Control System, Control Method, and Program

Abstract

According to the present invention, it is possible to improve the efficiency of search operations using a plurality of moving bodies. 【Solution means】 The present invention is a control system that controls the operations of a plurality of moving bodies equipped with measurement sensors capable of detecting an object to search for the object. The control system includes a search condition information acquisition unit that acquires search condition information including at least one of a search target area and a search period, a search target determination unit that determines a search target according to the search condition information, and a search operation command unit that transmits an execution command for search by the moving bodies based on the search target. The search target determination unit determines a search target for each of a plurality of partial areas defined within the target area or for each of a plurality of time zones within the search period.

Description

Technical Field

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

Background Art

[0002] Conventionally, the practical application of a system that autonomously moves a plurality of unmanned aerial vehicles to search for a specific object has been considered. Patent Document 1 discloses a technique for optimizing the behavior of an entire group of unmanned aerial vehicles while each vehicle constituting the plurality of unmanned aerial vehicles autonomously selects its behavior. In particular, it is disclosed that a plurality of unmanned aerial vehicles spread evenly over the entire action area to perform a search.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, Patent Document 1 and the like disclose that the entire target area for search is uniformly searched. However, depending on the type of search, there is a tendency in the appearance position of the object to be searched, or in some cases, the position where the object will appear next can be predicted to some extent.

[0005] In such a case, for example, rather than uniformly searching the entire target area for search, it is possible to improve the search effect by focusing more on the area or time zone where the appearance probability of the object is predicted to be high, or the area or time zone that should be alerted for other reasons, compared to others.

[0006] Therefore, the present invention has been made in consideration of at least one of the above problems, and an object thereof is to provide a system or a control method or the like that can improve the effect of a search operation using a plurality of moving bodies.

Means for Solving the Problem

[0007] According to the present invention, in a control system that controls the operations of a plurality of mobile bodies equipped with measurement sensors capable of detecting an object to search for the object, a search condition information acquisition unit that acquires search condition information including at least one of a search target area and a search period, a search target determination unit that determines a search target according to the search condition information, and a search operation command unit that transmits an execution command for the search by the mobile body based on the search target, are provided. The search target determination unit determines the search target for each of a plurality of partial areas defined within the target area or for each of a plurality of time zones within the search period, and thus a control system is obtained.

