecting from the surface buoy 5301 to the internet line 6000 via the unmanned vessel 1001 and the aerial AP 3100, and a path connecting from the surface buoy 5301 to the internet line 6000 via the unmanned vessel 1001, the unmanned vessel 1014 and the ground AP 3200.

[0105] Next, Figure 19 shows a first example of a relay communication path when a relay communication path is configured using the underwater buoy 5400 or the submersible buoy 5500 of the unmanned vessel system 1000 and the underwater communication system 5000. In the example shown in Figure 19, the underwater object 9001 determines as a relay communication path a route connected to the aerial AP 3100 via unmanned vessels 1012 and 1103, the submersible buoy 5501 (or underwater buoy 5401), and unmanned vessel 1001. Alternatively, the underwater object 9001 determines as a relay communication path a route connected to the ground AP 3200 via unmanned vessels 1012 and 1103, the submersible buoy 5501 (or underwater buoy 5401), unmanned vessels 1001 and 1014.

[0106] Thus, in the example shown in Figure 19, the unmanned vessels 1012 and 1103 are responsible for relaying communication between the underwater object 9001 and the bottom buoy 5501 (or underwater buoy 5401). In other words, the connection path determination unit 2220 can determine a relay communication path in which the unmanned vessel 1010 relays communication between the underwater object or underwater target area and the bottom buoy 5501 (or underwater buoy 5401) of the underwater communication system.

[0107] Furthermore, in the example shown in Figure 19, the unmanned vessels 1011 and 1001 have the function of relaying the internet connection between the seabed buoy 5501 (or underwater buoy 5401) and the underwater buoy via the aerial AP3100, or the unmanned vessels 1011, 1001, and 1014 have the function of relaying the internet connection between the seabed buoy 5501 (or underwater buoy 5401) and the underwater buoy via the ground AP3200. In other words, the connection path determination unit 2220 can determine a relay communication path in which the communication between the seabed buoy 5501 (or underwater buoy 5401) of the underwater communication system and the aerial AP3100 or ground AP3200, which is connected to the internet connection, is relayed by the unmanned vessel 1010.

[0108] Next, Figure 20 shows a second example of a relay communication path when the unmanned vessel system 1000 and the underwater buoy 5400 or bottom buoy 5500 of the underwater communication system 5000 are used to configure a relay communication path. In the example shown in Figure 20, the underwater object 9001 determines a path connected to the aerial AP 3100 via bottom buoy 5501 (or underwater buoy 5401), unmanned vessel 1011, and unmanned vessel 1001 as the relay communication path. Furthermore, the example shows the underwater object 9002 determining a path connected to the aerial AP 3100 via bottom buoy 5502 (or underwater buoy 5402), underwater object 9003, unmanned vessel 1012, and unmanned vessel 1001 as the relay communication path. Furthermore, the communication path from the unmanned vessel 1001 to the internet connection 6000 may be a path that connects to the internet connection 6000 via the unmanned vessel 1001, the unmanned vessel 1014, and the ground AP3200.

[0109] Thus, in the example shown in Figure 20, the unmanned vessels 1011 and 1001 have the function of relaying the internet connection between the seabed buoy 5501 (or underwater buoy 5401) and the underwater buoy via the aerial AP3100 or ground AP3200, or the unmanned vessels 1012 and 1001 have the function of relaying the internet connection between the seabed buoy 5502 (or underwater buoy 5402) and the underwater buoy via the aerial AP3100 or ground AP3200. In other words, the connection path determination unit 2220 can determine a communication path as a relay communication path in which the communication between the seabed buoy 5500 (or underwater buoy 5400) of the underwater communication system and the aerial AP3100 or ground AP3200, which is connected to the internet connection, is relayed by the unmanned vessel 1010.

[0110] Next, Figure 21 shows a third example of a relay communication path when the unmanned vessel system 1000 and the underwater buoy 5400 or bottom buoy 5500 of the underwater communication system 5000 are used to configure a relay communication path. In the example shown in Figure 21, the underwater object 9001 determines a path connected to the aerial AP3100 via bottom buoy 5501 (or underwater buoy 5401), unmanned vessel 1012, bottom buoy 5502 (or underwater buoy 5402), unmanned vessel 1011, and unmanned vessel 1001 as the relay communication path. Furthermore, an example is shown in which the underwater object 9001 determines a path connected to the ground AP3200 via the bottom buoy 5501 (or underwater buoy 5401), unmanned vessel 1012, bottom buoy 5502 (or underwater buoy 5402), unmanned vessel 1011, unmanned vessel 1001, and unmanned vessel 1014 as a relay communication path.

[0111] Thus, in the example shown in Figure 21, the unmanned vessel 1012 has the function of relaying communication between the bottom buoy 5501 (or underwater buoy 5401) and the bottom buoy 5502 (or underwater buoy 5402). In other words, the connection path determination unit 2220 can determine a communication path in which the unmanned vessel 1010 relays communication between multiple bottom buoys 5500 (or underwater buoys 5400) of the underwater communication system.

[0112] Next, Figure 22 shows a first example of a relay communication path when a relay communication path is configured using the surface buoy 5300 and underwater buoy 5400 or bottom buoy 5500 of the unmanned vessel system 1000 and the underwater communication system 5000. In the example shown in Figure 22, the underwater object 9001 determines the path connected to the aerial AP 3100 via the bottom buoy 5501 (or underwater buoy 5401), unmanned vessel 1012, unmanned vessel 1001, and surface buoy 5301 as the relay communication path. Furthermore, the underwater object 9002 determines the path connected to the aerial AP 3100 via the bottom buoy 5502 (or underwater buoy 5402), underwater object 9003, unmanned vessel 1011, unmanned vessel 1001, and surface buoy 5301 as the relay communication path.

[0113] Thus, in the example shown in Figure 22, the unmanned vessels 1012 and 1001 have the function of relaying communication between the bottom buoy 5501 (or underwater buoy 5401) and the surface buoy 5301, and the unmanned vessels 1011 and 1001 have the function of relaying communication between the bottom buoy 5502 (or underwater buoy 5402) and the surface buoy 5301. In other words, the connection path determination unit 2220 can determine a communication path in which the unmanned vessel 1010 relays communication between the surface buoy 5300 and the bottom buoy 5500 (or underwater buoy 5400) of the underwater communication system.

[0114] Next, Figure 23 shows a second example of a relay communication path when a relay communication path is configured using the surface buoy 5300 and the underwater buoy 5400 or bottom buoy 5500 of the unmanned vessel system 1000 and the underwater communication system 5000. In the example shown in Figure 23, the underwater object 9001 determines a path that connects to the aerial AP 3100 via the bottom buoy 5501 (or underwater buoy 5401), surface buoy 5301, and unmanned vessel 1001 as the relay communication path. Furthermore, the underwater object 9002 determines a path that connects to the aerial AP 3100 via the bottom buoy 5502 (or underwater buoy 5402), unmanned vessel 1012, surface buoy 5301, and unmanned vessel 1001 as the relay communication path. Furthermore, the communication path from the unmanned vessel 1001 to the internet connection 6000 may be a path that connects to the internet connection 6000 via the unmanned vessel 1001, the unmanned vessel 1014, and the ground AP3200.

