COMMUNICATION SYSTEM, COMMUNICATION CONTROL METHOD, AND PROGRAM

Abstract

According to the present invention, a more stable communication environment can be provided for devices located in marine areas, etc. [Solution] The present invention is a communication system that has a communication line information acquisition unit that acquires information regarding multiple candidates for relay communication lines, and a communication line determination unit that determines a relay communication line to be used for communication from the multiple candidates for relay communication lines, and the communication line determination unit determines a relay communication line from multiple candidates for relay communication lines including at least one of an offshore relay system having multiple ships that can be communicatively connected to a first terminal device, an airborne relay system that is capable of wireless communication with at least one of the multiple ships and has an artificial satellite or the like that can be communicatively connected to an Internet line and at least one of a second terminal device, and a terrestrial relay system that is capable of wireless communication with at least one of the multiple ships and has terrestrial wireless communication equipment that can be communicatively connected to the Internet line and at least one of the second terminal devices, or a combination of these.

Description

[Technical field]

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

[0002] Unlike land areas where many antenna base stations are installed, in marine areas far from the coast, communication devices cannot directly connect to antenna base stations. Therefore, in order to connect communication devices on the sea to the Internet or other local networks, a relay system is required to relay communications to the antenna base station on land.

[0003] Patent Document 1 discloses the use of a non-terrestrial network using satellites such as GEO (Geosynchronous orbit), MEO (Medium-Earth orbit), and LEO (Low-Earth orbit), and aircraft such as HAPS (High Altitude Platform Station). Patent Document 2 discloses a ship-to-land base communication system that uses a wireless communication network that relays signals through multiple ships when transmitting from a ship navigating in an ocean area far from the coast to a land-based communication base. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Re-tabled publication No. 2023-79663 [Patent Document 2] JP 2007-300361 A Summary of the Invention [Problem to be solved by the invention]

[0005] Here, Patent Document 1 discloses that a communication control unit on the ground side changes communication parameters depending on the type of the non-terrestrial network, but does not consider a method for appropriately switching the type of non-terrestrial network. Patent Document 2 also discloses that a wireless communication network relaying multiple ships is used to establish a communication line between a ship sailing in an ocean area far from the coast and a communication base station on land, but does not consider appropriately switching between such a marine relay network of multiple ships and other communication networks such as a non-terrestrial network depending on the situation.

[0006] In marine areas far from the coast, depending on the area and the time of day, non-terrestrial networks such as artificial satellites and HAPS may not be available, and similarly, in marine areas far from the coast, it may not be possible to build an on-shore relay network using multiple ships to a terrestrial communication base station.In addition, communication quality differs depending on the type of communication line mentioned above, and communication quality fluctuates even with the same communication line due to changes in the external environment, so communication management such as appropriately switching communication lines according to the situation is required to always maintain the communication quality required by users.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and has as its object to provide a more stable communication environment for devices located in ocean areas away from the coast. [Means for solving the problem]

[0008] According to the present invention, there is provided a communication system that uses a ship capable of moving on the sea to provide a relay communication line that communicably connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device and the second terminal device and an Internet line, the communication system including a communication line information acquisition unit that acquires information on a plurality of candidates for the relay communication line, and a communication line determination unit that determines the relay communication line to be used for communication from the plurality of candidates for the relay communication line, the communication line determination unit being configured to determine ... A communication system is obtained in which the relay communication line is determined from a plurality of candidates for the relay communication line, including at least one of an airborne relay system capable of wireless communication with at least one of the ships and equipped with an artificial satellite or a communication vehicle flying in the stratosphere that is capable of wireless communication with at least one of the ships and is capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, and at least one of a terrestrial relay system equipped with the terrestrial wireless communication equipment that is capable of wireless communication with at least one of the multiple ships and is capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination of these. Effect of the Invention

[0009] According to the present invention, a more stable communication environment can be provided for devices located in marine areas, etc. [Brief description of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a communication system 1 according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing an example of an implementation image when the communication system 1 is implemented in a real space. [Diagram 3] 2 is a diagram showing detailed variations of communication lines provided by the communication system 1. FIG. [Figure 4] FIG. 13 is a diagram showing a variation list of connection destinations for communication connection. [Diagram 5] FIG. 11 is a diagram illustrating a first example of a communication connection pattern. [Figure 6] FIG. 11 is a diagram illustrating a second example of a communication connection pattern. [Figure 7] FIG. 11 is a diagram illustrating a third example of a communication connection pattern. [Figure 8] FIG. 13 is a diagram illustrating a fourth example of a communication connection pattern. [Figure 9] FIG. 2 is a functional block diagram showing the functional configuration of the unmanned boat 1010. [Figure 10] FIG. 2 is a functional block diagram showing the functional configuration of an overall control system 2000. [Figure 11] 2 is a diagram showing information on a communication target terminal 7000 acquired by a communication target information acquisition unit 2110. FIG. [Figure 12] 2 is a diagram showing an example of information on the routes of communication lines acquired by an available line information acquisition unit 2210. FIG. [Figure 13] 2 is a diagram showing an example of information on communication performance for each communication line acquired by an available line information acquisition unit 2210. FIG. [Figure 14] FIG. 11 is a flow chart showing the operational processing flow of the overall control system 2000. [Figure 15] 13 is a flowchart showing a process flow of grasping available communication lines and the like by a communication line information acquiring unit 2200. FIG. [Figure 16] 11 is a flowchart showing a process flow of determining a relay communication line by a communication line determination unit 2300. FIG. [Figure 17] FIG. 2 is a diagram showing an example of communication line candidates that satisfy the desired information, determined by the condition satisfying route candidate determination unit 2310. [Figure 18] 13 is a diagram showing an example of information displayed when a communication line determination unit 2300 proposes a change to the allowable conditions. FIG. [Figure 19] 13 is a flowchart showing the process flow of determining the operation etc. of the unmanned boat system 1000 by the maritime relay operation determination unit 2400. FIG. [Figure 20] 13 is a flowchart showing a control flow for maintaining a wireless communication connection by a communication maintenance control unit 2500. FIG. [Figure 21]13 is a diagram showing a state in which communication between a communication target terminal 7000 and an Internet line 6000 mounted on a ship is maintained and controlled. [Figure 22] 13 is a diagram showing a state in which communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on an offshore base is maintained and controlled. FIG. [Diagram 23] 13 is a diagram showing a state in which communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on another ship is maintained and controlled. FIG. [Figure 24] FIG. 13 is a diagram showing a state in which communication between a first target terminal for communication 7000a mounted on the ground and a second target terminal for communication 7000b mounted on the ground is maintained and controlled. [Diagram 25] 1 is a diagram showing an example of a marine communication network when maintaining and controlling communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on another ship. FIG. [Figure 26] 13 is a diagram showing an example of communication status information displayed and output by a display information output unit 2610. FIG. [Figure 27] FIG. 2 is a hardware configuration diagram of the overall control system 2000. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present invention will be described below with reference to the preferred embodiments thereof. [Item 1] A communication system that uses a ship capable of moving on the sea to provide a relay communication line that communicably connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, a communication line information acquisition unit for acquiring information regarding a plurality of candidates for the relay communication line; a communication line determination unit that determines the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination unit a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A communication system which determines the relay communication line from a plurality of candidates for the relay communication line, including at least one of terrestrial relay systems equipped with ground wireless communication equipment capable of wireless communication with at least one of the plurality of ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination thereof. [Item 2] In the communication system according to item 1, A communication system in which the communication line determination unit determines the relay communication line based on desired information regarding at least one of the type, location, expected movement area, planned movement speed, planned movement route, desired time period to maintain communication, and communication line usage fee of the first terminal device or the second terminal device. [Item 3] In the communication system according to item 1 or 2, A communication system in which the type of the first terminal device or the second terminal device includes information that can identify whether the first terminal device or the second terminal device is on sea, in the air, underwater, or on land. [Item 4] In the communication system according to any one of items 1 to 3, A communication system in which the communication line determination unit determines the relay communication line based on request information indicating whether the destination for communication connection with the first terminal device is the second terminal device, or the Internet line, or both the second terminal device and the Internet line. [Item 5] In the communication system according to any one of items 1 to 4, A communication system in which the communication line determination unit determines the relay communication line based on desired information regarding the communication quality or communication standard of the communication line connecting the first terminal device and the Internet line, or the communication line connecting the first terminal device and the second terminal device. [Item 6] In the communication system according to any one of items 1 to 5, A communication system in which the information acquired by the communication line information acquisition unit includes multiple candidates for the relay communication line, including the offshore relay system, the aerial relay system, the terrestrial relay system, or a combination of these, or information regarding the communication performance, the location of wireless communication base stations, or communication line usage fees in other existing communication infrastructure. [Item 7] In the communication system according to any one of items 1 to 6, A communication system, wherein the communication performance includes information regarding at least one of a communication area, a communication strength, a communication speed, a communication delay, and a communication capacity. [Item 8] In the communication system according to any one of items 1 to 7, an environmental information acquisition unit that acquires environmental information including at least one of precipitation, fog, lightning, an ionospheric state, and a solar flare state; A communication system in which the communication performance is information generated taking into consideration the impact on the communication performance of the offshore relay system or the terrestrial relay system due to precipitation, fog, or lightning strikes, or the impact on the communication performance of the aerial relay system due to ionospheric disturbances or solar flares, or the impact on the existing communication infrastructure due to at least any of precipitation, fog, lightning strikes, ionospheric conditions, solar flare conditions, time, or date and time. [Item 9] In the communication system according to any one of items 1 to 8, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the order of the first terminal device, the offshore relay system, and the second terminal device. [Item 10] In the communication system according to any one of items 1 to 9, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the following order: the first terminal device, the offshore relay system, the aerial relay system, and the Internet line. [Item 11] In the communication system according to any one of items 1 to 10, A communication system in which the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the offshore relay system, the first aerial relay system, the Internet line, the second aerial relay system, and the second terminal device. [Item 12] In the communication system according to any one of items 1 to 11, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the first offshore relay system, the first airborne relay system, the Internet line, the second airborne relay system, the second offshore relay system, and the second terminal device. [Item 13] In the communication system according to any one of items 1 to 12, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the following order: the first terminal device, the offshore relay system, the terrestrial relay system, and the Internet line. [Item 14] In the communication system according to any one of items 1 to 13, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the offshore relay system, the first terrestrial relay system, the Internet line, the second terrestrial relay system, and the second terminal device. [Item 15] In the communication system according to any one of items 1 to 14, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the first offshore relay system, the first terrestrial relay system, the Internet line, the second terrestrial relay system, the second offshore relay system, and the second terminal device. [Item 16] In the communication system according to any one of items 1 to 15, When the first terminal device or the second terminal device is in the air, A communication system in which the communication line determination unit determines, as the relay communication line, a communication line that directly connects the first terminal device and the ship, or that connects the first terminal device and the ship via an airborne communication vehicle, or that directly connects the second terminal device and the ship, or that connects the second terminal device and the ship via an airborne communication vehicle. [Item 17] In the communication system according to any one of items 1 to 16, A communication system, wherein the communication line determination unit determines the parallel use of the multiple communication lines as the relay communication line when the parallel use of the multiple communication lines satisfies a predetermined standard required for the relay communication line. [Item 18] In the communication system according to any one of items 1 to 17, a display information output unit that displays information including a plurality of communication line candidates to a user when there is one or a plurality of communication line candidates that satisfy a predetermined standard required for the relay communication line; The communication line determination unit determines the relay communication line based on communication line designation information received from a user. [Item 19] In the communication system according to any one of items 1 to 18, When there are a plurality of communication line candidates that satisfy the predetermined criteria required for the relay communication line, A communication system, wherein the communication line determination unit determines the relay communication line based on priority criteria information of communication lines acquired in advance. [Item 20] In the communication system according to any one of items 1 to 19, A communication system comprising an on-shore relay operation determination unit that determines an operation related to on-shore communication relay by the plurality of ships in accordance with the relay communication line determined by the communication line determination unit. [Item 21] In the communication system according to any one of items 1 to 20, The maritime relay operation determination unit determines at least one of the number, formation, arrangement, and movement route of the ships required for the relay communication line determined by the communication line determination unit. [Item 22] In the communication system according to any one of items 1 to 21, A communication system in which the maritime relay operation determination unit determines the ship that will establish a wireless communication connection with at least one of the first terminal device, the second terminal device, the airborne relay system, and the ground relay system, depending on the relay communication line determined by the communication line determination unit. [Item 23] In the communication system according to any one of items 1 to 22, When the communication line determination unit determines a communication line that wirelessly connects the marine relay system and the air relay system as the relay communication line, A communication system, wherein the maritime relay operation determination unit determines the artificial satellite or the communication aircraft of the airborne relay system that will be wirelessly connected to the ship of the maritime relay system. [Item 24] In the communication system according to any one of items 1 to 23, When the communication line determination unit determines a communication line that wirelessly connects the marine relay system and the terrestrial relay system as the relay communication line, A communication system, wherein the marine relay operation determination unit determines the wireless communication equipment of the ground relay system that is to be wirelessly connected to the ship of the marine relay system. [Item 25] In the communication system according to any one of items 1 to 24, A communication system comprising a communication maintenance control unit that determines changes to at least any of the communication lines, the number, formation, arrangement, and movement routes of the ships, the ships that are wirelessly connected to the outside of the maritime relay system, the artificial satellites or the communication aircraft of the airborne relay system that are wirelessly connected to the maritime relay system, and the wireless communication equipment of the terrestrial relay system that is wirelessly connected to the maritime relay system, depending on the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and other communication lines. [Item 26] In the communication system according to any one of items 1 to 25, a communication maintenance control unit that determines whether or not the communication performance of the relay communication line determined by the communication line determination unit, or the communication performance of the relay communication line and another communication line, satisfies a predetermined standard required for the relay communication line; a display information output unit that displays information on the communication performance of at least one of the relay communication line and the other communication line to a user when the communication maintenance control unit determines that the communication performance of the relay communication line or the communication performance of the relay communication line and the other communication line does not satisfy the predetermined standard, The communication maintenance control unit changes the relay communication line based on communication line change instruction information received from a user. [Item 27] In the communication system according to any one of items 1 to 26, The information acquired by the communication line information acquisition unit includes information regarding communication performance of the relay communication line and other communication lines, A communication system comprising a display information output unit that displays information regarding communication performance of the relay communication line and other communication lines to a user. [Item 28] In the communication system according to any one of items 1 to 27, A communication system comprising: a communication maintenance control unit that changes the relay communication line based on communication line change instruction information received from a user via a user input receiving unit. [Item 29] In the communication system according to any one of items 1 to 28, The information acquired by the communication line information acquisition unit includes measurement information of current communication performance related to the offshore relay system, A communication system comprising a communication maintenance control unit that determines a change in a route of a communication network between the plurality of ships of the marine relay system. [Item 30] 30. A communication system according to any one of items 1 to 29, When the communication line determination unit determines that there is no candidate communication line that satisfies a predetermined standard required for the relay communication line, A communication system comprising a display information output unit that suggests to a user to change the predetermined criterion. [Item 31] In the communication system according to any one of items 1 to 30, A communication system in which the communication line determination unit determines the relay communication line from multiple candidate communication lines based on at least one information regarding the current or future number, formation, deployment, and movement routes of the multiple ships in the marine relay system. [Item 32] A communication control method for providing a relay communication line that connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, so that communication can be performed between the first terminal device and the second terminal device, using a ship capable of moving on the sea, comprising: The computer a communication line information acquisition step of acquiring information regarding a plurality of candidates for the relay communication line; a communication line determination step of determining the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination step includes: a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A communication control method for determining the relay communication line from among multiple candidates for the relay communication line, including at least one of a terrestrial relay system equipped with ground wireless communication equipment capable of wireless communication with at least one of the multiple ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination of these. [Item 33] A program usable for a communication system that provides a relay communication line that communicably connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, using a ship that can move on the sea, the program comprising: On the computer, a communication line information acquisition command for acquiring information regarding a plurality of candidates for the relay communication line; Executing a communication line determination command to determine the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination command a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A program comprising instructions for determining the relay communication line to be used for communication from a plurality of candidates for the relay communication line, including at least one of a terrestrial relay system equipped with ground wireless communication equipment capable of wireless communication with at least one of the plurality of ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination thereof.