Advantages of the Invention

[0008] According to the present invention, the effect of a search operation using a plurality of mobile bodies can be improved.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] The contents of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] In a control system that controls the operations of a plurality of moving bodies equipped with measurement sensors capable of detecting an object to search for the object, a search condition information acquisition unit that acquires search condition information including at least one of a search target area and a search period; a search target determination unit that determines a search target according to the search condition information; a search operation command unit that transmits an execution command for the search by the moving body based on the search target, and the search target determination unit determines a search target for each of a plurality of partial areas defined within the search target area or for each of a plurality of time zones within the search period. [Item 2] In the control system according to Item 1, the search target determined by the search target determination unit is a target value of a search rate calculated from the area of the target area or the partial area and the area of the searched area, the control system. [Item 3] In the control system according to Item 1 or 2, the search target determined by the search target determination unit is a target value of a search rate calculated from the area of the target area or the partial area, the area of the searched area, the length of the search period, and the length of the search execution time, the control system. [Item 4] In the control system according to any one of Items 1 to 3, comprising a statistical information acquisition unit that acquires discovery history information of the object by past searches, the discovery history information includes information on search conditions including at least any one of the search target area, search time, number of the moving bodies used in the search, arrangement, moving state, measurement sensors used in the search, and index information indicating search performance, or information on the object including at least any one of the discovery position of the object, discovery time, type of the discovered object, size, number, length, orientation, two-dimensional or three-dimensional position, speed, course direction, course trajectory, turning speed, turning angle, turning radius, maximum speed, maximum acceleration, or information on environmental disturbances that affect the measurement performance or power performance of the moving body, the control system. [Item 5] In the control system according to any one of Items 1 to 4, the search target determination unit determines a search target for each partial area or for each time zone based on the discovery history information of the object by past searches performed on an area where at least a part of the target area included in the search condition information overlaps, the control system. [Item 6] In the control system according to any one of Items 1 to 5, The search target determination unit determines a search target for each partial area or for each time zone based on discovery history information of past searches conducted during a time zone included in the search period included in the search condition information. Control system. [Item 7] In the control system according to any one of Items 1 to 6, The search target determination unit determines a search target for each partial area or for each time zone based on discovery history information of past searches conducted during a time zone included in the search period for an area where at least a part of the target area included in the search condition information overlaps. Control system. [Item 8] In the control system according to any one of Items 1 to 7, When the discovery history information includes information on the discovery frequency or the number of discoveries of the object for each of a plurality of partial areas, The search target determination unit sets the alert level of a first partial area where the discovery frequency or the number of discoveries is higher than that of a second partial area to an alert level higher than the alert level of the second partial area, The search target of the first partial area is set to a search target with a higher value than the search target of the second partial area. Control system. [Item 9] In the control system according to any one of Items 1 to 8, When the discovery history information includes information on the discovery frequency or the number of discoveries of the object for each of a plurality of time zones, The search target determination unit sets the alert level of a first time zone where the discovery frequency or the number of discoveries is higher than that of a second time zone to an alert level higher than the alert level of the second time zone, The search target of the first time zone is set to a search target with a higher value than the search target of the second time zone. Control system. [Item 10] In the control system according to any one of Items 1 to 9, A control system including a user interface unit that displays and outputs the search target for each partial area or for each time zone determined by the search target determination unit. [Item 11] In the control system according to any one of Items 1 to 10, when receiving user input information regarding the information of the search target, the search target determination unit determines the search target based on the received user input information, a control system. [Item 12] In the control system according to any one of Items 1 to 11, a control system including a history information analysis unit that analyzes the discovery history information of the object by past searches and determines the discovery frequency or the number of discoveries or the discovery performance index of the object for each partial area or for each time zone. [Item 13] In the control system according to any one of Items 1 to 12, the history information analysis unit corrects the discovery frequency or the number of discoveries or the discovery performance index of the object for each partial area or for each time zone based on the environmental disturbance information at the time of past searches included in the discovery history information, a control system. [Item 14] In the control system according to any one of Items 1 to 13, a search state determination unit that determines the search state of the mobile body based on the current operation state information or measurement information of the mobile body acquired from the mobile body, and a control system including a search target update unit that updates the search target according to the search state. [Item 15] In the control system according to any one of Items 1 to 14, a search state determination unit that calculates an actual value of the search rate of the mobile body based on the current operation state information or measurement information or environmental disturbance information of the mobile body acquired from the mobile body, and a control system including a search target update unit that updates the target value of the search rate based on a comparison between the target value and the actual value of the search rate. [Item 16] In the control system according to any one of Items 1 to 15, A control system comprising a search target update unit that updates the search target based on the current operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body, and the discovery history information of the object obtained by past searches. [Item 17] In the control system according to any one of Items 1 to 16, a search state determination unit that determines a target presence probability indicating the probability that the object exists in the target area or the partial area based on the current operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body; a control system comprising a search target update unit that updates the search target based on the discovery history information of the object obtained by past searches and the target presence probability. [Item 18] In the control system according to any one of Items 1 to 17, a search state determination unit that determines a target discovery probability indicating the probability that the moving body discovers the object based on the current operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body; a control system comprising a search target update unit that updates the search target based on the discovery history information of the object obtained by past searches and the target discovery probability. [Item 19] In the control system according to any one of Items 1 to 18, a search state determination unit that determines a target presence probability indicating the probability that the object exists in the target area and a target discovery probability indicating the probability that the moving body discovers the object based on the current operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body, and the accumulated information of the operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body during the currently executing search period; a control system comprising a search target update unit that updates the search target based on the discovery history information of the object obtained by past searches, the target presence probability, and the target discovery probability. [Item 20] In the control system according to any one of Items 1 to 19, The search condition information acquisition unit includes resource information regarding at least any one of the number or performance of the mobile bodies used for the search, the measurement sensors used for the search, and the communication performance of the wireless communication used for the search. The search target determination unit is a control system that determines a search target according to the search condition information and the resource information. [Item 21] In the control system according to any one of Items 1 to 20, The execution command of the search operation transmitted by the search operation command unit includes an execution command of a search operation including at least any one of the number, arrangement, moving speed, turning speed, moving direction, moving route, and straight-ahead time of the mobile bodies. [Item 22] In the control system according to any one of Items 1 to 21, The mobile body is an unmanned boat that can navigate on the sea by remote control or autonomous control. [Item 23] A control method for controlling the operations of a plurality of mobile bodies equipped with measurement sensors capable of detecting an object to search for the object, The computer, A search condition information acquisition step of acquiring search condition information including at least any one of the search target area and the search period, A search target determination step of determining a search target according to the search condition information, Executes a search operation command step of transmitting an execution command for the search by the mobile bodies based on the search target, In the search target determination step, the computer determines a search target for each of a plurality of sub-areas defined within the target area or for each of a plurality of time zones within the search period. [Item 24] A program applicable to a control system for controlling the operations of a plurality of mobile bodies equipped with measurement sensors capable of detecting an object to search for the object, To the computer, A search condition information acquisition command for acquiring search condition information including at least any one of the search target area and the search period, A search target determination command for determining a search target according to the search condition information, and execute a search operation command instruction for transmitting an execution command for the search by the mobile body based on the search target, In the search target determination command, a program that causes the computer to determine a search target for each of a plurality of partial areas defined in the target area or for each of a plurality of time zones within the search period.