[0115] As shown in Figure 23, when the unmanned vessel 1010 determines a relay communication path in cooperation with the underwater communication system 5000 using surface buoy 5301 and bottom buoys 5501, 5502 (or underwater buoys 5401, 5402), the communication between the surface buoy 5301 and the bottom buoy 5502 (or underwater buoy 5402) can be relayed by the unmanned vessel 1012, and the communication between the surface buoy 5301 and the internet line 6000 can be relayed by the unmanned vessel 1001.

[0116] Next, Figure 24 shows an example of a relay communication path when configuring a relay communication path to an external device 7000 using the unmanned vessel system 1000 and the underwater communication system 5000. In the example shown in Figure 24, the underwater object 9001 determines the path to the external device 7000 via the bottom buoy 5501 (or underwater buoy 5401), surface buoy 5301, and unmanned vessel 1001 as the relay communication path. Furthermore, the underwater object 9002 determines the path to the external device 7000 via the bottom buoy 5502 (or underwater buoy 5402), unmanned vessel 1012, and unmanned vessel 1001 as the relay communication path.

[0117] Thus, as shown in Figure 24, the unmanned vessels 1012 and 1001 have the function of relaying communication between the bottom buoy 5502 (or underwater buoy 5402) and the external device 7000, and the unmanned vessel 1001 has the function of relaying communication between the surface buoy 5301 and the external device 7000. In other words, the connection path determination unit 2220 can determine a communication path in which the unmanned vessel 1010 relays communication between the surface buoy 5300 or bottom buoy 5500 (or underwater buoy 5400) of the underwater communication system and the external device 7000.

[0118] In Figure 24, an example of an external device is shown, which is installed on a manned vessel (mother ship) at sea. However, the external device is not limited to this and can consist of unmanned vessels at sea, manned submersibles underwater, unmanned underwater vehicles, aircraft, unmanned aerial vehicles, ground-based radio stations, ground bases, mobile terminal devices such as mobile phones, etc. The external device may also be connected to other systems via a communication network.

[0119] The connection path determination unit 2220 can automatically determine various relay communication paths as described above, but it may also have a function to determine the relay communication path according to user input information received from the user input reception unit 2500 or user terminal device 4000, which will be described later.

[0120] (A-3-3. Unmanned Vessel Control Command Decision Unit 2300) The unmanned vessel control command determination unit 2300 is a functional unit that determines control commands for the unmanned vessel to constitute the relay communication path, based on the relay communication path determined by the communication path determination unit 2200. The communication path determination unit 2200 includes a connection location determination unit 2310, a used unmanned vessel determination unit 2320, and a control command determination unit 2330.

[0121] The connection position determination unit 2310 is a functional unit that determines the position coordinates to be relayed by the unmanned vessel 1010, the number of unmanned vessels 1010, and the deployment formation based on the determined relay communication path.

[0122] The Unmanned Vessel Utilization Determination Unit 2320 is a functional unit that determines the type of unmanned vessel to be used for communication relay based on the determined relay communication path and the status information acquired by the System Status Information Acquisition Unit 2130. For example, the Unmanned Vessel Utilization Determination Unit 2320 can determine the type of unmanned vessel to be used for communication relay depending on the battery charge level, communication status, abnormal status, or the current location of the unmanned vessel 1010.

[0123] The control command determination unit 2330 has the function of determining control commands for the unmanned vessel 1010, including the movement path, movement speed, tracking pattern of the underwater object 9000, replacement, towing, recovery, lifting and lowering of unmanned vessels 1010 that are not in good condition, and power supply to unmanned vessels 1010 with low charge levels, based on the determined relay communication path and the determination results by the connection position determination unit 2310 and the unmanned vessel utilization determination unit 2320.

[0124] Furthermore, the control command determination unit 2330 may have a function to determine control commands related to the detection and determination process of the communication partner with the unmanned vessel 1010, or the authentication process for starting communication, when communication relay using the determined relay communication path is initiated using the unmanned vessel 1010. In addition, the control commands determined by the control command determination unit 2330 may include communication control commands related to the selection and switching of communication types, change of signal transmission strength, transmission direction (beamforming), communication speed, and transmission / reception retries.

[0125] Furthermore, the control command determination unit 2330 may have a function to determine a control command to disconnect the communication connection with the underwater communication system 5000 or terminate data transmission after the unmanned vessel 1010 has finished transmitting the data received from the communication partner to another communication partner, upon receiving a communication relay termination command that terminates communication relay using the relay communication path.

[0126] Furthermore, while the control command determination unit 2330 can automatically determine various control commands for the unmanned vessel 1010 as described above, it may also have a function to determine control commands according to user input information received from the user input reception unit 2500 or user terminal device 4000, which will be described later.

[0127] (A-3-4. Communication connection maintenance control unit 2400) The communication connection maintenance control unit 2400 is a functional unit that updates the relay communication path or the control command to the unmanned vessel 1010 in order to maintain the communication connection according to the real-time situation. The communication connection maintenance control unit 2400 includes a disturbance influence estimation unit 2410, a system state determination unit 2420, an object state determination unit 2430, a connection path update unit 2440, and an unmanned vessel operation update unit 2450.

[0128] The disturbance impact estimation unit 2410 is a functional unit that estimates the impact of environmental disturbances on communications related to relay communication paths, based on current environmental disturbance information in the sea or underwater area where the unmanned vessel system 1000 and the underwater communication system 5000 are deployed, as acquired by the disturbance information acquisition unit 2140.

[0129] The disturbance effect estimation unit 2410 can estimate, for example, the effect of disturbances on underwater communication using sound waves in a relay communication path. As an example, it can estimate the transmission distance of a sound wave signal according to the underwater noise level. Furthermore, as the water depth increases, the pressure increases, and as the pressure increases, the propagation speed of sound waves increases and the attenuation of sound waves tends to decrease. It is also known that the propagation characteristics of sound waves change depending on the temperature and salinity of the seawater. In addition, in the deep sea, there is a layer of minimum sound velocity where the speed of sound is at its lowest, and sound waves passing through this layer are less attenuated and propagate over long distances. In the deep sea, sound waves are reflected off the seabed, causing energy loss due to reflection, so it is necessary to consider the attenuation caused by this reflection.

[0130] Furthermore, as sound waves propagate, they spread out spherically, and the spread of energy causes the sound waves to attenuate. For example, when sound waves spread spherically, if the distance doubles, the energy is attenuated to 1 / 4. In addition, molecules in seawater absorb the energy of sound waves and convert it into thermal energy, causing the sound waves to attenuate, and it is known that high-frequency sound waves are particularly easily absorbed. Here, the viscosity of seawater changes the degree to which the energy of sound waves is converted into heat and attenuated. In this way, the disturbance effect estimation unit 2410 can predict the attenuation of sound waves by considering the effects of underwater noise level, water depth, water temperature, salinity, seabed reflection, viscosity, etc., and estimate the impact on the communication quality of underwater communication using sound waves.