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

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

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

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

[0016] The unmanned boat system 1000 is composed of a plurality of unmanned boats 1010 that can move on the sea, and is equipped with a parent unit 1001 that can communicate with an air AP 3000 and a ground AP 4000, and a plurality of child units 1002 that can communicate directly or indirectly with the parent unit 1001, and constructs a marine communication network (hereinafter also referred to as an "marine relay system") between the plurality of child units 1002 and the parent unit 1001. In addition, the plurality of child units 1002 and the parent unit 1001 have a function of wirelessly connecting with a communication target terminal 7000 (communication terminal installed on an aircraft, drone, aerial measuring device, remote island, ship, offshore facility, underwater drone, diver, marine life, etc.) that provides a communication environment, by using a communication device installed on the own vessel.

[0017] The unmanned boat system 1000 has the functionality of an at-sea relay system that connects an airborne AP 3000 consisting of an artificial satellite or a communication aircraft (such as HAPS) that flies in the stratosphere, a ground AP 4000 consisting of a ground-based wireless communication base station, etc., and a communication target terminal 7000 via a wireless communication network, and can communicate between the communication target terminal 7000 and an Internet line 6000, between the communication target terminal 7000 and a user terminal 5000, and between the communication target terminal 7000 and another communication target terminal 7000.

[0018] 1, the unmanned boat system 1000 includes at least one parent unit 1001 and multiple child units 1002. The parent unit 1001 is connected to the multiple child units 1002 in the unmanned boat system 1000 via a communication network, and is communicatively connected to an air AP 3000 and a ground AP 4000, thereby being able to relay between a communication target terminal 7000 and the air AP 3000 or the ground AP 4000. The unmanned boat system 1000 shown in FIG. 1 also includes a primary connection child unit 1002 that is communicatively connected to the parent unit 1001, a secondary connection child unit 1002 that is communicatively connected to the primary connection child unit 1002, and a tertiary connection child unit 1002 that is communicatively connected to the secondary connection child unit 1002.

[0019] (A-1-1-2. Implementation example of communication system 1) Fig. 2 is a diagram showing an example of an implementation image when the communication system 1 is implemented in real space. As shown in Fig. 2, an unmanned boat system 1000 consisting of a plurality of unmanned boats 1010 including a parent unit 1001 and a child unit 1002 is deployed on the sea away from land shown in the upper right of the figure. Here, the unmanned boat system 1000 connects to a ground communication network such as an Internet line 6000 via at least one of a first communication path in which the parent unit 1001 connects to a ground communication base station (a base station for airborne communication corps communication) on the ground via an airborne AP 3000 and a second communication path in which the parent unit 1001 connects to a ground AP 4000 on the ground (for example, a ground communication base station such as a mobile phone wireless communication base station).

[0020] Furthermore, when any of the multiple unmanned boats 1010 constituting the unmanned boat system 1000 wirelessly connects with a communication target terminal 7000 in the sea area, the communication target terminal 7000 and the Internet line 6000 can communicate via the marine relay network of the unmanned boat system 1000. Here, the communication target terminal 7000 for which a communication environment can be provided by the unmanned boat system 1000 can include a terminal device mounted on a ship or offshore facility on the sea, a terminal device mounted on an underwater drone underwater, a terminal device installed on an isolated island or on the opposite coast, or a terminal device mounted on an aircraft flying in the airspace above the ocean (airspace at an altitude of 10,000 meters or less).

[0021] (A-1-1-3. Implementation example of communication system 1) Fig. 3 is a diagram showing detailed variations of the communication line provided by the communication system 1. As shown in Fig. 3, a specific example of an airborne AP 3000 that directly or indirectly (via a terrestrial communication base station, etc.) connects the unmanned boat system 1000 to the Internet line is shown. The airborne AP 3000 is connected to a GEO satellite 3001 located in a high orbit (geosynchronous orbit) at an altitude of about 36,000 km, or to a satellite 3002 located in a high orbit (geosynchronous orbit) at an altitude of about 600 km. For communication with the unmanned boat system 1000, a LEO satellite 3002 located in a low earth orbit or a stratospheric aircraft (High Altitude Platform Station, hereinafter also referred to as HAPS) located in the stratosphere at an altitude of about 10 to 50 km can be used. In other words, the airborne AP 3000 is equipped with an artificial satellite or a communication aircraft flying in the stratosphere that is capable of wireless communication with at least one of the multiple unmanned boats and is capable of direct or indirect communication connection with an Internet line (or a second communication target terminal). Here, the LEO satellite 3002 may be a single unit that connects the unmanned boat system 1000 to a terrestrial communication base station, or may be a relay unit that connects the communication via multiple LEO satellites 3002. The HAPS is not limited to an aircraft, and may be a balloon or an airship.

[0022] 3, an example is shown in which a communication network is formed by a plurality of unmanned boats 1010 constituting the unmanned boat system 1000, and the unmanned boat system 1000 is wirelessly connected to a ground AP 4000 located on the ground. Here, the ground AP 4000 is capable of wireless communication with at least one of the plurality of unmanned boats, and is equipped with a ground wireless communication base station that is capable of direct or indirect communication with an Internet line (or a second communication target terminal). The wireless communication base station equipped in the ground AP 4000 may be a fixed facility installed on a structure on the ground, but is not limited to this, and may be a mobile base station mounted on a vehicle or a removable temporary base station.

[0023] Furthermore, any of the multiple unmanned boats 1010 constituting the unmanned boat system 1000 can wirelessly communicate with a communication target terminal 7000 that is present on the sea area where the unmanned boat system 1000 is deployed, in the sea, underwater, or in the air, or on a remote island or coastal area nearby. Specific examples of the communication target terminal 7000 include ships sailing on the sea, offshore facilities such as offshore wind power plants, flying objects flying in the troposphere at an altitude of approximately 10 km or less, such as aircraft in the sky or airborne measuring devices, or submarine divers, underwater drones, and biologgers installed on marine life.

[0024] Here, when performing wireless communication with the underwater communication target terminal 7000, the unmanned boat system 1000 can perform direct communication, but may also perform wireless communication with the underwater communication target terminal 7000 via an underwater communication buoy that can relay communication with underwater equipment. Similarly, when performing wireless communication with the communication target terminal 7000 in the sky, the unmanned boat system 1000 may perform wireless communication with the communication target terminal 7000 in the sky via an airborne communication aircraft (drone, etc.) that can relay communication with an aircraft in the sky.

[0025] (A-1-2. Variations in communication destinations) Next, variations in communication destinations and communication connection patterns will be described with reference to FIGS.

[0026] (A-1-2-1. List of communication destination variations) FIG. 4 is a diagram showing a list of variations of connection destinations for communication connection. As shown in FIG. 4, the types of communication connection are divided into two types: a connection between a communication target terminal 7000 and an Internet line 6000, and a connection between a first communication target terminal 7000a and a second communication target terminal 7000b. In addition, as a pattern for connecting the communication target terminal 7000 and the Internet line 6000, the position of the communication target terminal 7000 is divided into four patterns: air, sea, land, or underwater. On the other hand, as a pattern for connecting the first communication target terminal 7000a and the second communication target terminal 7000b, the position of the first communication target terminal 7000a has four patterns: air, sea, land, or underwater, and similarly, the position of the second communication target terminal 7000b has four patterns: air, sea, land, or underwater. Therefore, there are 16 different patterns of combinations of these. The communication system described in this embodiment can provide an appropriate communication circuit for these combination patterns of communication destinations.

[0027] (A-1-2-2. First example of communication connection pattern) Fig. 5 is a diagram showing a first example of a communication connection pattern. The first example shown in Fig. 5 particularly shows an example in which a communication target terminal 7000 is connected to an Internet line 6000. In the example shown in Fig. 5, the communication target terminal 7000 is indirectly connected to the unmanned boat system 1000 via an airborne communication vehicle or an underwater communication buoy, or is directly connected to the unmanned boat system 1000. In addition, the unmanned boat system 1000 can be connected to the Internet line 6000 via an air AP 3000, a ground AP 4000, or the like.

[0028] The overall control system 2000 controls the movement and communications of the multiple unmanned boats that make up the unmanned boat system 1000, thereby relaying wireless communications between the communication target terminal 7000 and the Internet line 6000 using multiple unmanned boats 1010 on the sea, and can further maintain the connection state of the wireless communications.