[0011] <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0012] [A. Configuration] (A-1. Overall System Configuration) First, with reference to FIGS. 1 to 3, the overall system configuration of a control system 1 according to an embodiment of the present invention will be described.

[0013] (A-1-1. Outline of the Overall System Configuration) FIG. 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an unmanned boat system 1000 and a general control system 2000. Further, the general control system 2000 is configured to be able to communicate with an external cooperation system 5000 and an external system 6000 via an Internet line or the like, and can perform input / output of information. The general control system 2000 can transmit a control command to the unmanned boat system 1000 deployed at sea via a ground base station 4000 and a communication satellite 3000, and can receive the operation status and measurement data of the unmanned boat system 1000. Therefore, the general control system 2000 is equipped with a measurement sensor capable of detecting the target object 7000, and remotely controls or autonomously navigates the operation of the unmanned boat system 1000 having a plurality of unmanned boats 1010 capable of navigating at sea, so as to search for the target object 7000 in a predetermined area. Here, the predetermined area is an arbitrary area that can be set by the user or set in advance.

[0014] The unmanned boat system 1000 includes a single or a plurality of unmanned boats 1010. When the unmanned boat system 1000 is composed of a plurality of unmanned boats 1010, the plurality of unmanned boats 1010 are connected to each other by wireless communication and can form a communication network. Further, the unmanned boat 1010 has a function of detecting a moving object at sea such as a ship, a drifting object, a drifter, a marine buoy, etc. that are the target object 7000, a diver navigating in the sea, or a moving object in the sea such as a marine creature (such as a whale) by a measurement sensor (such as a sound wave sensor such as a sonar, an optical camera, an IR camera, a laser sensor such as a LiDAR, a radar sensor such as a millimeter wave sensor or a microwave sensor) mounted on the own ship. It can also perform inspection and measurement of marine structures such as offshore wind power generation facilities.

[0015] The detection determination results and measurement data of the object detected by the unmanned boat system 1000, and furthermore, various information on the operation status of each unmanned boat 1010 of the unmanned boat system 1000 are transmitted to the overall control system 2000 via the communication satellite 3000 and the ground base station 4000. Based on the information acquired from the unmanned boat system 1000, the desired information acquired in advance, etc., the overall control system 2000 determines an operation command for the unmanned boat system 1000. Information such as the generated operation command is transmitted to the cooperation system 5000, and it is also possible to acquire an intervention command from the cooperation system.

[0016] (A-1-2. Implementation example of Control System 1 in the real space) FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in the real space. In the example shown in FIG. 2, on the ground side shown in the upper right of the drawing, a ground base station 4000 and an overall control system 2000 are provided. Also, on the ground side, a cooperation system 5000 including related facilities of external cooperation organizations such as external cooperation monitoring organization facilities (including private security organizations, private rescue organizations, etc.) is provided, and furthermore, an external system 6000 such as an AIS (Automatic Identification System) control center and an AIS base station that manages information on ships sailing on the ocean is provided.

[0017] On the other hand, on the ocean side shown on the left of the drawing, a part of the cooperation system 5000 such as the unmanned boat system 1000, the object 7000, and a monitoring ship operated by an external cooperation organization is deployed. Also, the unmanned boat system 1000 has a plurality of groups (1000a, 1000b, 1000c) composed of a parent machine and a plurality of child machines, and can communicate directly or via the communication satellite 3000 between each group. Also, the unmanned boat system 1000 can communicate with the monitoring ship directly or via the communication satellite 3000. For example, detection information regarding the object 7000 can be notified from the unmanned boat system 1000 to the monitoring ship (or research ship). Also, the unmanned boat system 1000 may be communicably connected to the AIS base station to acquire AIS information.

[0018] In the example shown in FIG. 2, although the overall control system 2000 is shown as being implemented in a ground-based facility, it is not limited to this. All or part of the functions implemented in the overall control system 2000 shown in this embodiment can be installed on a coastal on-site base provided in a coastal area on the ground (not shown) or a manned mother ship on the sea side, etc., and it is also possible to operate and manage the unmanned boat system 1000 at the coastal on-site base or the manned mother ship.

[0019] As the configuration of the embodiment described with reference to FIGS. 1 and 2 above, an example of using a non-terrestrial network (Non-Terrestrial Network) using a communication satellite 3000 in a geosynchronous orbit or a low Earth orbit as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000 has been described. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aerial vehicle called HAPS (High Altitude Platform Station) can also be used. In this case, for example, an unmanned aerial vehicle that orbits at an altitude of about 8 to 50 km can be used. Also, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1010, it is possible to use a communication network that directly connects the ground base station 4000 and the unmanned boat 1010 by wireless communication without going through the communication satellite 3000 or HAPS. Note that the ground base station 4000 is not limited to a fixed immovable base station, and may be composed of a movable mobile base station.