[0131] The system status determination unit 2420 has the function of determining the current communication status of wireless communication or underwater communication between the unmanned vessel system 1000, the underwater communication system 5000, and the underwater object 9000, or the power status or abnormal status of the unmanned vessel system 1000 and the underwater communication system 5000, according to the information acquired by the system status information acquisition unit 2130.

[0132] For example, the system state determination unit 2420 can measure or estimate the current communication state, such as communication strength, upload speed, download speed, communication capacity, and communication delay time in wireless and underwater communications.

[0133] Furthermore, the system state determination unit 2420 may have a function to determine the current position of the unmanned vessel 1010. In this case, the system state determination unit 2420 can determine the current position of the unmanned vessel 1010 by acquiring information on its own position determined by the navigation state determination unit 1210 of the unmanned vessel 1010, but is not limited to this. It may also have a function to estimate the position of the unmanned vessel 1010, which estimates the relative position of the unmanned vessel 1010 with respect to a surface buoy equipped with the underwater communication system 5000 that communicates wirelessly with the unmanned vessel 1010, or the relative position of the unmanned vessel 1010 with respect to another unmanned vessel 1010, based on the received strength and direction of a wireless communication signal that includes at least one of the following: radio waves (including radio waves of any frequency such as long waves, millimeter waves, microwaves, etc.), optical signals (including signals from ToF sensors, IR sensors, etc.), and sound wave signals (including ultrasonic waves).

[0134] The object state determination unit 2430 is a functional unit that determines the operating state of the underwater object 9000 based on measurement data acquired by the measurement unit 1100 of the unmanned vessel 1010 and information from communication signals with the underwater object 9000 acquired by the object communication unit 1440. The object state determination unit 2430 can determine, for example, the global coordinates of the underwater object 9000, the relative position coordinates of the underwater object 9000 with respect to the unmanned vessel 1010, the relative distance, the relative direction, or whether the underwater object 9000 is moving, the direction of movement in the three-dimensional space underwater, and the speed of movement as the operating state of the underwater object 9000.

[0135] The connection path update unit 2440 is a functional unit that updates the relay communication path determined by the communication path determination unit 2200. For example, the connection path update unit 2440 can update the determined relay communication path according to the measurement or estimation results of the communication quality in the relay communication path determined by the communication path determination unit 2200. In other words, if the communication quality (communication strength, communication speed (UL / DL), delay time, communication capacity, etc.) measured or estimated by the system state determination unit 2420 is worse than a predetermined standard, the connection path update unit 2440 can change the relay communication path to one that changes the section with poor communication quality to another path.

[0136] Furthermore, when the unmanned vessel 1010 communicates with the underwater object 9000, the connection path update unit 2440 determines whether there is an indication that the underwater object 9000 is deviating from the communication range of the unmanned vessel 1010, based on the position of the underwater object 9000 (including at least one of the global coordinates, the relative position coordinates of the underwater object 9000 with respect to the unmanned vessel 1010, relative distance, and relative direction), whether it is moving, its speed of movement, and its acceleration of movement, as determined by the object status determination unit 2430. If such an indication is determined, the relay communication path is updated. In other words, if it is determined that there is an indication that the underwater object 9000 is deviating from the communication range of the unmanned vessel 1010, the relay communication path is updated to another unmanned vessel 1010 or a relay communication path via various buoys of the underwater communication system 5000, where the underwater object 9000 is within the communication range.

[0137] Furthermore, when a user transmits remote control commands to the underwater object 9000 via a relay communication path, and the system detects that the user is causing the underwater object 9000 to make a sharp turn or perform high-speed maneuvers, the relay communication path can be updated to the path with the least communication delay.

[0138] The connection path update unit 2440 can automatically update the relay communication path as described above, but it may also have a function to update the relay communication path according to user input information received from the user input reception unit 2500 or user terminal device 4000, which will be described later.

[0139] The unmanned vessel operation update unit 2450 is a functional unit that updates the control commands for the unmanned vessel 1010 determined by the unmanned vessel control command determination unit 2300. For example, when the unmanned vessel 1010 communicates with an underwater object 9000, the unit can determine or update the control commands relating to the unmanned vessel 1010, including at least one of the positions of the multiple unmanned vessels 1010, changes in their deployed shape, expansion or contraction of their deployment range, and spacing, depending on the current or future expected position of the underwater object 9000 or the underwater target area, whether it is moving or not, its speed of movement, and its acceleration of movement. As an example, the unit can determine whether to expand or contract the deployment range of the multiple unmanned vessels 1010 depending on whether the underwater object 9000 is moving or stationary in the sea. For example, if the underwater object 9000 is stationary, the deployment range of the multiple unmanned vessels 1010 is reduced, and conversely, if the underwater object 9000 is moving, the deployment range of the multiple unmanned vessels 1010 is expanded.

[0140] Furthermore, when an underwater object 9000 communicating with the unmanned vessel 1010 performs a predetermined task, including searching, investigating, tracking, monitoring, or inspecting a predetermined object, the unmanned vessel operation update unit 2450 can determine or update commands concerning the unmanned vessels 1010, including at least one of the positions, deployment configurations, and spacing of multiple unmanned vessels 1010, according to the status or alert level of the underwater object 9000 regarding its predetermined task.

[0141] Furthermore, the unmanned vessel operation update unit 2450 may also have a function to generate an operation command to supply power to the unmanned vessel 1010 when the object status determination unit 2430 determines that the charge level of the underwater object 9000 is low, and to generate an operation command to tow a surface buoy to the position of the underwater object 9000 and supply power to the underwater object 9000 from the surface buoy.

[0142] Furthermore, if the unmanned vessel operation update unit 2450 detects a malfunction or abnormality in the underwater object 9000 by the object status determination unit 2430, or if it receives a request from the user regarding the recovery or towing of the underwater object 9000, it can generate an operation command for the unmanned vessel 1010 to tow the underwater object 9000.

[0143] Furthermore, if the unmanned vessel operation update unit 2450 receives a request from the user regarding power supply to a surface buoy, it may generate an operation command to move the unmanned vessel 1010 to the location of the surface buoy and supply power from the unmanned vessel 1010 to the surface buoy. Also, if the user receives a request regarding power supply to a submersible buoy, it may generate an operation command to move the unmanned vessel 1010 to the location of the water surface above the submersible buoy, lower the power supply cable from the unmanned vessel 1010 and supply power to the submersible buoy.

[0144] Furthermore, if the disturbance effect estimation unit 2410 estimates that the measurable range of the unmanned vessel 1010 measured by the measurement unit 1100 will be narrowed due to the effects of environmental disturbances such as heavy rain, the unmanned vessel operation update unit 2450 can decide to narrow the relative distance between multiple unmanned vessels 1010 or increase the number of unmanned vessels 1010 to increase the vessel density. In addition, if the ocean current or tidal current is strong and the unmanned vessel 1010 is being carried away from its target position, the unit can decide to control the unmanned vessel to move against the current.