[0029] (A-1-2-3. Second example of communication connection pattern) Fig. 6 is a diagram showing a second example of a communication connection pattern. The second example shown in Fig. 6 particularly shows an example in which a first communication target terminal 7000a is connected to a second communication target terminal 7000b via an unmanned boat system 1000. In the example shown in Fig. 6, the first communication target terminal 7000a is indirectly or directly connected to the unmanned boat system 1000 via an airborne communication vehicle, an undersea communication buoy, or the like. Similarly, the second communication target terminal 7000b is indirectly or directly connected to the unmanned boat system 1000 via an airborne communication vehicle, an undersea communication buoy, or the like.

[0030] 6 shows a communication connection pattern when the distance between the first communication target terminal 7000a and the second communication target terminal 7000b is not so great and is within a distance range that allows relaying via the wireless communication network provided by the unmanned boat system 1000. The overall control system 2000 controls the movement and communications of the multiple unmanned boats 1010 that make up the unmanned boat system 1000, thereby relaying wireless communication between the first communication target terminal 7000a and the second communication target terminal 7000b using the multiple unmanned boats 1010 on the sea, and further maintaining the connection state of that wireless communication.

[0031] (A-1-2-4. Third example of communication connection pattern) FIG. 7 is a diagram showing a third example of a communication connection pattern. The third example shown in FIG. 7 particularly shows an example in which a first communication target terminal 7000a is connected to a second communication target terminal 7000b via an unmanned boat system 1000a, an air AP 3000 or a ground AP 4000, and another second unmanned boat system 1000b. In the example shown in FIG. 7, the first communication target terminal 7000a is indirectly or directly connected to the first unmanned boat system 1000a via an airborne communication vehicle or an underwater communication buoy. Similarly, the second communication target terminal 7000b is indirectly or directly connected to the second unmanned boat system 1000b via an airborne communication vehicle or an underwater communication buoy.

[0032] Furthermore, the first unmanned boat system 1000a and the second unmanned boat system 1000b are communicatively connected via the air AP 3000 and the ground AP 4000. In other words, the first unmanned boat system 1000a and the second unmanned boat system 1000b are connected by a local network via the air AP 3000 and the ground AP 4000, without going through the Internet line 6000.

[0033] In the example shown in Figure 7, when the first communication target terminal 7000a and the second communication target terminal 7000b are far apart and the wireless communication network provided by a single unmanned boat system 1000 is unable to relay connection between the first communication target terminal 7000a and the second communication target terminal 7000b, it is possible to connect the first unmanned boat system 1000a and the second unmanned boat system 1000b located in remote locations by using a local network via an air AP 3000 or a ground AP 4000.

[0034] The overall control system 2000 performs movement control and communication control of the multiple unmanned boats 1010 that make up the first unmanned boat system 1000a and the second unmanned boat system 1000b, thereby relaying and connecting wireless communications between the first communication target terminal 7000a and the second communication target terminal 7000b using the multiple unmanned boats 1010 on the sea, and further maintaining the connection state of the wireless communications.

[0035] (A-1-2-5. Fourth Example of Communication Connection Pattern) FIG. 8 is a diagram showing a fourth example of a communication connection pattern. The fourth example shown in FIG. 8 particularly shows an example in which a first communication target terminal 7000a is connected to a second communication target terminal 7000b via an unmanned boat system 1000a, an Internet line 6000, and another second unmanned boat system 1000b. In the example shown in FIG. 8, the first communication target terminal 7000a is indirectly or directly connected to the first unmanned boat system 1000a via an airborne communication vehicle, an undersea communication buoy, or the like. Similarly, the second communication target terminal 7000b is indirectly or directly connected to the second unmanned boat system 1000b via an airborne communication vehicle, an undersea communication buoy, or the like.

[0036] The first unmanned boat system 1000a and the second unmanned boat system 1000b are communicatively connected via an Internet line 6000. The first unmanned boat system 1000a and the second unmanned boat system 1000b may be connected to the Internet line 6000 via an air AP 3000 or a ground AP 4000, respectively. In other words, the first unmanned boat system 1000a and the second unmanned boat system 1000b are connected via the Internet line 6000.

[0037] In the example shown in Figure 8, when the first communication target terminal 7000a and the second communication target terminal 7000b are far apart and the wireless communication network provided by a single unmanned boat system 1000 is unable to relay a connection between the first communication target terminal 7000a and the second communication target terminal 7000b, it is possible to connect the first unmanned boat system 1000a and the second unmanned boat system 1000b, which are located in remote locations, using an Internet line 6000.

[0038] The overall control system 2000 performs movement control and communication control of the multiple unmanned boats 1010 that make up the first unmanned boat system 1000a and the second unmanned boat system 1000b, thereby relaying and connecting wireless communications between the first communication target terminal 7000a and the second communication target terminal 7000b using the multiple unmanned boats 1010 on the sea, and further maintaining the connection state of the wireless communications.

[0039] (A-1-3. Configuration of the unmanned boat 1010) Next, the functions and contents implemented in the unmanned boat 1010 will be described with reference to Fig. 9. In the present invention, the unmanned boat 1010 means a mobile body capable of navigating on or underwater, regardless of the control type of autonomous navigation or remote control, and means a mobile body including a mobile buoy equipped with a thrust generating unit. In the present invention, the relay communication line between the communication target terminal 7000 and the Internet line, or between the first communication target terminal 7000a and the second communication target terminal 7000b is not necessarily provided by a marine relay system composed of an unmanned boat system 1000 having a plurality of unmanned boats 1010, but may be a marine relay system composed of a ship system equipped with a plurality of ships, whether manned or unmanned.

[0040] Fig. 9 is a functional block diagram showing the functional configuration of the unmanned boat 1010. Note that Fig. 9 describes the functional block diagram of the unmanned boat 1010, but the parent unit 1001 and child unit 1002 of the unmanned boat 1010 can implement functions similar to those shown in Fig. 9. The unmanned boat 1010 includes a measurement unit 1100, a vessel state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0041] The measurement unit 1100 is a functional unit that detects a measurement object present within a measurable range around the unmanned boat 1000 using a measurement sensor 1110, and acquires measurement information related to the measurement object.

[0042] The measurement sensor 1110 may include one (monocular) or multiple electro-optical sensors that acquire image data on the sea, optical sensors such as optical cameras, infrared sensors (IR sensors), and stereo cameras, laser sensors such as LiDAR that acquire point cloud data, optical distance measuring sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. The measurement sensor 1110 can acquire measurement data of a measurement target that exists within a measurable range on the sea by measuring the periphery of the unmanned boat 1010. In addition, each of the above-mentioned sensors can be used as a distance measuring sensor that measures the distance to a measurement target based on the measurement data.

[0043] In addition to the above-mentioned sensors, the measurement sensor 1110 may have a sonic sensor (also called a sonic measurement unit) including a sonar that uses sound waves such as ultrasonic waves. The sonic sensor can be used not only underwater but also in the air above the water. When the sonic sensor is used in the air, it can be used as a distance measurement sensor that measures the distance to a measurement object by measuring the sound waves that are generated and reflected by the object and return. When the sonic sensor is used underwater, the sonic sensor may be either an active sonar that generates sound waves and measures the sound waves that reverberate from an object in the water, or a passive sonar that measures the sound generated from an object in the water. The active sonar may be, for example, a side scan sonar, a multi-beam sonar, or a single beam sonar. The sonic sensor may be a USBL transceiver, a modem for acoustic communication, or the like.

[0044] Moreover, the measurement control unit 1120 controls at least one of the attitude angles of the measurement sensor 1110 around the three axes with respect to the unmanned boat 1010 by operating a sensor attitude changing device capable of changing the attitude of the measurement sensor 1110. Moreover, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, the shutter speed, and the like. Moreover, when the measurement sensor 1110 is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. Moreover, when the measurement sensor 1110 is a radar sensor, the measurement control unit 1120 can adjust the output of the millimeter wave or microwave. Moreover, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor 1110 to an arbitrary control amount. Moreover, when the measurement sensor 1110 is an optical sensor, the measurement control unit 1120 can change the zoom amount or resolution of the optical sensor to an arbitrary control amount.

[0045] Next, the vehicle state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state and internal and external states of the unmanned boat 1010. The navigation state determination unit 1210 determines the vehicle's position (two-dimensional or three-dimensional), moving speed, heading, moving direction, moving acceleration / deceleration, turning speed, and other state quantities related to the navigation state. The internal state determination unit 1220 determines the remaining energy of the battery and fuel installed in the vehicle, the travelable distance that can be calculated based on the remaining energy, temporary abnormal states of equipment installed in the vehicle (temperature abnormality, communication abnormality, etc.), and equipment failure states. In addition, the external condition determination unit 1230 determines communication conditions such as communication strength (dB value, etc.) and communication speed with other unmanned boats 1010 in the unmanned boat system 1000 with which it communicates, as well as ocean currents and tides (current speed, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the unmanned boat.

[0046] The method of determining the position, moving speed, moving direction, and acceleration / deceleration of the aircraft by the navigation state determination unit 1210 is not particularly limited, but for example, the position, moving speed, and moving direction of the aircraft at the current time can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Moreover, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0047] The method of measuring the heading of the aircraft at the current time is to determine the heading of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, SLAM technology using the shape of the seabed, etc. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and may be attitude information around three axes, preferably the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0048] Next, the navigation unit 1300 is a functional unit that includes a thrust generating unit, an attitude control mechanism, and a navigation control unit, and navigates the aircraft in any direction according to an operation command received via the communication unit 1400. The thrust generating unit is composed of, for example, a propeller, and can generate thrust by driving the propeller using the power of an engine or an electric motor. The thrust generating unit can also be composed of a sail that receives wind to generate thrust, or a wave glider that receives wave power to generate thrust.

[0049] The attitude control mechanism is composed of a rudder provided on the aircraft body, a propeller attitude changing mechanism capable of changing the propeller attitude angle (mainly the yaw angle around the Z axis), and the like, and by changing these angles it is possible to control the nose direction (yaw angle) of the unmanned boat 1010. In addition, a center of gravity position changing mechanism that changes the position of a heavy object inside the aircraft body with an actuator can also control the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the aircraft.

[0050] The navigation control unit is a functional unit that controls the output from the thrust generating unit and the attitude control mechanism to control the navigation operation of the aircraft. The navigation control unit includes a processing unit having one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP), and that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0051] The processing unit includes a control module configured to control the navigation state of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, moving speed, moving acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by making the aircraft perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0052] Next, the communication unit 1400 includes an unmanned boat-to-unmanned boat communication unit 1410, an air AP communication unit 1420, a ground AP communication unit 1430, and an external device communication unit 1440, and is a functional unit that communicates with other unmanned boats 1010, the air AP 3000, the ground AP 4000, external communication target terminals 7000, air vehicles for air communication, and underwater communication buoys in the unmanned boat system 1000. The unmanned boat-to-unmanned boat communication unit 1410 includes a communication antenna for wireless communication between the unmanned boats 1010, and is a functional unit that communicates with other unmanned boats 1010 in the unmanned boat system 1000. The air AP communication unit 1420 includes a communication antenna capable of wireless communication with artificial satellites and HAPS that constitute the air AP 3000, and is a functional unit that communicates with the air AP 3000. The ground AP communication unit 1430 is a functional unit that includes a communication antenna capable of wireless communication with wireless communication equipment such as a wireless communication base station constituting the ground AP 4000, and communicates with the ground AP 4000. The external device communication unit 1440 includes an antenna for Wi-Fi or VHF, and communicates with external devices such as the communication target terminal 7000, an aircraft for airborne communication, and a buoy for undersea communication.

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

[0054] The object detection determination unit 1510 can interpret the measurement data and determine whether or not the detected object should be avoided depending on the presence or absence and size of the determined object. For example, even if the object detection determination unit 1510 detects an object in the vicinity, if the interpreted size of the object is smaller than a predetermined value or if the unmanned boat 1010 determines that the object does not correspond to an object with which collision should be avoided, it can determine that an object avoidance operation is unnecessary and also determine that it is unnecessary to transmit the measurement data to the overall control system 2000. On the other hand, if the estimated size of the object detected by the object detection determination unit 1510 is larger than a predetermined standard, it can determine that the unmanned boat 1010 is highly likely to correspond to an object with which collision should be avoided, and determine to perform an object avoidance operation and transmit the measurement data to the overall control system 2000.

[0055] The object detection / determination unit 1510 may have a function to detect more detailed conditions in addition to the presence or absence and size of an object as described above. For example, the type of object, whether it is a ship, shape determination, orientation determination, distance determination, position coordinate estimation, etc. Furthermore, the object detection / determination unit 1510 can obtain type determination condition information and AIS (Automatic Identification System) information in advance and use the obtained information when determining the type of object, whether it is a ship, etc.