[0020] (A-1-3. Stakeholders related to Control System 1) FIG. 3 is a diagram showing the stakeholders related to the control system 1. As shown in FIG. 3, in the control system 1, there is an operator who operates the unmanned boat system 1000 by inputting and outputting information via the user interface unit 2700 of the overall control system 2000. Note that when all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in an onshore coastal site base or a manned mother ship on the sea side not shown in the figure, the operator can operate and manage the unmanned boat system 1000 at the coastal site base or the manned mother ship.

[0021] In addition, there is a monitoring responsible person in the external cooperation monitoring organization facility of the cooperation system 5000, and a monitor on the monitoring ship. They cooperate with each other to search for the object 7000 in the ocean area. In addition, the cooperation system 5000 may include other private security companies and private rescue organizations. Also, in the AIS control center of the external system 6000, there are persons in charge of generating, operating, and managing AIS information. Furthermore, the external system 6000 includes a weather information providing system that provides weather information in the area including the search target area, and there are persons in charge of generating, managing, and distributing weather information in the weather information providing system.

[0022] In addition, as the object 7000 to be searched by the control system 1 and the cooperation system 5000, there are moving objects on the sea such as ships, drifting objects, drifters, and marine buoys, as well as moving objects in the sea such as divers navigating in the sea and marine organisms (such as whales). The control system 1 can more efficiently search for the object 7000 by communicating and cooperating with the cooperation system 5000 and the external system 6000. In addition, offshore structures such as offshore wind power generation facilities can also be included as objects for inspection and measurement.

[0023] (A-2. Unmanned Boat System 1000) Next, with reference to FIGS. 4 to 7, the system configuration of the unmanned boat system 1000 according to an embodiment of the present invention will be described.

[0024] (A-2-1. Overview of Unmanned Boat System 1000) FIG. 4 is a configuration diagram showing an unmanned boat system 1000 composed of a plurality of unmanned boats. As shown in FIG. 4, the unmanned boat system 1000 is composed of one or more groups (1000a, 1000b), and each group is composed of a plurality of unmanned boats 1010. In addition, the plurality of unmanned boats 1010 constituting each group are configured to serve as a master unit 1001 capable of wireless communication with a communication satellite 3000, or a slave unit 1002 capable of directly or indirectly communicating with the master unit 1001. The master unit 1001 is communicatively connected to the communication satellite 3000, aggregates information collected from a plurality of slave units 1002 and transmits it to the communication satellite 3000, and has a function of directly or indirectly transmitting information regarding an operation command obtained from the communication satellite 3000 or information generated by itself to each slave unit 1002.

[0025] The group 1000a shown in FIG. 4 includes a primary connection slave unit 10021 communicatively connected to the master unit 1001, a secondary connection slave unit 10022 communicatively connected to the primary connection slave unit 10021, and a tertiary connection slave unit 10023 communicatively connected to the secondary connection slave unit 10022. Each slave unit (primary connection slave unit 10021, secondary connection slave unit 10022, tertiary connection slave unit 10023) has a function of relaying information received from other master units 1001 or slave units 1002 to other master units 1001 and slave units 1002, thereby constituting a communication network between the master unit 1001 and the plurality of slave units 1002.

[0026] (A-2-2. Exploration State by Unmanned Boat System 1000) FIG. 5 is a conceptual diagram showing a state where the unmanned boat system 1000 deployed on the sea explores the object 7000. As shown in FIG. 5, a plurality of unmanned boats 1010 constituting a group are deployed on the sea, and the measurement sensor 1110 mounted on each unmanned boat 1010 can detect the object 7000 existing within the measurable range on the sea or in the sea. Measurement data of the detected object 7000, detection determination results, etc. are aggregated to the master unit 1001 via the communication network between the unmanned boats 1010, transmitted from the master unit 1001 to the communication satellite 3000, and transmitted to the overall control system 2000 via the ground base station 4000 and the Internet line. In addition, each unmanned boat 1010 is provided with a navigation unit 1300 capable of navigating the unmanned boat 1010 in an arbitrary direction, and can execute the task of exploring the object 7000 based on the operation command transmitted by the overall control system 2000.

[0027] (A-2-3. Configuration of the unmanned boats 1010 constituting the group) FIG. 6 is a diagram showing the positional relationship on the sea surface of a plurality of unmanned boats 1010 constituting a group. In the example shown in FIG. 6, when causing a plurality of unmanned boats 1010 to execute exploration according to the exploration plan, the arrangement relationship and communication connection relationship of the group constituted by the plurality of unmanned boats 1010 are shown.