[0145] Next, when the unmanned vessel 1010 communicates with the underwater object 9000, the method for determining the placement of the unmanned vessel 1010 according to the water depth of the underwater object or the underwater target area will be explained using Figures 25 and 26. Figure 25 shows the first scenario in which the unmanned vessel 1010 and a surface buoy provide a communication environment to the underwater object or the underwater target area. Figure 26 shows the second scenario in which the unmanned vessel 1010 and a surface buoy provide a communication environment to the underwater object or the underwater target area.

[0146] The upper diagram of Figure 25 shows the arrangement of the unmanned vessel 1010, the surface buoy, and the underwater target object (underwater target area) when viewed from the side, and the range within which each of the unmanned vessel 1010 and the surface buoy can communicate with the underwater target object 9000. The lower diagram of Figure 25 shows the arrangement of the unmanned vessel 1010, the surface buoy, and the underwater target object (underwater target area) when viewed from above in a plan view. As shown in Figure 25, the underwater communication ranges of each of the unmanned vessel 1010 and the surface buoy are spherical in shape with a radius equal to the communication range of underwater communication using sound waves, etc. At the deepest part of the underwater target area shown in the upper diagram of Figure 25, there is an area that is not included in the underwater communication range of either the unmanned vessel 1010 or the surface buoy. Therefore, as shown in the lower diagram of Figure 25, the communication ranges at the deepest part of the underwater target area do not overlap, resulting in a gap. Therefore, if an underwater object is located in this gap, neither the unmanned vessel 1010 nor the surface buoy can communicate with the underwater object 9000.

[0147] Figure 26 shows a configuration where the relative distance between the unmanned vessel 1010 and the surface buoy is narrower and they are placed at a closer interval than in the example shown in Figure 25. As a result, the overlapping range of the underwater communication ranges of the unmanned vessel 1010 and the surface buoy is widened, and no gaps in the underwater communication range occur even at the deepest point of the underwater target area shown in the upper diagram of Figure 26. For this reason, it is desirable to control the relative distance between the unmanned vessel 1010 and the surface buoy so that no gaps occur or the gaps in the underwater communication range are narrowed, depending on the vertical position of the underwater target object or underwater target area. The range in which the unmanned vessel 1010 and the surface buoy 5300 can communicate with the underwater target object 9000, as illustrated in Figures 25 and 26 above, is not determined solely by the performance of the communication units of the unmanned vessel 1010 and the surface buoy 5300, but is also determined by taking into account the performance of the communication unit of the underwater target object 9000. In other words, the range in which the unmanned vessel 1010 or surface buoy 5300 can communicate with the underwater object 9000 can be calculated based on the shorter of the two distances: the transmission range of the acoustic signal (call) transmitted from the communication unit (USBL transceiver, etc.) of the unmanned vessel 1010 or surface buoy 5300 to the underwater object 9000, and the transmission range of the acoustic signal (response) transmitted from the communication unit (transponder, etc.) of the underwater object 9000 to the unmanned vessel 1010 or surface buoy 5300.

[0148] Therefore, the unmanned vessel operation update unit 2450 can determine a control command to move the multiple unmanned vessels 1010 so that the spacing between them narrows when the position of the underwater object 9000 or the underwater target area determined by the object state determination unit 2430 moves in the downward direction, or it can determine a control command to move the multiple unmanned vessels 1010 so that the spacing between them widens when the position of the underwater object 9000 or the underwater target area moves in the upward direction.

[0149] Furthermore, while the unmanned vessel operation update unit 2450 can automatically update various control commands for the unmanned vessel 1010 as described above, it may also have a function to update control commands according to user input information received from the user input reception unit 2500 or user terminal device 4000, which will be described later.

[0150] (A-3-5. User input reception unit 2500) The user input reception unit 2500 is a functional unit that receives user input information related to various types of information input by users of the integrated control system 2000. For example, the user input reception unit 2500 can receive user input information related to relay communication paths and control commands for unmanned vessels.

[0151] (A-3-6. Information output unit 2600) The information output unit 2600 is a functional unit that performs display output, command output, or transmission output of information generated by each functional unit within the integrated control system 2000. The information output unit 2600 comprises a display output unit 2610, a command transmission unit 2620, and an information transmission unit 2630.

[0152] The display output unit 2610 is a functional unit that displays and outputs acquired information, judgment information, decision information, etc., from each functional unit within the integrated control system 2000. For example, the display output unit 2610 can display and output information such as relay communication path information determined by the communication path determination unit 2200, information on control commands for the unmanned vessel 1010 determined by the unmanned vessel control command determination unit 2300, and relay communication path information or control commands updated by the communication connection maintenance control unit 2400.

[0153] The command transmission unit 2620 can transmit to the unmanned vessel 1010 as a command signal information related to the relay communication route determined by the communication route determination unit 2200, information related to control commands for the unmanned vessel 1010 determined by the unmanned vessel control command determination unit 2300, and information related to the relay communication route or control commands updated by the communication connection maintenance control unit 2400. The command transmission unit 2620 may also transmit this command signal to the cooperative system control base 5100 of the underwater communication system 5000, not limited to the unmanned vessel 1010.

[0154] The information transmission unit 2630 can transmit information regarding the relay communication route determined by the communication route determination unit 2200, information regarding control commands for the unmanned vessel 1010 determined by the unmanned vessel control command determination unit 2300, and information regarding the relay communication route or control commands updated by the communication connection maintenance control unit 2400 to the user terminal device 4000, the underwater communication system 5000, and the external system 8000.

[0155] (A-4. Operation Flow of the Integrated Control System 2000) Next, we will explain the operation flow of the integrated control system 2000. Figure 27 is a flowchart showing the operation processing flow of the integrated control system 2000.

[0156] Next, the request information acquisition unit 2110 acquires information regarding requests for communication supplementation to the underwater object 9000 or the underwater target area (step 101).

[0157] Next, the system information acquisition unit 2120 acquires information regarding the system configuration of the unmanned vessel system 1000 and the underwater communication system 5000 (step 102).

[0158] Next, the communication path determination unit 2200 determines a relay communication path for the communication line to relay connection of the underwater object 9000 to the internet line 6000 or external device 7000, or to provide the underwater object 9000 with information regarding the location of the underwater object 9000 (step 103). The detailed processing of this step will be described later.

[0159] Next, the unmanned vessel control command determination unit 2300 determines a control command for the unmanned vessel to constitute the relay communication path, based on the relay communication path determined by the communication path determination unit 2200 (step 104). The detailed processing of this step will be described later.

[0160] Next, the communication connection maintenance control unit 2400 updates the relay communication path or the control command to the unmanned vessel 1010 in order to maintain the communication connection according to the real-time situation (step 105). The detailed processing of this step will be described later.