[0056] Next, the recording unit 1600 includes a measurement data recording unit 1610 and a device status recording unit 1620. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The device status recording unit 1620 records various types of status information related to the device determined by the device status determination unit 1200.

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

[0058] (A-1-4-1. Request information acquisition unit 2100) The desired information acquisition unit 2100 is a functional unit that acquires information on the communication target terminal 7000, information on the movement of the communication target terminal 7000, information on required communication performance, information on conditions to be prioritized in determining a communication circuit, etc. The desired information acquisition unit 2100 includes a communication target information acquisition unit 2110, a required movement information acquisition unit 2120, a required communication performance acquisition unit 2130, and a communication circuit priority condition acquisition unit 2140.

[0059] The communication target information acquisition unit 2110 is a functional unit that acquires information on the communication target terminal 7000, including the type of object on which the communication target terminal 7000 that requests communication relay is implemented and its location, or information on the connection destination that performs relay connection with the communication target terminal 7000. The communication target information acquisition unit 2110 can also include requested information on the connection destination, including whether the connection destination to connect with the communication target terminal 7000 is the second communication target terminal 7000b, an Internet line, or both, as shown in Figs. 4 to 8. The communication target information acquisition unit 2110 may acquire information on requested conditions required for communication relay, such as a time period during which communication is desired to be maintained and a usage fee for a communication line, in addition to the above-mentioned type and location of the object. The information on the communication target terminal 7000 acquired by the communication target information acquisition unit 2110 will be described with reference to Fig. 11. Fig. 11 is a diagram showing information on the communication target terminal 7000 acquired by the communication target information acquisition unit 2110.

[0060] As shown in FIG. 11, the information on the communication target terminal 7000 includes the location of the communication target terminal 7000 that requests communication relay, and information on the type of object on which the communication target terminal 7000 is mounted. The location includes, for example, information on the air, sea, land, underwater, and the like. The location may include two-dimensional or three-dimensional coordinate information. The type of object may include, for example, an object in the air, an aircraft, a meteorological information measuring device, or other flying object. The object on the sea may include offshore facilities (wind power generation facilities, etc.), ships, jet skis, yachts, or other objects on the sea. The object on land may include a remote island or a facility on the opposite coast. The object in the sea may include an underwater drone, a diver, marine life (biologger), and other diving objects.

[0061] In addition, the communication target information acquisition unit 2110 can also acquire request information indicating whether the connection destination is the second communication target terminal 7000b, an Internet line, or both the second communication target terminal 7000b and an Internet line, as information regarding the connection destination that will establish a relay connection with the communication target terminal 7000.

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

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

[0064] The required communication performance acquisition unit 2130 may include a reliability condition of the communication connection as the communication quality required for the communication line. The reliability condition of the communication connection is, for example, whether or not the communication path needs to be made redundant by the same type of communication line or by different types of communication lines.

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

[0066] (A-1-4-2. Communication line information acquisition unit 2200) The communication line information acquisition unit 2200 is a functional unit that acquires information on a plurality of communication line candidates. The communication line information acquisition unit 2200 includes an available line information acquisition unit 2210, a line performance variation condition acquisition unit 2220, an environmental information acquisition unit 2230, and a line actual performance prediction unit 2240.

[0067] The available line information acquisition unit 2210 has a function of acquiring information on available communication lines. The information on the communication lines may include information on relay routes constituting the communication lines, communication performance of the communication lines, or the location of communication antenna equipment, and information on the usage fee of the communication lines. The available line information acquisition unit 2210 may also have a function of acquiring information on the communication performance of existing communication infrastructure (such as land-based mobile phone communication networks and satellite communication networks), the location of communication antennas, or the usage fee of the communication lines.

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

[0069] Fig. 12 is a diagram showing an example of information related to the routes of communication lines acquired by the available line information acquisition unit 2210. The example shown in Fig. 12 particularly shows a list of variations of the routes of communication lines when the first communication target terminal 7000a is communicatively connected to the Internet line.

[0070] 12, when the first communication target terminal 7000a is in the air, it is connected to the unmanned boat system 1000, which is an offshore relay system (also called offshore AP), directly or via an airborne communication vehicle, and the connection from the offshore relay system to the Internet line is made via an airborne AP or a ground AP. As mentioned above, the airborne AP can connect the offshore relay system to the Internet line by using either a high-earth or low-earth orbit satellite or a HAPS.

[0071] When the first communication target terminal 7000a is on the sea or on land, the first communication target terminal 7000a is directly connected to the sea relay system, and the connection between the sea relay system and the Internet line is relayed via an air AP or a ground AP. When the first communication target terminal 7000a is underwater, the first communication target terminal 7000a is directly connected to the sea relay system or via an underwater communication buoy, and the connection between the sea relay system and the Internet line is via an air AP or a ground AP.

[0072] Next, Fig. 13 is a diagram showing an example of information on communication performance for each communication line acquired by the available line information acquisition unit 2210. The example shown in Fig. 13 shows an example of communication performance of communication standards used in marine APs, terrestrial APs, and air APs that relay part of the communication line. As shown in Fig. 13, communication performance differs depending on each communication standard.

[0073] In the example shown in Figure 13, performance information on notification delay, communication speed, and communication area size is shown divided into levels 1 to 5 as the communication performance for each communication line, namely the Wi-Fi line used for communication between multiple unmanned boats in the unmanned boat system 1000 (marine AP), the 5G (fifth generation mobile communication system) and LTE (Long Term Evolution) lines used for communication with the ground AP, the HAPS communication line of the overhead AP, the low-orbit GNSS communication line of the overhead AP, the geostationary orbit GNSS communication line of the overhead AP, and the low-orbit inter-satellite communication line of the overhead AP.

[0074] For Wi-Fi lines, the communication latency is about 20 ms to 50 ms, and the evaluation level is level 4 on a 5-point scale, so the latency is relatively short. The communication speed is about 9.6 Gbps, and the evaluation level is level 5, so the speed is relatively fast. The communication area is about several tens of meters to 1 km, and the evaluation level is level 1, so the communication area is relatively narrow.

[0075] Next, for 5G (5th generation mobile communication system) and LTE (Long Term Evolution) lines, the communication latency is about 1 ms, and the evaluation level is level 5, which means the latency is relatively short. The communication speed is about 10 Gbps, and the evaluation level is level 5, which means the speed is relatively fast. The communication area is about 20 km from the communication base station, and the evaluation level is level 2, which means the communication area is relatively small.

[0076] Next, for the communication line of the HAPS of the overhead AP, the communication latency is about 50 ms, and the evaluation level is level 4, which means the latency is relatively short. The communication speed is about tens to hundreds of Mbps, and the evaluation level is level 4, which means the speed is relatively fast. The size of the communication area is also rated as level 2, which means the communication area is relatively small.

[0077] Next, for the low-orbit GNSS communication link of the AP in the sky, the communication delay is about 25 ms to 50 ms, and the evaluation level is level 3. The communication speed is about 20M to 150Mbps, and the evaluation level is level 3. The communication area is rated as level 4, and the communication area is relatively large. Here, the low-orbit GNSS communication link is a communication link that uses satellite constellation technology.

[0078] Next, for the geostationary orbit GNSS communication link of the AP in the sky, the communication delay is about several seconds, and the evaluation level is level 2, which means the communication delay is relatively large. The communication speed is about 8 Mbps, and the evaluation level is level 2, which means the communication speed is relatively slow. The communication area is also rated at level 5, which means the communication area is relatively large. Here, the geostationary orbit GNSS communication link is a communication link using GEO satellites in a high orbit.

[0079] Next, for the low-orbit inter-satellite communication link of the AP in the sky, the communication delay is about several seconds, the evaluation level is level 1, and the communication delay is relatively large. The communication speed is about 2.4 kbps, the evaluation level is level 1, and the communication speed is relatively slow. The communication area is also rated at level 5, and the communication area is relatively large. Here, the low-orbit inter-satellite communication link is a communication link that communicates between multiple Iridium satellites in low-orbit orbit.

[0080] The line performance variation condition acquisition unit 2220 is a functional unit that acquires information on variation conditions under which the communication performance of the communication line varies. Since wireless radio waves have the property of being absorbed by moisture, the communication strength and communication area of ​​wireless communication are reduced when precipitation such as rain, snow, hail, or sleet occurs, or when fog occurs. Therefore, the variation conditions acquired by the line performance variation condition acquisition unit 2220 can include the occurrence of precipitation or fog, and can also include information on the degree of impact of precipitation or fog on the communication performance of the offshore relay system or the ground AP.

[0081] In addition, when lightning strikes, radio waves that affect wireless communication are generated. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include the occurrence of lightning strikes, and can also include information on the degree of impact of lightning strikes on the communication performance of the offshore relay system and the ground AP.

[0082] Furthermore, the communication performance of satellite communication (communication area, communication strength, communication speed, communication delay, communication capacity) is degraded by disturbance of GNSS carrier wave. Disturbance of GNSS carrier wave is also caused by, for example, ionospheric disturbance, solar flare, etc. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include the occurrence of ionospheric disturbance, solar flare, etc., and can also include information on the degree of impact on the communication performance of the AP in the sky caused by the occurrence of ionospheric disturbance or solar flare.

[0083] Furthermore, the communication performance of each communication line may vary depending on the time or date, in addition to the fluctuations caused by the environmental disturbances described above. For example, the amount of information traffic using the communication line changes depending on the time of day, such as night or day, and communication performance such as communication speed varies. Therefore, the fluctuation conditions acquired by the line performance fluctuation condition acquisition unit 2220 can include not only the environmental disturbances described above, but also information on the time or date, and can also include information on the degree of influence on the communication performance of the overhead AP depending on the time or date.

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

[0085] The line actual performance prediction unit 2240 is a functional unit that predicts the actual communication performance of the communication line based on the environmental information acquired by the environmental information acquisition unit 2230 and the information on the variation conditions acquired by the line performance variation condition acquisition unit 2220. In other words, the actual communication performance of the communication line can be predicted in consideration of the degree of influence on the marine relay system, the ground AP, the air AP, and other existing communication infrastructure caused by at least one of precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, and solar flare conditions acquired as the environmental information.

[0086] (A-1-4-3. Communication line determination unit 2300) The communication line determination unit 2300 is a functional unit that determines a relay communication line to be used for communication from a plurality of communication line candidates. That is, the relay communication line to be used is determined from a plurality of communication line candidates configured with an offshore AP, an air AP, a ground AP, or a combination thereof, as shown in Fig. 12. The communication line determination unit 2300 includes a condition satisfying route candidate determination unit 2310, a route candidate user suggestion unit 2320, and a communication line determination unit 2330.

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

[0088] For example, the condition satisfying route candidate determination unit 2310 can determine candidates for communication circuits that satisfy the desired conditions based on desired information regarding at least one of the type, location, expected movement area, planned movement speed, planned movement route, desired time period to maintain communication, and communication line usage fee of the first communication target terminal or the second communication target terminal acquired by the desired information acquisition unit 2100, and determine a communication line from the candidates using the communication line determination unit 2330 described later.

[0089] As another example, the condition satisfying route candidate determination unit 2310 can determine candidates for communication circuits that satisfy the desired conditions based on desired information regarding the connection destination, which is acquired by the communication target information acquisition unit 2110 and includes information regarding whether the connection destination to be connected to the communication target terminal 7000 is a second communication target terminal 7000b, an Internet line, or both, as shown in Figures 4 to 8, and can determine a communication line from the candidates using the communication line determination unit 2330 described later.

[0090] As another example, the condition satisfying route candidate determination unit 2310 can determine candidates for communication circuits that satisfy the desired conditions based on the desired information acquired by the required communication performance acquisition unit 2130, the desired information being related to the communication quality and communication standards required for the communication line connecting the communication target terminal 7000 and an Internet line, or the communication line connecting the communication target terminal 7000 and a second communication target terminal 7000b, and can select a communication line from the candidates using the communication line determination unit 2330 described later.

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

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

[0093] In addition, when determining a relay communication path for communicating between the first communication target terminal 7000a and the second communication target terminal 7000b, the condition satisfying path candidate determination unit 2310 can determine as the relay communication path a communication line connected in the order of the first communication target terminal 7000a, the first unmanned boat system 1000a (marine relay system), the airborne AP (airborne relay system) 3000 or the ground AP (ground relay system) 4000, the second unmanned boat system 1000b, and the second communication target terminal 7000b, as shown in Figure 7.