[0028] The group 1000a shown in FIG. 6 includes one master unit 1001 and a plurality of slave units 1002. In addition, the master unit 1001 and the plurality of slave units 1002 are connected by wireless communication indicated by a solid line to constitute a wireless communication network on the sea. The slave unit 1002 has a primary connection slave unit 10021 that is wirelessly communication-connected to the master unit 1001 and a secondary connection slave unit 10022 that is wirelessly communication-connected to the primary connection slave unit 10021.

[0029] In addition, in the present embodiment, the number of relays by the slave unit 1002 when forming a group is not limited, and a tertiary-connected slave unit, a quaternary-connected slave unit, or even more connected slave units may be provided. The primary-connected slave unit 10021 shown in FIG. 16 has a function of relaying the transmission and reception of information between the master unit 1001 and the secondary-connected slave unit 10022, enabling the transfer of information between the master unit 1001 and a plurality of secondary-connected slave units 10022.

[0030] Also, the number of secondary-connected slave units 10022 wirelessly communication-connected to the primary-connected slave unit 10021 is not limited to one. By having a plurality of secondary-connected slave units 10022 wirelessly communication-connected to the primary-connected slave unit 10021, a tree-structured communication network in which a plurality of unmanned boats 1010 branch within the group 1000a can be configured. Also, since there is an upper limit to the communication distance that allows wireless communication between each unmanned boat 1010, for two unmanned boats 1010 capable of wireless communication with each other, for example, the master unit 1001 and the primary-connected slave unit 10021, and the primary-connected slave unit 10021 and the secondary-connected slave unit 10022, at least the position of one of the unmanned boats 1010 is controlled so that the relative distance between the unmanned boats 1010 is maintained within the range of the communication upper limit relative distance included in the monitoring plan as shown in FIG. 11 (for example, about 1.5 km). In the unlikely event that the relative distance between the unmanned boats 1010 increases and the communication partner unmanned boat 1010 moves outside the range of the communication distance, wireless communication between them becomes impossible and control commands from the overall control system 2000 cannot be transmitted. Therefore, it is desirable for two unmanned boats 1010 connected to each other by communication to perform self-position control to maintain the relative distance from the communication partner within the range of the communication distance with a higher priority than other controls.

[0031] On the one hand, there is no need to maintain the above-mentioned communication connection for the relative distance between other unmanned boats 1010 that do not communicate wirelessly with each other. On the other hand, in order to efficiently search for the target object 7000, which is the purpose of the activity of the unmanned boat system 1000, it is more desirable that the measurement ranges of the measurement sensors of each unmanned boat 1010 do not overlap or moderately overlap, rather than the situation where each unmanned boat 1010 gets too close and most of the measurement ranges of the measurement sensors overlap. Therefore, regarding the relative distance between each unmanned boat 1010 that does not communicate with each other, the position of at least one of the unmanned boats 1010 is controlled with a relatively low priority so as to maintain a preset steady-state relative distance (for example, about 1 km). The control for maintaining this steady-state relative distance can apply, for example, control based on the Boids algorithm.

[0032] Furthermore, when there is a possibility that the relative distance between the unmanned boats 1010 is approaching too close and may cause a collision, in order to avoid the collision and prevent damage to the unmanned boats 1010, etc., position control to increase the relative distance can be executed with a relatively high priority.

[0033] As described above, the control to maintain the relative distance between the unmanned boats 1010 that communicate wirelessly with each other within the range of the communication possible distance, and the avoidance control to avoid collisions with other unmanned boats approaching at a short distance, are executed with a relatively high priority. On the other hand, for the relative distance between the unmanned boats 1010 that do not communicate wirelessly with each other, the control to maintain the normal-time relative distance can be executed with a relatively low priority.

[0034] (A-2-3. Configuration of Unmanned Boat 1010) FIG. 7 is a functional block diagram showing the functional configuration of the unmanned boat 1010. In FIG. 7, the functional block diagram of the unmanned boat 1010 is described, but the master unit 1001 and the slave unit 1002 of the unmanned boat 1010 can both implement functions similar to the configuration shown in FIG. 7. The unmanned boat 1010 includes a measurement unit 1100, a self-state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600.

[0035] The measurement unit 1100 is a functional unit that detects an object 7000 existing within the measurable range of the sea or sea area around the unmanned boat 1010 using a measurement sensor 1110 and acquires measurement information regarding the object 7000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0036] The measurement sensor 1110 may include one (monocular) or a plurality of electro-optical sensors (Electro-Optical sensors), optical cameras, infrared sensors (IR sensors), optical sensors such as stereo cameras, which acquire image data of the sea or sea area, laser sensors such as LiDAR that acquire point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. By measuring the area around the unmanned boat 1010, the measurement sensor 1110 acquires measurement data of the object 7000 existing within the measurable range of the two-dimensional plane of the sea. In addition, each of the above sensors can be used as a ranging sensor that measures the distance to the object based on the measurement data.