[0161] (A-5. Determination of relay communication path) Next, using Figures 28 and 29, we will explain the processing flow and determination results of the relay communication path determination unit 2200.

[0162] (A-5-1. Flowchart for determining relay communication paths) Figure 28 is a flowchart showing the processing flow for determining the relay communication path by the communication path determination unit 2200. In particular, Figure 28 shows the detailed processing of step 103 shown in Figure 27.

[0163] First, the communication path candidate determination unit 2210 determines candidate relay communication paths for a communication line to relay connection between the underwater object 9000 and the internet line 6000 or external device 7000, or for providing the underwater object 9000 with information regarding its location (step 201). In this step, for example, candidate relay communication paths are determined based on request information obtained by the request information acquisition unit 2110 and system information of the unmanned vessel system 1000 and the underwater communication system 5000 obtained by the system information acquisition unit 2120, as shown in Figures 13 and 14.

[0164] Next, the connection path determination unit 2220 determines a relay communication path using the unmanned vessel system 1000 and the underwater communication system 5000 from among the multiple relay communication path candidates generated by the communication path candidate determination unit 2210, based on the information acquired by the system information acquisition unit 2120 (step 202).

[0165] Next, the display output unit 2610 displays and outputs information regarding the relay communication path determined by the connection path determination unit 2220 (step 203).

[0166] Next, the user input receiving unit 2500 receives user input information regarding the relay communication path (step 204).

[0167] Next, the connection path determination unit 2220 determines the relay communication path according to the user input information (step 205).

[0168] (A-5-2. Example of display of relay communication path determination results) Figure 29 shows an example of a display of the relay communication path determined by the communication path determination unit 2200. In particular, Figure 29 shows an example of the display screen output during the processing of step 203 shown in Figure 28.

[0169] In the example shown in Figure 29, two redundant routes (Route 1 and Route 2) are displayed as the result of determining the relay communication route for connecting an underwater object 9000 located in an underwater communication supplement request area (underwater target area) specified by the user with an internet connection 6000. Route 1 is a relay communication line that connects underwater object 9000, unmanned vessel USV002, surface buoy SB001, communication satellite, satellite base station, and internet connection 6000 in that order, while Route 2 is a relay communication line that connects underwater object 9000, unmanned vessel USV002, unmanned vessel USV001, communication satellite, satellite base station, and internet connection 6000 in that order.

[0170] Furthermore, the upper part of the display screen shown in Figure 29 shows these relay communication paths in map format, displaying the locations and connection relationships of unmanned vessels, surface buoys, and satellite base stations used in the relay communication paths. The lower part of the display screen shown in Figure 29 displays identification information for the unmanned vessels and surface buoys used in these relay communication paths, as well as information regarding the communication quality of the two paths (path 1 and path 2).

[0171] Furthermore, at the bottom of the display screen shown in Figure 29, operation buttons are displayed for approving or modifying the displayed relay communication path determination result. The integrated control system 2000 can receive user input information regarding the relay communication path via these operation buttons.

[0172] (A-6. Decision on unmanned vessel control command) Next, using Figures 30 and 31, the processing flow and determination results of the control command determination unit 2300 for the unmanned vessel 1010 will be explained.

[0173] (A-6-1. Decision processing flow for unmanned vessel control commands) Figure 30 is a flowchart showing the process flow for determining control commands for the unmanned vessel 1010 by the unmanned vessel control command determination unit 2300. Figure 30 specifically shows the detailed processing of step 104 shown in Figure 27.

[0174] First, the connection position determination unit 2310 determines the position coordinates of the unmanned vessel 1010 to be used for relaying, the number of unmanned vessels 1010, and the deployment formation based on the relay communication path (step 301).

[0175] Next, the unmanned vessel selection unit 2320 determines the unmanned vessel to be used for communication relay based on the relay communication path and the status information acquired by the system status information acquisition unit 2130 (step 302).

[0176] Next, the control command determination unit 2330 determines control commands for the unmanned vessel 1010, including the movement path of the unmanned vessel 1010, movement speed, tracking pattern of the underwater object 9000, replacement of unmanned vessel 1010 in poor condition, towing, recovery, lifting and lowering, and power supply to unmanned vessel 1010 with low charge levels, based on the relay communication path and the determination results by the connection position determination unit 2310 and the unmanned vessel utilization determination unit 2320 (step 303).

[0177] Next, the display output unit 2610 displays and outputs information regarding the control command for the unmanned vessel 1010 determined by the control command determination unit 2330 (step 304).

[0178] Next, the user input receiving unit 2500 receives user input information regarding control commands for the unmanned vessel 1010 (step 305).

[0179] Next, the control command determination unit 2330 determines the control command for the unmanned vessel 1010 according to the user input information (step 306).

[0180] (A-6-2. Example of display of the result of a control command decision for an unmanned vessel) Figure 31 shows an example of the display of control commands for an unmanned vessel determined by the unmanned vessel control command determination unit 2300. In particular, Figure 31 shows an example of the display screen output during the processing of step 304 shown in Figure 30.

[0181] In the example shown in Figure 31, the movement paths of multiple unmanned vessels 1010 are displayed as the result of determining control commands for the unmanned vessels 1010 to establish communication connections with underwater objects 9000 located in an underwater communication supplement request area (underwater target area) specified by the user.

[0182] Furthermore, the upper part of the display screen shown in Figure 31 shows the current positions of multiple unmanned vessels 1010 and the direction of movement (or movement path, or destination location) determined by the control command in map format, and the positions and connection relationships of unmanned vessels and surface buoys used in the relay communication path are displayed. The lower part of the display screen shown in Figure 31 shows the identification information of these multiple unmanned vessels 1010, as well as their current position, charge level, communication range, and target location.

[0183] Furthermore, at the bottom of the display screen shown in Figure 31, operation buttons are displayed for approving or modifying the decision result of the control command for the displayed unmanned vessel 1010. The integrated control system 2000 can receive user input information regarding the control command for the unmanned vessel 1010 via these operation buttons.

[0184] (A-7. Determination of control commands for maintaining communication connection) Next, using Figures 32 to 34, we will explain the processing flow and determination results for control commands to maintain the communication connection by the communication connection maintenance control unit 2400.

[0185] (A-7-1. Process flow for determining control commands to maintain communication connection) Figure 32 is a flowchart showing the processing flow for determining control commands to maintain the communication connection by the communication connection maintenance control unit 2400. In particular, Figure 32 shows the detailed processing of step 105 shown in Figure 27.

[0186] First, the disturbance impact estimation unit 2410 estimates the impact of environmental disturbances on communications related to relay communication paths, based on current environmental disturbance information in the area on or under the sea where the unmanned vessel system 1000 and the underwater communication system 5000 are deployed (step 401).

[0187] Next, the system state determination unit 2420 determines the current communication status of wireless communication or underwater communication between the unmanned vessel system 1000, the underwater communication system 5000, and the underwater object 9000, or the power status or abnormal status of the unmanned vessel system 1000 and the underwater communication system 5000 (step 402).