[0094] As shown in Fig. 5, when determining a relay communication path for communication connection between the first communication target terminal 7000a and the Internet line 6000, the condition satisfying path candidate determination unit 2310 can determine, as a relay communication path, a communication path connected in the order of the first communication target terminal 7000a, the unmanned boat system 1000 (marine relay system), the air AP (air relay system) 3000, and the Internet line 6000, as shown in Fig. 12. As another example, it can determine, as a relay communication path, a communication path connected in the order of the first communication target terminal 7000a, the unmanned boat system 1000 (marine relay system), the ground AP (ground relay system) 4000, and the Internet line 6000, as shown in Fig. 12.

[0095] Furthermore, as shown in FIG. 8, when determining a relay communication path that connects a first communication target terminal 7000a and a second communication target terminal 7000b via an Internet line 6000, a communication line that connects the first communication target terminal 7000a, the first unmanned boat system 1000a (marine relay system), the first airborne AP (airborne relay system) 3000a, the Internet line 6000, the second airborne AP (airborne relay system) 3000b, and the second communication target terminal 7000b in that order can be determined as the relay communication line.

[0096] As another example, a communication line connected in the order of the first communication target terminal 7000a, the first unmanned boat system 1000a (offshore relay system), the first airborne AP (airborne relay system) 3000a, the Internet line 6000, the second airborne AP (airborne relay system) 3000b, the second unmanned boat system 1000b (offshore relay system), and the second communication target terminal 7000b can also be determined as the relay communication line.

[0097] Also, as shown in Figure 8, as another example of determining a relay communication path that communicatively connects between a first communication target terminal 7000a and a second communication target terminal 7000b via an Internet line 6000, a communication line that connects in the order of the first communication target terminal 7000a, the first unmanned boat system 1000a (marine relay system), the first ground AP (terrestrial relay system) 4000a, the Internet line 6000, the second ground AP (terrestrial relay system) 4000b, and the second communication target terminal 7000b can be determined as the relay communication line.

[0098] As another example, a communication line connected in the order of the first communication target terminal 7000a, the first unmanned boat system 1000a (offshore relay system), the first ground AP (terrestrial relay system) 4000a, the Internet line 6000, the second ground AP (terrestrial relay system) 4000b, the second unmanned boat system 1000b (offshore relay system), and the second communication target terminal 7000b can be determined as the relay communication line.

[0099] In addition, when the first communication target terminal 7000a or the second communication target terminal 7000b is present in the air, the condition satisfying route candidate determination unit 2310 can determine, as a relay communication line, a communication line that directly connects the first communication target terminal 7000a and the unmanned boat 1010 in the unmanned boat system 1000, or connects the first communication target terminal 7000a and the unmanned boat 1010 in the unmanned boat system 1000 via an airborne communication aircraft, or directly connects the second communication target terminal 7000b and the unmanned boat 1010 in the unmanned boat system 1000, or connects the second communication target terminal 7000b and the unmanned boat 1010 in the unmanned boat system 1000 via an airborne communication aircraft.

[0100] Here, the condition satisfying path candidate determination unit 2310 can determine not only a single communication circuit as a relay communication circuit, but also a plurality of communication circuits to be used in parallel. For example, if the parallel use of a plurality of communication circuits satisfies a predetermined standard required for a relay communication circuit acquired by the request information acquisition unit 2100, a parallel communication circuit constituted by a plurality of communication circuits can be determined as a relay communication circuit. Here, the case of using a plurality of communication circuits in parallel includes a case where a communication circuit for transmitting information is switched between parallel communication circuits and used, and also includes a case where information is transmitted simultaneously by both parallel communication circuits.

[0101] The condition satisfying route candidate determination unit 2310 can also determine a relay communication circuit in consideration of the state of the multiple unmanned boats that constitute the unmanned boat system 1000 and are used as relay communication circuits. In this case, for example, the condition satisfying route candidate determination unit 2310 can determine a relay communication circuit from multiple communication circuit candidates based on at least any of information regarding the current or future number, formation, placement, and movement routes of the multiple unmanned boats in the unmanned boat system 1000.

[0102] Next, the route candidate user suggestion unit 2320 is a functional unit that suggests the communication circuit candidates generated by the condition satisfying route candidate determination unit 2310 to the user via the display information output unit 2610 described later. In particular, when there are a plurality of communication circuit candidates that satisfy a predetermined standard required for a relay communication line, the route candidate user suggestion unit 2320 can display information including the plurality of communication circuit candidates.

[0103] Next, the communication line determination unit 2330 is a functional unit that determines a relay communication circuit from the communication circuit candidates generated by the condition satisfying path candidate determination unit 2310. As an example, when information including one or a plurality of communication circuit candidates is proposed to a user via the display information output unit 2610, the communication line determination unit 2330 can determine a relay communication circuit based on communication circuit designation information for the proposed information accepted from the user via a user input acceptance unit 2700 described later.

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

[0105] (A-1-4-4. Maritime relay operation decision unit 2400) The maritime relay operation determination unit 2400 is a functional unit that determines the operation of the unmanned boat system 1000, which is an maritime relay system, in other words, the operation related to the maritime communication relay by the multiple unmanned boats of the unmanned boat system 1000, in accordance with the relay communication line determined by the communication line determination unit 2300. The maritime relay operation determination unit 2400 includes an unmanned boat composition determination unit 2410 and an on-site relay method determination unit 2420.

[0106] The unmanned boat formation determination unit 2410 determines at least one of the number, formation, location, and movement route of unmanned boats required to configure the relay communication line determined by the communication line determination unit.

[0107] The on-site relay method determination unit 2420 is a functional unit that determines whether or not the unmanned boat system 1000, which is an offshore relay system, needs to be connected to the communication target terminal 7000 or other relay systems, and the devices that will make the connection, in order to configure the relay communication line determined by the communication line determination unit. As an example, the on-site relay method determination unit 2420 can determine the unmanned boat that will make a wireless communication connection with at least one of the first communication target terminal 7000a, the second communication target terminal 7000b, the airborne relay system, and the ground relay system, in accordance with the relay communication line determined by the communication line determination unit.

[0108] In addition, when determining a communication line that wirelessly connects the offshore relay system (unmanned boat system 1000) and the airborne relay system (airborne AP 3000) as the relay communication line, the on-site relay method determination unit 2420 can determine an artificial satellite or the communication aircraft of the airborne relay system that wirelessly connects with multiple unmanned boats of the offshore relay system.

[0109] Furthermore, when determining a communication line that wirelessly connects the marine relay system (unmanned boat system 1000) and the ground relay system (ground AP 4000) as a relay communication line, the on-site relay method determination unit 2420 can determine wireless communication equipment that wirelessly connects with the multiple unmanned boats of the marine relay system. Note that the "wireless communication equipment" here means wireless communication equipment such as a wireless communication antenna, and may be a mobile communication equipment mounted on a moving object such as a vehicle, or a fixed wireless communication base station mounted on a fixed facility.

[0110] (A-1-4-5. Communication maintenance control unit 2500) The communication maintenance control unit 2500 is a functional unit that maintains communication via the relay communication line determined by the communication line determination unit 2300, or maintains communication by switching to another communication line depending on the communication situation, the position of the communication target terminal, etc. The communication maintenance control unit 2500 includes a communication situation monitoring unit 2510, an object situation monitoring unit 2520, a communication line changing unit 2530, and an unmanned boat network control unit 2540.

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

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

[0113] The communication line changing unit 2530 is a functional unit that determines changes to at least one of the communication lines, the number, formation, placement, and movement route of unmanned boats of the maritime relay system, the unmanned boats connected by wireless communication to the outside of the maritime relay system, the artificial satellites or communication aircraft of the airborne relay system connected by wireless communication to the maritime relay system, and the wireless communication equipment of the terrestrial relay system connected by wireless communication to the maritime relay system, depending on the communication performance of the relay communication line determined by the communication line determination unit 2300, or the communication performance of the relay communication line and other communication lines.

[0114] The communication line changing unit 2530 may have a function of automatically determining a change of the communication line, or may display measurement information of the current communication performance to the user, receive an instruction to change the communication line from the user, and change the communication line based on the change instruction. As an example of this case, it is determined whether the communication performance of the relay communication line determined by the communication line determination unit 2300, or the communication performance of the relay communication line and the other communication lines, satisfies the desired condition acquired by the desired information acquisition unit 2100, and when it is determined that the desired condition is not satisfied, information on the communication status and surrounding environment of at least one of the relay communication line and the other communication lines acquired by the communication status monitoring unit 2510 is displayed to the user via the display information output unit 2610 described later. The communication line changing unit 2530 may have a function of changing the relay communication line based on change instruction information of the communication line received from the user via the user input receiving unit 2700 described later.

[0115] The unmanned boat network control unit 2540 can change the route of the communication network between the multiple unmanned boats in the unmanned boat system 1000 (marine relay system) in accordance with the decision regarding the change of the communication line determined by the communication line determination unit or measurement information of the current communication performance. The unmanned boat network control unit 2540 can have a function not only to change the route of the communication network that connects the multiple unmanned boats in the unmanned boat system 1000 by wireless communication, but also to change the number, formation, placement, and movement route of the unmanned boats that make up the unmanned boat system 1000. In particular, for the formation, placement, and movement route of the unmanned boats, target values ​​can be set, the position coordinates of the unmanned boats can be monitored, and the position of each unmanned boat can be controlled so that all unmanned boats are placed at the target position.

[0116] The unmanned vessel network control unit 2540 may have a function for controlling the transmission of transmission information according to the situation, in addition to changing the configuration of the unmanned vessels and the communication network configuration within the unmanned vessel system 1000 described above. For example, if the current communication performance temporarily deteriorates, the unmanned vessel network control unit 2540 can perform transmission control such that the transmission information is recorded in a recording device of at least one of the multiple unmanned vessels, and the transmission of the transmission information is resumed when communication performance is restored.

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

[0118] The display information output unit 2610 is a functional unit that displays and outputs to the user the determined information determined by the communication line determination unit 2300 and the marine relay operation determination unit 2400, and the acquired information by the request information acquisition unit 2100 and the communication line information acquisition unit 2200, and can be configured as a display device having a display screen. For example, the display information output unit 2610 can display and output real-time measurement information of the communication performance (including communication speed, communication strength, communication delay, communication distance, etc.) of the currently used relay communication line and other communication lines acquired by the communication line information acquisition unit 2200. In addition, information on the change history of the communication performance in the past may be displayed, not limited to the current communication performance. Furthermore, the display information output unit 2610 can notify the user of the fact that the communication quality has deteriorated due to the state of the communication line or the unmanned boat system, and the movement range or communication data volume of the communication target terminal 7000 is restricted.

[0119] Here, the display information output unit 2610 can display not only the decision information determined by the communication line determination unit 2300 and the marine relay operation determination unit 2400 described above, and the acquired information by the request information acquisition unit 2100 and the communication line information acquisition unit 2200, but also measurement data related to the detected objects around the unmanned boat 1010 detected by the object detection and determination unit 1510 and information on the detection and determination results. By displaying such information, the user can grasp information related to obstacles around the unmanned boat 1010. In addition, information related to the positions and activity status of multiple unmanned boats deployed in the sea area may be displayed in combination with a map or actual image (latest data or past data) of the activity area. In addition, the display information output unit 2610 may display information on the contact information, contact means, or location of related parties of existing communication infrastructure (such as an air AP or a ground AP) that is linked externally.

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

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

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

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

[0124] (A-1-5. Operation flow of the integrated control system 2000) 14 is a flow chart showing the operational processing flow of the overall control system 2000. First, the user request information is acquired by the request information acquisition unit 2100 (step 101).

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

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

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

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

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

[0130] Next, an operation according to the user input information received by the user input receiving unit 2700 is executed (step 107).

[0131] Next, it is determined whether the time zone, date, etc. for which the communication is desired to be maintained, which is included in the request information acquired by the request information acquisition unit 2100, has passed, and the process to transition to next is determined according to the result of the determination (step 108). In this step, if the time zone, date, etc. for which the communication is desired to be maintained have passed, the process of this flowchart is terminated, whereas if the time zone, date, etc. for which the communication is desired to be maintained have not passed, the process transitions to step 105. Note that instead of or in addition to the determination of whether the time zone, date, etc. for which the communication is desired to be maintained have passed, it is also possible to determine whether the termination condition for maintaining the communication via a relay communication line is satisfied, or whether an input indicating that the communication does not need to be maintained via a relay communication line has been received from the user.