[0037] In addition to the above sensors, the measurement sensor 1110 may also include an acoustic sensor (also referred to as an acoustic measurement unit) such as a sonar that uses sound waves such as ultrasonic waves. The acoustic sensor can acquire measurement data of the object 7000 existing within the measurable range of the three-dimensional space in water. It can also be used not only in water but also in the air above the water. When the acoustic sensor is used in the air, the distance to the object to be measured can be measured by measuring the sound wave that is reflected from the object after the generated sound wave reaches the object. When the acoustic sensor is used in water, the acoustic sensor can be either an active sonar that generates a sound wave and measures the sound wave that resonates with an object in water, or a passive sonar that measures the sound generated from an object in water. The active sonar can be composed of, for example, a side scan sonar, a multi-beam sonar, or a single-beam sonar. In addition, the acoustic sensor may be composed of a USBL transceiver, an acoustic communication modem, or the like.

[0038] Further, the measurement control unit 1120 operates a sensor attitude change device capable of changing the attitude of the measurement sensor 1110 to control at least one of the attitude angles of the measurement sensor 1110 around three axes with respect to the unmanned boat 1010. Also, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. Also, when the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. Also, when the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. Also, when the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

[0039] Next, the own-ship 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, internal and external states of the unmanned boat 1010. The navigation state determination unit 1210 determines state quantities related to the position (two-dimensional or three-dimensional) of the own-ship, moving speed, bow azimuth, moving direction, moving acceleration / deceleration, turning speed, and other navigation states. The internal state determination unit 1220 determines the remaining energy amount and remaining fuel amount of the battery mounted on the own-ship, the movable distance that can be calculated based on the remaining energy amount and remaining fuel amount, temporary abnormal states (such as temperature abnormality, communication abnormality, etc.) of the devices mounted on the own-ship, and the failure states of the devices.

[0040] In addition, the external state determination unit 1230 can determine the communication quality status such as the communication intensity (dB value, etc.), communication speed, and communication delay of wireless communication with other unmanned boats 1010 within the unmanned boat system 1000, or wireless communication with the unified control system 2000 via the communication satellite 3000 or the ground base station 4000, or the sea state around the own boat (wave height, wave speed, sea current speed, sea current direction, tidal current speed, tidal current direction), weather state (wind speed, wind direction, atmospheric pressure, temperature, humidity), weather condition (fog, thunder, rainfall, snowfall, hail, sleet, cloudiness, etc.), seawater state (seawater temperature, seawater density, salinity concentration, Ph value, presence or absence of seaweed beds, etc.), sun-related information (sun position (altitude, azimuth, trajectory), backlight, front light, solar radiation amount), and other states (moon position (altitude, azimuth, trajectory, moon age), ionospheric disturbance (solar flare, etc.)).

[0041] The method for determining the position, moving speed, moving direction, and acceleration / deceleration of the own boat by the navigation state determination unit 1210 is not particularly limited. For example, the position, moving speed, and moving direction of the own boat 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 own position information includes at least two-dimensional coordinate information (e.g., latitude, longitude) in a plan view, and preferably includes three-dimensional coordinate information including altitude information. Also, the acceleration / deceleration can be calculated based on the amount of change in time of the determined moving speed.

[0042] In addition, the method for measuring the heading direction of the own boat is to determine the heading direction of the own boat at the current time using, for example, a geomagnetic sensor, a GNSS compass, a SLAM technology using the seabed shape, etc. The heading direction includes at least the attitude angle (azimuth) in a plan view around the Z axis, and preferably can be the attitude information around the three axes of the X axis, Y axis, and Z axis. Also, the turning speed can be calculated based on the amount of change in time of the determined heading direction information.

[0043] Next, the navigation unit 1300 includes a thrust generation unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the own aircraft in an arbitrary direction according to the operation command received via the communication unit 1400. The thrust generation unit 1310 can apply any means capable of generating thrust. As an example, it can be composed of a propeller driven by utilizing the power of an engine or an electric motor. Also, the thrust generation unit 1310 can be composed of a sail that generates thrust by receiving wind, or can be composed of a wave glider that generates thrust by receiving wave power.

[0044] The attitude control mechanism 1320 is composed of a rudder plate provided on the airframe and a propeller attitude change mechanism capable of changing the attitude angle of the propeller (mainly the yaw angle around the Z axis). By changing these angles, the heading direction (yaw angle) of the own aircraft can be controlled. Also, the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the airframe can be controlled by a center of gravity position change mechanism that changes the position of a weight object in the airframe by an actuator.

[0045] Also, the navigation control unit 1330 is a functional unit that controls the navigation operation of the own aircraft by controlling the thrust generation unit 1310 and the attitude control mechanism 1320. The navigation control unit 1330 has one or more processors such as a programmable processor (for example, a central processing unit (CPU), MPU, or DSP), and includes a processing unit capable of accessing a memory (storage unit). The memory stores logic, code, and / or program instructions executable by the processing unit to perform one or more processing steps.