[0188] Next, the object state determination unit 2430 determines the operating state of the underwater object 9000 based on the measurement data acquired by the measurement unit 1100 of the unmanned vessel 1010 and the information from the communication signal with the underwater object 9000 acquired by the object communication unit 1440 (step 403).

[0189] Next, the connection path update unit 2440 determines whether to update the relay communication path (step 404).

[0190] Next, the unmanned vessel operation update unit 2450 updates the control commands for the unmanned vessel 1010 (step 405).

[0191] Next, the display output unit 2610 displays and outputs information regarding the various determination results and decision results determined or decided by the communication connection maintenance control unit 2400 (step 406).

[0192] Next, the user input receiving unit 2500 receives user input information regarding the relay communication path or control commands to the unmanned vessel 1010 (step 407).

[0193] Next, the communication connection maintenance control unit 2400 determines the relay communication path or control command to the unmanned vessel 1010 according to the user input information (step 408).

[0194] (A-7-2. Example of displaying the status determination result) Figure 33 shows an example of the display of the determination results by the system state determination unit 2420 and the object state determination unit 2430. In particular, Figure 33 shows an example of the display screen that is output during the process of step 406 shown in Figure 32.

[0195] In the example shown in Figure 33, the current communication status of wireless and underwater communication between the unmanned vessel system 1000, the underwater communication system 5000, and the underwater object 9000, as determined by the system status determination unit 2420, and the current position and direction of movement of the underwater object 9000 as determined by the object status determination unit 2430 are displayed.

[0196] Furthermore, the upper part of the display screen shown in Figure 33 shows the current position and direction of movement (or movement path, or destination location) for each of the multiple unmanned vessels 1010, as well as the underwater communication range extended by the multiple unmanned vessels 1010 (display of communication limit distance lines, etc.) in map format. Two redundant paths (path 1 and path 2) are displayed as relay communication paths currently in use. In addition, the location of communication sections in the relay communication paths where communication quality has deteriorated is displayed as a warning in map format.

[0197] Furthermore, the lower part of the display screen shown in Figure 33 shows information such as the current operating status of the underwater object 9000, including its position, direction of movement, speed of movement, and amount of communication data. In addition, the route information and current communication quality for the two redundant relay communication paths (path 1 and path 2) are displayed. Furthermore, sections of the relay communication path where the communication quality has deteriorated are indicated with a warning. Finally, at the lower part of the display screen, warning information regarding communication quality (decreased upload communication speed) is displayed.

[0198] Note that while Figure 33 shows an example where the current communication quality is displayed for each of the two routes, it is also possible to display the communication quality for each section within a route, rather than for each route.

[0199] As shown in Figure 33, the current positions, underwater communication ranges, and communication status of multiple unmanned vessels 1010 determined by the system state determination unit 2420, and the current operating status of the underwater object 9000 determined by the object state determination unit 2430 are displayed on the display screen in map format and other table formats, allowing the user to more accurately grasp the relay communication path and its communication status, as well as the operating status of the underwater object 9000.

[0200] (A-7-3. Example of display of relay communication path and control command update results) Figure 34 shows an example of the display of the update decision results by the connection route update unit 2440 and the unmanned vessel operation update unit 2450. In particular, Figure 34 shows an example of the display screen that is output during the processing of step 406 shown in Figure 32.

[0201] In the example shown in Figure 34, information regarding the updated relay communication path determined by the connection path update unit 2440 and information regarding the updated unmanned vessel control commands determined by the unmanned vessel operation update unit 2450 are displayed.

[0202] Furthermore, the upper part of the display screen shown in Figure 34 displays the current positions of multiple unmanned vessels 1010 and the direction of movement (or movement path, or movement target location) determined by the updated control command in map format, and the positions and connection relationships of unmanned vessels and surface buoys used in the relay communication path are displayed. The lower part of the display screen shown in Figure 34 displays the updated relay communication path and communication quality, identification information of multiple unmanned vessels 1010, their current position, charge level, communication range, and movement target location.

[0203] Furthermore, at the bottom of the display screen shown in Figure 34, operation buttons are displayed for approving or modifying the updated relay communication route and the updated control command decision result for the unmanned vessel 1010. The communication connection maintenance control unit 2400 can receive user input information regarding the updated relay communication route and the updated control command for the unmanned vessel 1010 via these operation buttons.

[0204] (A-8. Providing location information to underwater object 9000) Next, using Figure 35, we will explain how to provide positional information from the unmanned vessel 1010 to the underwater object 9000. Figure 35 is a conceptual diagram of how positional information is provided from the unmanned vessel 1010 to the underwater object 9000.

[0205] As shown in Figure 35, an unmanned vessel 1001 communicating with an orbital AP3100 (for example, a communications satellite 3110) can receive information on the global position coordinates of the communications satellite 3110 from the satellite 3110 and calculate its own global position coordinates based on this received information. Similarly, an unmanned vessel 1001 communicating with a ground AP3200 (for example, a ground base station) can receive information on the global position coordinates of the ground base station from the ground base station and calculate its own global position coordinates based on this received information.

[0206] Furthermore, the surface buoy 5300, which communicates with the surface communication antenna 5200, receives information on the global position coordinates of the surface communication antenna 5200 and can calculate its own global position coordinates based on this received information. In addition, the bottom buoy 5500 can pre-record information on its own global position coordinates.

[0207] Here, the unmanned vessel 1011, which communicates wirelessly with the aforementioned unmanned vessel 1001, surface buoy 5300, and submarine buoy 5500 using radio waves, optical signals, or sound waves, can receive information on the global position coordinates of the unmanned vessel 1001, surface buoy 5300, and submarine buoy 5500. Furthermore, the unmanned vessel 1011 can calculate its relative position to the unmanned vessel 1001, surface buoy 5300, and submarine buoy 5500 based on the detection information of the received strength and direction of the wireless communication signals received from the unmanned vessel 1001, surface buoy 5300, and submarine buoy 5500.

[0208] Furthermore, the unmanned boat 1011 can calculate its own Global position coordinates based on the received information of the Global position coordinates of the unmanned boats 1001, the surface buoys 5300, and the underwater buoys 5500, and the calculated information of the relative position of the self-vehicle (unmanned boat 1011) with respect to the unmanned boats 1001, the surface buoys 5300, and the underwater buoys 5500.

[0209] As described in FIG. 8, the unmanned boat 1011 can calculate the relative position of the underwater object 9000 with respect to the unmanned boat 1011 by, for example, transmitting an acoustic signal (call) from a USBL transceiver or the like and receiving, by the USBL transceiver, an acoustic signal (response) transmitted in response from an acoustic positioning transponder mounted on the diver side. Furthermore, the unmanned boat 1011 can calculate the Global position coordinates of the underwater object 9000 based on its own Global position coordinates (unmanned boat 1011) and the calculated relative position of the underwater object 9000 with respect to the unmanned boat 1011, and transmit the information of the Global position coordinates of the underwater object 9000 to the underwater object 9000 by underwater communication means such as a USBL transceiver.