[0132] The above-mentioned steps 105 to 108 represent real-time control operation processing after unmanned boat system 1000 is actually deployed on the sea surface.

[0133] (A-1-6. Understanding available communication lines, etc.) 15 is a flow chart showing the process flow of grasping available communication lines and the like by the communication line information acquisition unit 2200. Note that FIG. 15 particularly shows the detailed process of step 102 shown in FIG.

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

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

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

[0137] Next, the environmental information acquisition unit 2230 acquires external environmental information including meteorological information, sea state information, and the like (step 204).

[0138] Next, the next process to be performed is determined based on the acquired performance variation conditions of the communication line, depending on whether or not external environment information affecting the communication performance of the communication line has been acquired (step 205). In this step, if it is determined that external environment information affecting the communication performance has been acquired, the process is transitioned to step 206, whereas if it is determined that external environment information affecting the communication performance has not been acquired, the process is transitioned to step 207.

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

[0140] Next, if it is determined in step 205 that external environment information that affects communication performance has not been acquired, the line actual performance predictor 2240 estimates the actual communication performance under normal conditions as the communication performance (step 206).

[0141] (A-1-7. Communication Line Decision Process) The communication line determination process will be described below with reference to FIGS.

[0142] (A-1-7-1. Communication Line Decision Process Flow) 16 is a flow chart showing a process flow for determining a relay communication line by the communication line determination unit 2300. Note that FIG. 16 particularly shows detailed processing of step 103 shown in FIG.

[0143] First, communication performance estimation information estimated by the communication line information acquisition unit 2200 is grasped (step 301). In this step, it is possible to grasp not only the communication performance of the unmanned boat system 1000 (marine AP), the communication performance of the air AP 3000, and the communication performance of the ground AP 4000, but also the communication performance of the communication line formed by a combination of these.

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

[0145] Next, the condition satisfying route candidate determination unit 2310 determines communication line candidates that satisfy the request information (step 303). The communication line candidates determined in this step do not necessarily need to be communication lines that pass through a single route, but may be parallel routes that are composed of multiple lines connected in parallel.

[0146] Next, the next process to be performed is determined depending on whether or not there is a candidate communication line that satisfies the tolerance conditions included in the request information (step 304). In this step, if it is determined that there is a candidate communication line that satisfies the tolerance conditions, the process proceeds to step 307, whereas if it is determined that there is no candidate communication line that satisfies the tolerance conditions, the process proceeds to step 305.

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

[0148] Next, the user input receiving unit 2700 receives an input of a change to the acceptable conditions from the user in response to the proposal for relaxing the acceptable conditions (step 306). After receiving the input of the change to the acceptable conditions in this step, the process proceeds to step 303, where a determination is made of communication line candidates that satisfy the changed acceptable conditions.

[0149] Next, if it is determined in step 304 that there is a candidate communication line that satisfies the tolerance condition, the next process to be performed is determined depending on whether there are multiple candidates for communication lines that satisfy the tolerance condition (step 307). If it is determined in this step that there is only one candidate communication line that satisfies the tolerance condition, the process is transitioned to step 308, whereas if it is determined that there are multiple candidates for communication lines that satisfy the tolerance condition, the process is transitioned to processing step 309.

[0150] Next, if it is determined in step 307 that there is only one communication line candidate that satisfies the allowable conditions, that one communication line candidate is determined as the communication line to be used (step 308).

[0151] Next, if it is determined in step 307 that there are multiple communication line candidates that satisfy the allowable conditions, the route candidate user suggestion unit 2320 suggests and displays information about the multiple candidates to the user (step 309).

[0152] Next, the user input receiving unit 2700 determines the communication line to be used based on the user's selection input in response to a proposal of multiple communication line candidates (step 310).

[0153] In steps 309 and 310, an example is shown in which when there are multiple candidate communication lines, one communication line is determined based on a selection input from the user. However, the method of determining the communication line is not limited to this, and a relay communication line can also be determined from the multiple candidates based on priority criteria information for the communication lines previously acquired by the communication line priority condition acquisition unit 2140.

[0154] (A-1-7-1. Communication line decision results) Fig. 17 is a diagram showing an example of communication line candidates that satisfy the request information determined by the condition satisfying route candidate determination unit 2310. The example shown in Fig. 17 particularly shows communication line candidates that communicably connect a communication target terminal 7000 mounted on an aircraft flying in the air and an Internet line 6000.

[0155] 17 includes a pattern (circuits 001-004) in which an aerial communication vehicle (drone) relays between a communication target terminal 7000 mounted on an aircraft and a marine relay system (unmanned boat system 1000), and a pattern (circuit 005) in which the communication target terminal 7000 and the marine relay system (unmanned boat system 1000) are directly connected wirelessly. In addition, as a system for relaying between the marine relay system and the Internet line 6000, the circuit includes circuits 001-003 and 005 that use an air AP (air relay system) and circuit 004 that uses a terrestrial AP (terrestrial relay system). In addition, the relay device used as the air AP includes any of a GEO satellite, a LEO satellite, and a stratospheric air vehicle (HAPS).

[0156] As shown in FIG. 17, when there are a plurality of communication line candidates that satisfy the desired information, information on the plurality of communication line candidates as shown in FIG. 17 is displayed in step 309 in FIG.

[0157] (A-1-7-2. Proposal for relaxing acceptable conditions) Fig. 18 is a diagram showing an example of information displayed when the communication line determination unit 2300 proposes changes to the allowable conditions. The example shown in Fig. 18 particularly shows an example of a proposed change display for the allowable conditions that is proposed and displayed to the user in step 305 of the flowchart shown in Fig. 16. In the example shown in Fig. 18, information on the allowable values ​​of communication speed, communication strength, and communication delay is displayed as the current allowable conditions, and information on proposed changes to the allowable conditions of communication speed, communication strength, and communication delay is also displayed.

[0158] In addition, although it is determined that there is no candidate communication circuit that satisfies the current acceptable conditions, information on communication circuits that are determined not to satisfy the current acceptable conditions can also be displayed. By displaying such information, the user can grasp information on communication circuits that will become available when the acceptable conditions are changed.

[0159] (A-1-8. Determining the operation of unmanned boat systems) 19 is a flowchart showing the process flow for deciding the operation of the unmanned boat system 1000 by the maritime relay operation decision unit 2400. FIG 19 particularly shows the detailed process of step 104 in the flowchart shown in FIG 14.

[0160] First, the unmanned boat composition determination unit 2410 determines the number of unmanned boats and other equipment required to configure the marine relay system (step 401).

[0161] Next, the on-site relay method determination unit 2420 determines the unmanned craft that will be wirelessly connected to the communication target terminal 7000 and external access points (air AP 3000, ground AP 4000, etc.) and its location (step 402).

[0162] Next, the unmanned boat formation determination unit 2410 determines the positions of all unmanned boats in the unmanned boat system 1000 (step 403).

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

[0164] (A-1-9. Maintenance control of wireless communication connection) The content and state of the control for maintaining a wireless communication connection will be described below with reference to Figs.

[0165] (A-1-9-1. Wireless communication connection maintenance control process flow) 20 is a flowchart showing a control flow for maintaining a wireless communication connection by the communication maintenance control unit 2500. In particular, FIG. 20 shows detailed processing of step 105 in the flowchart shown in FIG.

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

[0167] Next, it is determined whether the communication line currently in use satisfies the desired conditions acquired by the desired information acquisition unit 2100 (step 502).

[0168] Next, depending on whether the currently used communication line satisfies the desired conditions, the next processing step to transition to is determined (step 503). If it is determined in this step that the currently used communication line satisfies the desired conditions, the processing transitions to step 508, whereas if it is determined that the currently used communication line does not satisfy the desired conditions, the processing transitions to step 504.

[0169] Next, it is determined whether or not changes are required to the number, formation, placement, etc. of unmanned boats in unmanned boat system 1000, or to the communication network configuration between multiple unmanned boats, and the next processing step to transition to is determined based on the result of this determination (step 504). If it is determined in this step that changes are required to the number, formation, placement, etc. of unmanned boats, or to the communication network configuration, processing transitions to step 505. On the other hand, if it is determined that changes are not required to the number, formation, placement, etc. of unmanned boats, or to the communication network configuration, processing transitions to step 506.

[0170] Next, if it is determined in step 504 that the number, formation, placement, etc. of unmanned boats, or the communication network configuration needs to be changed, a command is issued to change the number, formation, placement, etc. of unmanned boats in unmanned boat system 1000, or the communication network configuration (step 505). After this process is completed, the process transitions to step 506.

[0171] Next, if it is determined in step 504 that no change is required to the number, formation, placement, etc. of unmanned boats or to the communication network configuration, it determines whether or not a change is required to the communication lines external to the unmanned boat system 1000, and determines the next processing step to transition to based on the result of this determination (step 506). If it is determined in this step that a change is required to the communication lines external to the unmanned boat system 1000, the processing transitions to step 507, whereas if it is determined that a change is not required to the communication lines external to the unmanned boat system 1000, the processing transitions to step 508.

[0172] Next, if it is determined in step 506 that a change in the external communication line of the unmanned boat system 1000 is necessary, a command to change the communication line is issued (step 507). After the completion of this process, the process proceeds to step 509.

[0173] Next, if it is determined in step 503 that the communication line currently in use satisfies the desired conditions, or if it is determined in step 506 that a change in the communication line external to the unmanned boat system 1000 is not necessary, a decision is made that no change in the communication line is necessary (step 508). After this step, the process proceeds to step 509.

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

[0175] Next, it is determined whether there is another communication line with a better communication state than the communication line currently being used, and the next processing step to transition to is determined according to the determination result (step 510). If it is determined in this step that there is no other communication line with a better communication state than the communication line currently being used, the processing transitions to step 511, whereas if it is determined that there is another communication line with a better communication state than the communication line currently being used, the processing transitions to step 512.

[0176] Next, if it is determined in step 510 that there is no other communication line with a better communication condition than the communication line currently being used, it is determined that there is no need to change the communication line (step 511). After this step is completed, the process proceeds to step 514.

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

[0178] Next, the content of the change to the communication line is determined based on the selection input information from the user (step 513).

[0179] The user is then notified of the decision (step 514).

[0180] Here, the processing of steps 503 to 508 shows the operation flow when the communication line currently in use falls below the desired conditions, and the processing of steps 509 to 514 shows the operation flow when the communication line currently in use satisfies the desired conditions.

[0181] (A-1-9-2. Maintenance and control of wireless communication connections) Fig. 21 is a diagram showing how communication between a communication target terminal 7000 mounted on a ship and an Internet line 6000 is maintained and controlled. In particular, Fig. 21 shows how the communication line is switched from a communication path at time t1 to a communication path at time t2.

[0182] At time t1 in the upper part of FIG. 21, a communication target terminal 7000 mounted on a ship is connected to a terrestrial AP 4000 via a marine relay system equipped with a plurality of unmanned boats, and communication is further connected from the terrestrial AP 4000 to an Internet line 6000. At this time, at least one unmanned boat (master unit) in the marine relay system is located within the communication range of the terrestrial AP 4000. Here, the terrestrial AP 4000 can be configured, for example, by a wireless communication base station of BWA (Broadband Wireless Access) using radio waves of a frequency band of 2.5 GHz, particularly a base station of a privately-operated BWA, and an unmanned boat located within the communication range of the BWA wireless communication base station can directly wirelessly communicate with the wireless communication base station. Also, at time t1, the ship is moving in a direction away from the position where the wireless communication base station of the terrestrial AP 4000 is installed (in the direction of the arrow), so that wireless communication between the ship and the unmanned boat and between the plurality of unmanned boats is not interrupted, the plurality of unmanned boats in the marine relay system are also moving in the direction of movement of the ship.

[0183] Here, the communication distance varies depending on the communication standard and the frequency band of the radio waves used for communication, and is about 50 m when using the 2.4 GHz band such as Wi-Fi, and about several kilometers to several tens of kilometers when using the 920 MHz band. Therefore, in order to prevent wireless communication between the communication target terminal 7000 mounted on the ship and the unmanned boat, and between the multiple unmanned boats, the multiple unmanned boats of the marine relay system are also moved in the direction of movement of the ship so as not to deviate from the communication range corresponding to the communication standard known in advance.