[0046] The processing unit includes a control module configured to control the navigation state of the own aircraft. For example, the control module adjusts the position of the own aircraft on the sea surface, the moving speed, the moving acceleration and deceleration, the heading direction, the turning speed, and the attitude angles around the three axes. That is, the navigation control unit 1330 controls the navigation operation of the own aircraft by causing the own aircraft to perform operations such as forward movement, backward movement, acceleration, deceleration, and turning.

[0047] Next, the communication unit 1400 includes an inter-unmanned boat communication unit 1410 and a centralized control communication unit 1420, and is a functional unit that communicates with other unmanned boats 1010 and the centralized control system 2000 within the unmanned boat system 1000. The inter-unmanned boat communication unit 1410 is equipped with a communication antenna used for a marine wireless communication network and communicates with other unmanned boats 1010 within the unmanned boat system 1000. The centralized control communication unit 1420 is equipped with a satellite communication antenna capable of communicating with the communication satellite 3000 or a communication antenna capable of communicating with the ground base station 4000, and communicates with the centralized control system 2000 via the communication satellite 3000 or the ground base station 4000. In addition to the above-mentioned communication units, the communication unit may be equipped with an AIS antenna and a VHF antenna, and may also be equipped with a communication unit that communicates with an external monitoring ship or an AIS base station.

[0048] Next, the determination unit 1500 is a functional unit that performs data processing such as primary processing and data compression of the measurement data acquired by the measurement sensor 1110. The determination unit 1500 can perform, for example, data processing of the raw data (measurement data) after measurement acquired by the measurement sensor 1110, and perform primary processing to generate transmission data to be wirelessly transmitted from the unmanned boat system 1000 to the centralized control system 2000. Further, the determination unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement and generate transmission data so that the transmission load when wirelessly transmitting the transmission data from the unmanned boat system 1000 to the centralized control system 2000 is reduced.

[0049] Furthermore, the determination unit 1500 can interpret the state of the object 7000 by performing primary processing on the measurement data, and can interpret the presence or absence of the detected object, the size of the detected object, etc. In addition, according to the interpretation result, it may have a function of determining whether to transmit the measurement data or the transmission data from the unmanned boat system 1000 to the centralized control system 2000, or selecting the data to be transmitted.

[0050] Next, the recording unit 1600 includes a measurement data recording unit 1610, a own-ship state recording unit 1620, and a determination information recording unit 1630. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The own-ship state recording unit 1620 records various state information regarding the own ship determined by the own-ship state determination unit 1200. Further, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0051] (A-3. Description of the overall control system 2000) Next, with reference to FIGS. 8 to 12, the overall control system 2000 according to an embodiment of the present invention will be described.

[0052] (A-3-1. Overview of the overall control system 2000) First, with reference to FIG. 8, the functions and contents of the overall control system 2000 will be described. FIG. 8 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in FIG. 8, the overall control system 2000 includes a heterogeneous system integration management unit 2100, an unmanned boat system management unit 2200, a user interface unit 2300, a data transmission / reception management unit 2400, a data recording management unit 2500, and a maintenance and operation management unit 2600.

[0053] (A-3-1-1. Heterogeneous system integration management unit 2100) The heterogeneous system integration management unit 2100 is a functional unit that integrally manages a plurality of heterogeneous systems such as the unmanned boat system 1000, a cooperation system 5000 including a monitoring ship and an external cooperation monitoring group, etc., and is a functional unit that acquires various information such as measurement data and operation states from a plurality of heterogeneous systems and manages the operations of each system. The functions of the heterogeneous system integration management unit 2100 will be described later.

[0054] (A-3-1-2. Unmanned boat system management unit 2200) The unmanned boat system management unit 2200 has a function of generating in advance or updating during the execution of exploration work a detailed exploration plan such as the formation and operation of the unmanned boat system 1000 before executing the exploration.

[0055] The unmanned boat system management unit 2200 is a functional unit that generates a detailed exploration plan such as the formation and operation of the unmanned boat system 1000 before executing the exploration based on the overall exploration plan received from, for example, the heterogeneous system integrated management unit 2100. Note that the detailed exploration plan can include not only the exploration of objects in the sea area but also the exploration plan of objects in the underwater area.

[0056] In addition, the unmanned boat system management unit 2200 controls the operation of the unmanned boat system 1000 to perform exploration of objects. When an object is discovered, it can record the measurement data of the object and notify the user. Further, the unmanned boat system management unit 2200 can control not only the exploration operation for discovering objects in the target area but also the operations related to actions such as tracking after discovering the object.