[0210] As shown in FIG. 35, by the surface unmanned boat 1010 grasping its own Global position coordinates, it becomes possible to provide the information of the Global position coordinates of the underwater object 9000 to the underwater object 9000 that performs communication.

[0211] (A-9. Hardware Configuration) FIG. 36 is a hardware configuration diagram of the overall control system 2000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 includes an input device 100, an output device 200, a processing device 300, a main storage device 400, an auxiliary storage device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0212] The input device 100 can constitute a user input receiving unit 2500 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.

[0213] The output device 200 is a device that outputs various information generated by the integrated control system 2000, and can constitute the display output unit 2610. Specifically, the output device 200 can constitute the display output unit 2610 with eyewear, AR, VR display devices, etc., and may also be a printer or a speaker.

[0214] 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.

[0215] The main memory 400 is a memory device such as RAM, which temporarily stores various information read from the system, and ROM, which stores programs executed by the processing unit 300, application programs, and various other information. The auxiliary memory 500 is a non-volatile memory device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory, which can store digital information.

[0216] The communication device 600 is a device that performs wireless or wired information communication with the outside world, and can constitute the information transmission unit 2630 described above.

[0217] In the embodiments described above, a communication system 1 utilizing an unmanned vessel system 1000 consisting of multiple unmanned vessels 1010 operating on the sea or water was described. However, the present invention is not limited to unmanned vessels 1010, and can be applied as a maritime relay system to a ship system consisting of manned vessels, or a ship system in which unmanned vessels and manned vessels are mixed.

[0218] 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.

[0219] [A-2. Effects of this embodiment] The embodiments described above provide an underwater object in an underwater area with a communication environment with external communication devices or an internet connection, or provide the underwater object with location information or information used to calculate location information. [Explanation of symbols]

[0220] 1…Communication system (system) 100...Input device 200...Output device 300... Processing unit 400... Main memory 500... Auxiliary storage device 600... Communication device 700...bus 1000... Unmanned boat system 1001...Main unit 1002...Slave unit 1010, 1011, 1012, 1013, 1014...Unmanned boat 1100...Measurement unit 1110...Measurement sensor 1120...Measurement and Control Unit 1200...Self-inflicted status determination unit 1210...Navigation status determination unit 1220...Internal state determination unit 1230...External state determination unit 1300...Navigation Department 1400... Communications Department 1410... Unmanned Vessel Communications Department 1420...Centralized Control and Communications Department 1430...Relay Communications Department 1440… Object Communication Unit 1500… Judgment Unit 1600… Recording Unit 1610… Measurement Data Recording Unit 1620… Own State Recording Unit 1630… Judgment Information Recording Unit 2000… Overall Control System 2100… Information Import Unit 2110… Requirement Information Acquisition Unit 2120… System Information Acquisition Unit 2130… System State Information Acquisition Unit 2140… Disturbance Information Acquisition Unit 2200… Communication Route Determination Unit 2210… Communication Route Candidate Judgment Unit 2220… Connection Route Determination Unit 2300… Unmanned Boat Control Command Determination Unit 2310… Connection Position Determination Unit 2320… Utilized Unmanned Boat Determination Unit 2330… Control Command Determination Unit 2400… Communication Connection Maintenance Control Unit 2410… Disturbance Influence Estimation Unit 2420… System State Judgment Unit 2430… Object State Judgment Unit 2440… Connection Route Update Unit 2450… Unmanned Boat Operation Update Unit 2500… User Input Reception Unit 2600… Information Output Unit 2610… Display Output Unit 2620… Command Transmission Unit 2630… Information Transmission Unit 3000… Access Point 3100… Aerial Access Point 3110… Communication Satellite 3111… GEO Satellite 3112… LEO Satellite 3120… Stratospheric Flying Body (HAPS) 3200… Ground Access Point 4000… User Terminal Device 5000… Underwater Communication System 5100… Cooperative System Control Base 5200… Marine Communication Antenna 5300, 5301, 5302… Buoys on Water 5400, 5401, 5402… Buoys in Sea 5500, 5501, 5502… Buoys on Seabed 6000… Internet Line 7000… External Device 8000… External System 9000, 9001, 9002... underwater objects

Claims

1. An information acquisition unit that acquires information about an underwater communication system that provides an environment capable of communicating with an internet line or external device to an underwater object or underwater target area, or provides information about the location of the underwater object to the underwater object, An unmanned vessel capable of navigating on the water and equipped with a communication unit capable of communicating with at least one of the underwater object and the underwater communication system, A communication path determination unit determines a relay communication path for a communication line to relay connection of the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or to provide the underwater object with information regarding the position of the underwater object, based on the information acquired by the information acquisition unit. A communication system comprising: an unmanned vessel command determination unit that determines control commands for the unmanned vessel to constitute the relay communication path based on the determined relay communication path.

2. In the communication system described in claim 1, A communication system in which the information acquired by the information acquisition unit includes information regarding the number, location, communication performance, and communication destination of at least one of the communication relay units installed on the surface, underwater, or at the bottom of the underwater communication system.

3. In the communication system described in claim 1, A communication system in which the information acquired by the information acquisition unit includes information relating to at least one of the following: request information regarding the underwater object for which a communication environment is provided; request information regarding the underwater area for which a communication environment is provided; a time, date, time, or period for which communication is requested; and a request for the provision of position coordinate information of the underwater object.

4. In the communication system described in claim 1, A communication system in which the information acquired by the information acquisition unit includes communication quality, including at least one of the following: communication strength, upload communication speed, download communication speed, communication delay time, and communication capacity of the communication environment provided to the underwater object or the underwater target area, or request information regarding line redundancy of the communication path of the communication environment provided to the underwater object or the underwater target area.

5. In the communication system described in claim 1, The communication path determination unit determines, as the relay communication path, a communication path for relaying communication between the underwater object or the underwater target area and a communication relay unit installed on the surface, underwater, or on the seabed of the underwater communication system, using the unmanned vessel.

6. In the communication system described in claim 5, When the aforementioned communication relay unit is a floating buoy on the water, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the underwater object or underwater target area and the surface buoy, using the communication unit of the unmanned vessel.

7. In the communication system described in claim 5, When the communication relay unit is an underwater buoy floating in the water, or a bottom buoy in contact with the seabed, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the underwater object or underwater target area and the underwater buoy or bottom buoy, using the communication unit of the unmanned vessel.

8. In the communication system described in claim 1, The communication path determination unit determines, as the relay communication path, a communication path for relaying communication between a communication relay unit installed on the surface, underwater, or seabed of the underwater communication system and a communication satellite, communication aircraft, or ground base station connected to the Internet line, using the unmanned vessel.

9. In the communication system described in claim 8, When the aforementioned communication relay unit is a floating buoy on the water, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communications between the communication satellite or the communication aircraft and the surface buoy, using the communication unit of the unmanned vessel.