[0184] At time t2 in the lower part of FIG. 21, the ship and the marine relay system move away from the location where the wireless communication base station of the terrestrial AP 4000 is installed, so that the parent unit of the unmanned boat moves near the boundary of the communication range of the terrestrial AP 4000. In such a case, the communication maintenance control unit 2500 of the overall control system 2000 switches the communication circuit. That is, the parent unit of the unmanned boat is connected to the air AP 3000 by wireless communication, and is connected to the Internet line 6000 via the air AP. After being wirelessly connected to the Internet line 6000 via the air AP 3000, the communication between the parent unit of the marine relay system and the terrestrial AP 4000 is disconnected.

[0185] In this way, by switching from a communication line using the ground AP 4000 to a communication line via the air AP 3000 depending on the movement state of the communication target terminal 7000, it is possible to maintain the connection between the communication target terminal 7000 and the Internet line even when the communication target terminal 7000 is mounted on a moving body.

[0186] Next, Fig. 22 is a diagram showing a state in which communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on an offshore base is maintained and controlled. In particular, Fig. 22 shows a state in which a communication line is switched from a communication path at time t1 to a communication path at time t2.

[0187] At time t1 in the upper part of Fig. 22, a first communication target terminal 7000a mounted on a ship is connected to a second communication target terminal 7000b via an offshore relay system equipped with multiple unmanned boats. At this time, at least one unmanned boat (master unit) in the offshore relay system is located within the communication range of the second communication target terminal 7000b mounted on an offshore base (remote island, offshore infrastructure facility, etc.). In addition, since at time t1 the unmanned boat is moving in a direction (in the direction of the arrow) away from the position of the offshore base, the multiple unmanned boats in the offshore relay system are also moving in the direction of movement of the ship (in the direction of the arrow) so that wireless communication between the ship and the unmanned boat and between the multiple unmanned boats is not interrupted.

[0188] At time t2 in the lower part of FIG. 22, the ship and the offshore relay system move away from the position of the offshore base, so that the parent unit of the unmanned boat moves near the boundary of the communication range of the second communication target terminal 7000b of the offshore base. In such a case, the communication maintenance control unit 2500 of the integrated control system 2000 switches the communication circuit. That is, the parent unit of the unmanned boat is connected to the air AP 3000 by wireless communication, and is connected to the second communication target terminal 7000b of the offshore base via the air AP 3000, the Internet line 6000, and another air AP 3000. After being wirelessly connected to the second communication target terminal 7000b via the air AP 3000, the direct communication between the parent unit of the offshore relay system and the second communication target terminal 7000b is disconnected.

[0189] In this way, by switching from direct communication with the second communication target terminal 7000b using the marine relay system to a communication line via the airborne AP 3000 and the Internet line 6000 depending on the movement state of the first communication target terminal 7000a (i.e., a change in the distance between the first communication target terminal 7000a and the second communication target terminal 7000b), it is possible to maintain the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b even if the distance between the first communication target terminal 7000a and the second communication target terminal 7000b, which communicate with each other, increases.

[0190] Next, Fig. 23 is a diagram showing a state in which communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on another ship is maintained and controlled. In particular, Fig. 23 shows a state in which a communication line is switched from a communication path at time t1 to a communication path at time t2.

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

[0192] At time t2 in the lower part of FIG. 23, the first ship and the second ship move away from each other, and the distance between the unmanned boats (1002a and 1002b) that had been communicating wirelessly with each other exceeds the wireless communication distance. In such a case, the communication maintenance control unit 2500 of the integrated control system 2000 switches the communication circuit. That is, the parent unit 1001a of the unmanned boat is connected to the air AP 3000 by wireless communication, and is connected to the parent unit 1001b of the unmanned boat via the air AP 3000a, the Internet line 6000, and another air AP 3000b. In addition, the parent unit 1001a is controlled to move in a manner that follows the first ship (equipped with a first communication target terminal 7000a) and is within the communication distance range, and the parent unit 1001b is controlled to move in a manner that follows the second ship (equipped with a second communication target terminal 7000b) and is within the communication distance range.

[0193] In this way, by switching from direct communication using the marine relay system to a communication line via the airborne AP 3000 and the Internet line 6000 depending on the movement state of the first communication target terminal 7000a and the second communication target terminal 7000b (i.e., a change in the distance between the first communication target terminal 7000a and the second communication target terminal 7000b), the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b can be maintained even if the distance between the first communication target terminal 7000a and the second communication target terminal 7000b, which communicate with each other, increases.

[0194] Next, Fig. 24 is a diagram showing a state in which communication between a first communication target terminal 7000a mounted on the ground and a second communication target terminal 7000b mounted on the ground is maintained and controlled. In particular, Fig. 24 shows a state in which a communication line is switched from a communication path at time t1 to a communication path at time t2.

[0195] At time t1 in the upper part of Fig. 24, a first communication target terminal 7000a installed on a ground vehicle is connected to a second communication target terminal 7000b installed on ground equipment via a marine relay system equipped with multiple unmanned boats. Either or both of the first communication target terminal 7000a and the second communication target terminal 7000b may be mounted on ground equipment provided on an isolated island. At time t1, the positions of the multiple unmanned boats are controlled so that the distance between the first communication target terminal 7000a and the unmanned boat performing wireless communication, the distance between the second communication target terminal 7000b and the unmanned boat performing wireless communication, and the distance between the multiple unmanned boats performing wireless communication do not exceed the wireless communication possible distance.

[0196] At time t2 in the lower part of FIG. 24, the wireless communication between the unmanned boats (1002a and 1002b) that had been wirelessly communicating with each other no longer satisfies the allowable conditions of the communication line due to deterioration of communication quality caused by environmental disturbances (precipitation (rain, snow, hail, sleet, etc.), fog, lightning, etc.) in the sea area where the marine relay system is deployed. In such a case, the communication maintenance control unit 2500 of the overall control system 2000 switches the communication circuit. That is, the parent unit 1001a of the unmanned boat is connected to the air AP 3000 by wireless communication, and is connected to the parent unit 1001b of the unmanned boat via the air AP 3000a, the Internet line 6000, and another air AP 3000b. The parent unit 1001a maintains a communication connection with the first communication target terminal 7000a via a child unit, and similarly, the parent unit 1001b maintains a communication connection with the second communication target terminal 7000b via another child unit.

[0197] In this way, by switching from direct communication using the offshore relay system to a communication line via the airborne AP 3000 and the Internet line 6000 depending on the environmental disturbance state around the offshore relay system that relays communication between the first communication target terminal 7000a and the second communication target terminal 7000b (environmental conditions including, for example, precipitation (rain, snow, hail, sleet, etc.), fog, lightning, ionospheric conditions, solar flare conditions, etc.), the communication connection between the first communication target terminal 7000a and the second communication target terminal 7000b can be maintained even if the environmental conditions between the first communication target terminal 7000a and the second communication target terminal 7000b that communicate with each other change.

[0198] 24 shows an example of switching from direct communication using the marine repeater system to a communication line via the air AP 3000 and the Internet line 6000, but conversely, it is also possible to switch from the communication line via the air AP 3000 and the Internet line 6000 to direct communication using the marine repeater system. In other words, since the communication line via the air AP 3000 and the Internet line 6000 deteriorates in communication quality due to the influence of ionospheric conditions and solar flare conditions, when such environmental disturbances or deterioration in communication quality occurs, it is possible to switch to direct communication using the marine repeater system.

[0199] Next, Figure 25 is a diagram showing an example of an on-board communication network when maintaining and controlling communication between a first communication target terminal 7000a mounted on a ship and a second communication target terminal 7000b mounted on another ship.

[0200] In the example shown in the upper part of FIG. 25, a first communication target terminal 7000a mounted on a first ship is connected to a second communication target terminal 7000b mounted on another second ship via a marine communication network composed of a plurality of unmanned boats. Here, the communication network provided by the marine relay system is not only a single communication path in which a plurality of unmanned boats are connected in series, but is a communication network having a plurality of communication paths by arranging a plurality of unmanned boats in a multi-row arrangement. In this way, by configuring a communication network having a plurality of communication paths by a plurality of unmanned boats arranged in a multi-row arrangement, it is possible to improve the communication toughness by making the communication path between the first communication target terminal 7000a and the second communication target terminal 7000b redundant in order to improve the reliability (communication toughness) of the communication connection when the communication quality deteriorates due to environmental disturbances in the deployment area of ​​the marine relay system or when a reliability condition of the communication connection is specified as a required condition for the communication line.

[0201] In the example shown in the lower part of FIG. 25, a first communication target terminal 7000a mounted on a first ship is connected to a second communication target terminal 7000b mounted on another second ship via a marine communication network composed of multiple unmanned vessels. Here, the communication network provided by the marine relay system is not only a single or multiple communication paths in which multiple unmanned vessels are connected in series, but also a communication network in which the communication path is multipathed by an unmanned vessel possessed by the marine relay system wirelessly communicating with multiple other unmanned vessels. In this way, the communication network composed of a multipath communication path composed of 1:N wireless communication between multiple unmanned vessels can further improve the reliability of the communication connection (communication toughness) when communication quality deteriorates due to environmental disturbances in the deployment area of ​​the marine relay system or when a reliability condition of the communication connection is specified as a required condition for the communication line.

[0202] In addition to changing the communication network configuration within the offshore relay system as shown in Figure 25, it is also possible to combine this with switching of external communication paths (air AP, ground AP, etc.) connecting to the offshore relay system as shown in Figure 24, etc.

[0203] (A-1-10. How to display communication status) Fig. 26 is a diagram showing an example of communication status information displayed and output by the display information output unit 2610. As shown in Fig. 26, the user can arbitrarily select each communication section of each communication path candidate with a mouse, touch panel, or the like on the screen of the display device on which multiple communication path candidates are displayed, thereby displaying real-time information on the communication quality (communication speed, strength, delay, etc.) for each section. In addition, the user can select not only each communication section, but also the entire route from the start point to the end point of the communication circuit from the communication target terminal to the Internet line 6000, and can display real-time measurement information on the communication quality for the entire route.

[0204] The communication speed for each communication section includes the uplink speed, which is the transmission speed in the upward direction, and the downlink speed, which is the transmission speed in the downward direction, and these are measured separately. In addition, the communication speeds of the uplink speed and the downlink speed in the entire path from the communication target terminal 7000 to the Internet line 6000 are bottlenecked by the communication speed of the section with the slowest communication speed in the entire path. In this case, the section that is the bottleneck for the uplink speed and the section that is the bottleneck for the downlink speed are not necessarily the same section.

[0205] Furthermore, the user can display not only real-time communication quality but also the history of past communication quality of a selected communication section.

[0206] (A-1-11. Hardware configuration) 27 is a hardware configuration diagram of a supervisory control system 2000. Here, the supervisory 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 supervisory control system 2000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0207] The input device 100 can constitute the user input receiving unit 2700, and is a device for a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or a voice input device such as a microphone.

[0208] The output device 200 is a device that outputs various information generated by the overall control system 2000, and can constitute the display information output unit 2610. Specifically, the output device 200 can constitute the display information output unit 2610 using a display device such as eyewear, AR, or VR, and may also be a printer or a speaker.

[0209] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing arithmetic processing.

[0210] The main storage device 400 is a memory device such as a RAM that temporarily stores various read information and a ROM that stores programs and application programs executed by the processing device 300 and various other information. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0211] The communication device 600 is a device for performing wireless or wired information communication with the outside, and can constitute the information communication unit 2800 described above.

[0212] In the above embodiment, a communication system 1 is described that utilizes an unmanned boat system 1000 composed of multiple unmanned boats 1010 that perform activities on the sea or on the water. However, the present invention is not limited to unmanned boats 1010, and can be applied as an offshore relay system to a ship system composed of manned ships, or a ship system that combines unmanned boats and manned ships.

[0213] The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and it goes without saying that the present invention includes equivalents thereof.

[0214] [A-2. Effects of this embodiment] According to the above-described embodiment, a more stable communication environment can be provided for devices located in the sea area away from the coast. As an example, when a communication target terminal 7000 located in the sea area is communicatively connected to the Internet line 6000, a more stable communication environment can be provided by selecting or switching a relay communication line configured via at least one of a marine relay system, an airborne relay system, and a terrestrial relay system according to the situation. [Explanation of symbols]

[0215] 1...Control system (system) 100...input device 200...output device 300... Processing device 400... Main storage device 500... Auxiliary storage device 600... Communication device 700…Bus 1000…Unmanned Boat System 1001... Parent unit 1002... Child unit 1010...Unmanned boat 1100...Measuring unit 1110...Measuring sensor 1120: Measurement control unit 1200: Aircraft state determination unit 1210: Navigation state determination unit 1220: Internal state determination unit 1230: External state determination unit 1300...Navigation Department 1400…Communication section 1410…Unmanned vessel communication section 1420…Upper air AP communications department 1430…Ground AP communications department 1440...External device communication unit 1500: Determination unit 1510: Object detection determination unit 1600: Recording section 1610: Measurement data recording section 1620…Unit status recorder 2000…Comprehensive control system 2100: Request information acquisition unit 2110: Communication target information acquisition unit 2120…Required movement information acquisition unit 2130…Required communication performance acquisition unit 2140…Communication circuit priority condition acquisition unit 2200: Communication line information acquisition unit 2210: Available line information acquisition unit 2220... Line performance fluctuation condition acquisition unit 2230... Environmental information acquisition unit 2240: Line Performance Prediction Department 2300: communication line determination unit 2310: condition-satisfying route candidate determination unit 2320: Route candidate user suggestion unit 2330: Communication line determination unit 2400... Maritime relay operation decision unit 2410... Unmanned boat formation decision unit 2420…On-site broadcast method decision section 2500: Communication maintenance control unit 2510: Communication status monitoring unit 2520: object status monitoring unit 2530: communication line change unit 2540…Unmanned boat network control unit 2600: Command output unit 2610: Display information output unit 2620…Control command output section 2700...User input reception unit 2800…Ministry of Information and Communications 3000…Air AP 4000…Ground AP 5000...User terminals 6000...Internet lines 7000: Communication target terminal

Claims

1. A communication system that uses a ship capable of moving on the sea to provide a relay communication line that communicatively connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, a request information acquisition unit that acquires in advance, before an operation of providing the relay communication line, a user's request information regarding a predicted movement area or a planned movement route of the first terminal device or the second terminal device, a desired communication maintenance time period of the first terminal device or the second terminal device, or communication quality, which is required for the relay communication line; a communication line information acquisition unit that acquires communication line information related to a communication available area, a communication available time zone, or a communication quality of a plurality of candidates for the relay communication line; a communication line determination unit that determines the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination unit a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A communication system which, from among multiple candidates for the relay communication line including at least one terrestrial relay system equipped with ground wireless communication equipment capable of wireless communication with at least one of the multiple ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination of these, determines, based on the request information and the communication line information, a candidate that satisfies the request conditions contained in the request information as the relay communication line to be used for communication.

2. 2. The communication system according to claim 1, A communication system in which the location of the first terminal device or the second terminal device includes information that can identify whether the location of the first terminal device or the second terminal device is on sea, in the air, underwater, or on land.

3. 2. The communication system according to claim 1, A communication system, wherein the communication line information acquired by the communication line information acquisition unit includes information regarding communication quality in multiple candidates for the relay communication line, including the offshore relay system, the aerial relay system, the terrestrial relay system, or a combination thereof.

4. 4. The communication system according to claim 3, The communication quality acquired by the communication line information acquisition unit includes information regarding at least one of a communication area, a communication strength, a communication speed, a communication delay, and a communication capacity; A communication system, wherein the desired information acquired by the desired information acquisition unit includes desired conditions related to at least one of communication strength, communication speed, communication delay, and communication capacity.

5. 4. The communication system according to claim 3, an environmental information acquisition unit that acquires environmental information including at least one of precipitation, fog, lightning, an ionospheric state, and a solar flare state; A communication system in which the communication quality acquired by the communication line information acquisition unit is information generated taking into consideration the impact on the communication quality of the offshore relay system or the terrestrial relay system caused by the precipitation, the fog, or the lightning strike, which are contained in the environmental information, or the impact on the communication quality of the aerial relay system caused by the ionospheric disturbance or the solar flare, which are contained in the environmental information, or the impact on the communication quality of an existing communication infrastructure caused by at least any of the precipitation, the fog, the lightning strike, the ionospheric state, the solar flare state, the time, or the date and time, which are contained in the environmental information.

6. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the order of the first terminal device, the offshore relay system, and the second terminal device.

7. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the following order: the first terminal device, the offshore relay system, the aerial relay system, and the Internet line.

8. 2. The communication system according to claim 1, A communication system in which the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the offshore relay system, the first aerial relay system, the Internet line, the second aerial relay system, and the second terminal device.

9. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the first offshore relay system, the first airborne relay system, the Internet line, the second airborne relay system, the second offshore relay system, and the second terminal device.

10. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines, as the relay communication line, a communication line that is connected in the following order: the first terminal device, the offshore relay system, the terrestrial relay system, and the Internet line.

11. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the offshore relay system, the first terrestrial relay system, the Internet line, the second terrestrial relay system, and the second terminal device.

12. 2. The communication system according to claim 1, A communication system, wherein the communication line determination unit determines the communication line connected in the following order as the relay communication line: the first terminal device, the first offshore relay system, the first terrestrial relay system, the Internet line, the second terrestrial relay system, the second offshore relay system, and the second terminal device.

13. 2. The communication system according to claim 1, When the first terminal device or the second terminal device is in the air, A communication system in which the communication line determination unit determines, as the relay communication line, a candidate for the relay communication line that satisfies the desired conditions included in the desired information, and that directly connects the first terminal device and the ship, or connects the first terminal device and the ship via an airborne communication vehicle, or directly connects the second terminal device and the ship, or connects the second terminal device and the ship via an airborne communication vehicle.

14. 2. The communication system according to claim 1, A communication system in which, when the parallel use of multiple candidates for the relay communication line satisfies a predetermined criterion, which is a desired condition included in the desired information, the communication line determination unit determines the parallel use of the multiple candidates for the relay communication line as the relay communication line to be used for communication.

15. A communication system using a ship capable of moving on the sea to provide a relay communication line that communicatively connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, a communication line information acquisition unit for acquiring information regarding a plurality of candidates for the relay communication line; a communication line determination unit that determines the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination unit a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; determining the relay communication line from among a plurality of candidates for the relay communication line, including at least one of a ground relay system having ground wireless communication equipment capable of wireless communication with at least one of the plurality of ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination thereof; a display information output unit that displays information including one or more communication line candidates to a user when there is one or more communication line candidates that satisfy a predetermined criterion; The communication line determination unit determines the relay communication line based on communication line designation information received from a user.

16. 2. The communication system according to claim 1, When there are a plurality of communication line candidates that satisfy the predetermined criteria required for the relay communication line, A communication system, wherein the communication line determination unit determines the relay communication line based on priority criteria information of communication lines acquired in advance.

17. 2. The communication system according to claim 1, A communication system comprising an on-shore relay operation determination unit that determines an operation or relay method for on-shore communication relay by a plurality of ships in accordance with the relay communication line determined by the communication line determination unit.

18. 18. The communication system according to claim 17, The maritime relay operation determination unit determines at least one of the number, formation, arrangement, and movement route of the ships required for the relay communication line determined by the communication line determination unit.

19. 18. The communication system according to claim 17, A communication system in which the maritime relay operation determination unit determines the ship that will establish a wireless communication connection with at least one of the first terminal device, the second terminal device, the airborne relay system, and the ground relay system, depending on the relay communication line determined by the communication line determination unit.

20. 18. The communication system according to claim 17, When the communication line determination unit determines a communication line that wirelessly connects the marine relay system and the air relay system as the relay communication line, A communication system, wherein the maritime relay operation determination unit determines the artificial satellite or the communication aircraft of the airborne relay system that will be wirelessly connected to the ship of the maritime relay system.

21. 18. The communication system according to claim 17, When the communication line determination unit determines a communication line that wirelessly connects the marine relay system and the terrestrial relay system as the relay communication line, A communication system, wherein the marine relay operation determination unit determines the wireless communication equipment of the ground relay system that is to be wirelessly connected to the ship of the marine relay system.

22. 2. The communication system according to claim 1, A communication system comprising a communication maintenance control unit that determines changes to at least any of the communication lines, the number, formation, arrangement, and movement routes of the ships, the ships that are wirelessly connected to the outside of the maritime relay system, the artificial satellite or the communication aircraft of the airborne relay system that is wirelessly connected to the maritime relay system, and the wireless communication equipment of the terrestrial relay system that is wirelessly connected to the maritime relay system, depending on the communication quality of the relay communication line determined by the communication line determination unit, or the communication quality of the relay communication line and other communication lines.

23. 2. The communication system according to claim 1, a communication maintenance control unit that determines whether or not the communication quality of the relay communication line determined by the communication line determination unit, or the communication quality of the relay communication line and another communication line, satisfies a predetermined standard that is a desired condition included in the desired information; a display information output unit that displays information on communication performance of at least one of the relay communication line and the other communication line to a user when the communication maintenance control unit determines that the communication quality of the relay communication line or the communication quality of the relay communication line and the other communication line does not satisfy the predetermined standard, The communication maintenance control unit changes the relay communication line based on communication line change instruction information received from a user.

24. 2. The communication system according to claim 1, the information acquired by the communication line information acquisition unit includes information on communication quality of the relay communication line and other communication lines; A communication system comprising a display information output unit that displays information regarding communication quality of the relay communication line and other communication lines to a user.

25. 2. The communication system according to claim 1, A communication system comprising: a communication maintenance control unit that changes the relay communication line based on communication line change instruction information received from a user via a user input receiving unit.

26. 2. The communication system according to claim 1, The information acquired by the communication line information acquisition unit includes measurement information of current communication quality related to the offshore relay system, A communication system comprising a communication maintenance control unit that determines a change in a route of a communication network between the plurality of ships of the marine relay system.

27. 2. The communication system according to claim 1, When the communication line determination unit determines that there is no candidate communication line that satisfies a predetermined criterion, which is a desired condition included in the desired information, A communication system comprising a display information output unit that suggests to a user to change the predetermined criterion.

28. 2. The communication system according to claim 1, A communication system in which the communication line determination unit determines the relay communication line from multiple candidate communication lines based on the desired information acquired by the desired information acquisition unit and the communication line information acquired by the communication line information acquisition unit, as well as information on at least one of the current or future number, formation, deployment, and movement routes of the multiple ships in the offshore relay system.

29. A communication control method for providing a relay communication line that connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, so that communication can be performed between the first terminal device and the second terminal device, using a ship capable of moving on the sea, comprising: The computer a request information acquisition step of acquiring a user's request information regarding a predicted movement area or a planned movement route of the first terminal device or the second terminal device, a desired communication maintenance time period of the first terminal device or the second terminal device, or communication quality, before an operation of providing the relay communication line; a communication line information acquisition step of acquiring communication line information related to a communication available area, a communication available time zone, or a communication quality of a plurality of candidates for the relay communication line; a communication line determination step of determining the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination step includes: a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A communication control method, which determines, from multiple candidates for the relay communication line including at least one terrestrial relay system equipped with ground wireless communication equipment capable of wireless communication with at least one of the multiple ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination of these, based on the request information and the communication line information, a candidate that satisfies the request conditions included in the request information as the relay communication line to be used for communication.

30. A program usable for a communication system that provides a relay communication line that communicably connects a first terminal device and a second terminal device, or the first terminal device and an Internet line, or the first terminal device, the second terminal device, and the Internet line, using a ship that can move on the sea, the program comprising: On the computer, a request information acquisition command for acquiring a user's request information regarding a predicted movement area or planned movement route of the first terminal device or the second terminal device, a desired communication maintenance time period of the first terminal device or the second terminal device, or communication quality, before an operation of providing the relay communication line; a communication line information acquisition command for acquiring communication line information related to a communication available area, a communication available time zone, or a communication quality of a plurality of candidates for the relay communication line; Executing a communication line determination command to determine the relay communication line to be used for communication from a plurality of candidates of the relay communication line; The communication line determination command a maritime relay system including a plurality of ships that can be directly or indirectly connected to the first terminal device; an aerial relay system capable of wireless communication with at least one of the plurality of ships and having an artificial satellite or a communication vehicle flying in the stratosphere that can be directly or indirectly connected to at least one of the Internet line and the second terminal device; A program which is an instruction to determine, from among multiple candidates for the relay communication line including at least one of terrestrial relay systems equipped with ground wireless communication equipment capable of wireless communication with at least one of the multiple ships and capable of direct or indirect communication connection with the Internet line and at least one of the second terminal devices, or a combination of these, based on the request information and the communication line information, a candidate that satisfies the request conditions included in the request information is to be used for communication.

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