10. In the communication system described in claim 8, When the communication relay unit is an underwater buoy floating in the water, or a bottom buoy installed on the seabed, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communications between the communication satellite, the communication aircraft, or the ground base station and the underwater buoy or the bottom buoy, using the communication unit of the unmanned vessel.

11. In the communication system described in claim 1, When the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or at the bottom of the water, The communication path determination unit determines a communication path for relaying communication between a plurality of communication relay units using the unmanned vessel as the relay communication path.

12. In the communication system described in claim 11, When the multiple communication relay units include a first surface buoy and a second surface buoy, The unmanned vessel command determination unit is a communication system that determines control commands to relay communication between the first surface buoy and the second surface buoy using the communication unit of the unmanned vessel.

13. In the communication system described in claim 11, When multiple communication relay units include a surface buoy and an underwater buoy or a bottom buoy, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the surface buoy and the underwater buoy or the bottom buoy, using the communication unit of the unmanned vessel.

14. In the communication system described in claim 11, When multiple communication relay units include a first underwater buoy or a first submersible buoy and a second underwater buoy or a second submersible buoy, The unmanned vessel command determination unit is a communication system that determines control commands for the unmanned vessel to relay communication between the first underwater buoy or first submarine buoy and the second underwater buoy or second submarine buoy, using the communication unit of the unmanned vessel.

15. In the communication system described in claim 1, When the underwater communication system has a plurality of communication relay units installed on the water surface, underwater, or at the bottom of the water, The communication path determination unit determines a communication path for relaying communication between the communication relay unit and the external device using the unmanned vessel as the relay communication path.

16. In the communication system described in claim 1, The control command for the unmanned vessel determined by the unmanned vessel command determination unit includes: A communication system that includes commands relating to at least one of the following: the number of unmanned vessels, the deployment formation of the multiple unmanned vessels, the movement path of the unmanned vessels, the movement speed, the tracking pattern of the underwater object, and the replacement, towing, recovery, lifting, and power supply of the unmanned vessels.

17. In the communication system described in claim 1, The control commands for the unmanned vessel determined by the unmanned vessel command determination unit include: A communication system that includes control commands relating to the detection and determination process of the communication partner with the unmanned vessel, or the authentication process for initiating communication, when initiating communication relay using the relay communication path.

18. In the communication system described in claim 1, The control commands for the unmanned vessel determined by the unmanned vessel command determination unit include: A communication system that, upon receiving a communication relay termination command to terminate communication relay using the aforementioned relay communication path, includes a command to disconnect the communication connection with the underwater communication system or terminate data transmission after the unmanned vessel has completed transmitting the data received from the communication partner to another communication partner.

19. In the communication system described in claim 1, When the unmanned vessel communicates with the underwater object, The unmanned vessel command determination unit is a communication system that determines control commands relating to a plurality of unmanned vessels, including at least one of the following: the position of the unmanned vessels, the deformation of their deployed shape, the expansion or contraction of their deployment range, and the spacing between them, according to the current or future expected position of the underwater object or underwater target area, whether or not they are moving, their movement speed, and their movement acceleration.

20. In the communication system described in claim 19, The aforementioned unmanned vessel command decision unit is: When the position of the underwater object or the position of the underwater target area moves in a downward direction, a control command is determined to move the multiple unmanned boats such that the spacing between the multiple unmanned boats becomes narrower. Alternatively, a communication system that determines a control command to move a plurality of unmanned vessels such that the spacing between them widens when the position of the underwater object or the position of the underwater target area moves in an upward direction.

21. In the communication system described in claim 1, When the underwater object communicating with the aforementioned unmanned vessel performs a predetermined task, including searching for, investigating, tracking, monitoring, or inspecting a predetermined object, The unmanned vessel command determination unit is a communication system that determines a command concerning a plurality of unmanned vessels, including at least one of the position, deployment shape, and spacing of the unmanned vessels, according to the status or alert level of the underwater object relating to the predetermined mission.

22. In the communication system described in claim 1, A communication system comprising a communication connection maintenance control unit that updates the relay communication path determined by the communication path determination unit.

23. In the communication system described in claim 22, When the unmanned vessel communicates with the underwater object, The communication connection maintenance control unit updates the relay communication path when it determines, based on the position, movement status, movement speed, and movement acceleration of the underwater object, that there is an indication that the underwater object is about to deviate from the communication range of the unmanned vessel.

24. In the communication system described in claim 22, A communication system in which the communication connection maintenance control unit updates the relay communication path according to the measurement or estimation result of the communication quality in the relay communication path determined by the communication path determination unit.

25. In the communication system described in claim 1, It is equipped with a user input receiving unit that receives user input information, A communication system in which, when the user input receiving unit receives user input information regarding the relay communication path, the communication path determination unit determines the relay communication path according to the user input information.

26. In the communication system described in claim 1, It is equipped with a user input receiving unit that receives user input information, A communication system in which, when the user input receiving unit receives user input information relating to the control command for the unmanned vessel, the unmanned vessel command determination unit determines the control command according to the user input information.

27. In the communication system described in claim 1, A communication system comprising a position estimation unit that estimates the relative position of the unmanned vessel with respect to the surface buoy, or the relative position of the unmanned vessel with respect to the other unmanned vessel, based on the received intensity and direction of a wireless communication signal, which includes at least one of radio waves, optical signals, and sound waves, received from a surface buoy equipped with the underwater communication system that communicates wirelessly with the unmanned vessel, or from another unmanned vessel that communicates with the unmanned vessel.

28. An underwater communication system comprising a communication relay unit installed on the water surface, underwater, or on the seabed, and an information processing method that provides an environment for communication connection with an internet line or external device to an underwater object or underwater target area, or provides information regarding the location of the underwater object, using at least one unmanned vessel capable of navigating on the water surface, Computers An information acquisition step to acquire information related to the underwater communication system, A communication path determination step, based on the information acquired in the information acquisition step, determines a relay communication path for a communication line to relay connection of the underwater object to the Internet line or the external device using the unmanned vessel and the underwater communication system, or to provide the underwater object with information regarding the location of the underwater object. A communication processing method that performs the following steps: an unmanned vessel command determination step of determining a control command for the unmanned vessel to constitute the relay communication path based on the determined relay communication path.

29. A program used in a communication system that provides an environment for communication with an underwater object or underwater target area located underwater, or provides information regarding the location of said underwater object, using an underwater communication system equipped with a communication relay unit installed on the water surface, underwater, or on the seabed, and at least one unmanned vessel capable of navigating on the water surface, to an underwater object or underwater target area located underwater, or to said underwater object, On the computer, An information acquisition command to acquire information related to the underwater communication system, A communication path determination command determines a relay communication path for a communication line used to relay-connect the underwater object to the Internet line or the external device, or to provide the underwater object with information regarding the location of the underwater object, based on the information obtained by the information acquisition command, A program that executes an unmanned vessel command determination command, which determines control commands for the unmanned vessel to constitute the relay communication path based on the determined relay communication path.

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