[0057] Furthermore, when the unmanned boat system management unit 2200 receives the updated overall exploration plan from the heterogeneous system integrated management unit 2100, it can update the detailed exploration plan such as the formation and operation of the unmanned boat system 1000 during the execution of the exploration work based on the updated overall exploration plan. Also, the unmanned boat system management unit 2200 can grasp the progress status of the exploration results for the detailed exploration plan based on the information received from the unmanned boat system 1000. The detailed functions of the unmanned boat system management unit 2200 will be described later.

[0058] (A-3-1-3. User Interface Unit 2300) The user interface unit 2300 has the function of displaying and outputting various information generated by the heterogeneous system integrated management unit 2100, the unmanned boat system management unit 2200, various information transmitted and received by the data transmission / reception management unit 2400, and various information recorded in the data recording management unit 2500 to the user, and receiving input information from the user. The user interface unit 2300 includes a display / output unit 2310 and a user input reception unit 2320.

[0059] The display / output unit 2310 is a functional unit that displays and outputs various information generated by the heterogeneous system integrated management unit 2100, the unmanned boat system management unit 2200, various information transmitted and received by the data transmission / reception management unit 2400, and various information recorded in the data recording management unit 2500 to the user. The user input reception unit 2320 is a functional unit that receives input information from the user.

[0060] (A-3-1-4. Data Transmission / Reception Management Unit 2400) The data transmission / reception management unit 2400 is a functional unit that transmits and receives information between the integrated control system 2000 and the outside. The data transmission / reception management unit 2400 includes an unmanned boat operation command transmission unit 2410, an external information transmission unit 2420, an unmanned boat information reception unit 2430, and an external information reception unit 2440.

[0061] The unmanned boat operation command transmission unit 2410 is a functional unit that transmits an operation command for the unmanned boat system 1000 generated by the integrated control system 2000. The external information transmission unit 2420 is a functional unit that transmits various information to the external cooperation system 5000 and other systems. The unmanned boat information reception unit 2430 is a functional unit that receives information regarding measurement data, operation status, etc. by the unmanned boat 1010 from the unmanned boat system 1000. The external information reception unit 2440 is a functional unit that receives various information from the external cooperation system 5000 and other systems.

[0062] (A-3-1-5. Data Recording Management Unit 2500) The data recording and management unit 2500 is a functional unit that records and manages various types of information generated by the heterogeneous system integration management unit 2100, the unmanned boat system management unit 2200, or decision result information, or various types of information transmitted or received by the data transmission / reception management unit 2400, or information displayed and output by the user interface unit 2300 or received from the user.

[0063] In particular, the data recording and management unit 2500 can record the discovery history information of objects through past searches by the unmanned boat system 1000, the measurement data obtained from the unmanned boat system 1000, and the statistical processing results of the discovery history information of objects processed by the unmanned boat system management unit 2200.

[0064] (A-3-1-6. Maintenance and operation management unit 2600) The maintenance and operation management unit 2600 is a functional unit that manages maintenance including the maintenance, diagnosis, repair, etc. of the plurality of unmanned boats 1010 and other devices that make up the unmanned boat system 1000. Also, the maintenance and operation management unit 2600 may have a resource management function that not only performs maintenance, etc., but also grasps the current status of resources such as equipment, personnel, and facilities necessary for the operation of the unmanned boat system 1000 and gives arrangement instructions. Further, the maintenance and operation management unit 2600 may have an operation monitoring function that grasps the operation status of the plurality of unmanned boats 1010 of the unmanned boat system 1000 and gives instructions regarding operation.

[0065] Also, the maintenance and operation management unit 2600 may have a function of managing operations including pre-operation and post-operation work necessary for the operation of the unmanned boat system 1000, such as arranging, transporting, recovering malfunctioning aircraft, repairing, storing, replenishing batteries, etc., and recovering measurement data, of resources such as equipment, personnel, and facilities necessary for operation.

[0066] (A-3-2. Configuration of the heterogeneous system integration management unit 2100) Next, the heterogeneous system integrated management unit 2100 will be described with reference to FIG. 9. FIG. 9 is a functional block diagram showing the functional configuration of the heterogeneous system integrated management unit 2100. As shown in FIG. 9, the integrated control system 2000 includes an overall pre-plan determination unit 2110 and an overall operation management unit 2120.

[0067] The overall pre-plan determination unit 2110 is a functional unit that generates an exploration plan for the entire plurality of heterogeneous systems including the unmanned boat system 1000 and the cooperation system 5000 before the execution of the exploration operation. It includes a pre-information acquisition unit 2111 and an overall pre-plan determination unit 2112.

[0068] The pre-information acquisition unit 2111 is a functional unit that acquires various information necessary for generating the overall exploration plan in the overall pre-plan determination unit 2112. The pre-information acquisition unit 2111 has a function of receiving information regarding a high-level exploration request for the entire plurality of heterogeneous systems from users such as the user interface unit 2300 and the cooperation system 5000.

[0069] The overall pre-plan determination unit 2112 has a function of generating an overall exploration plan including the roles to be assigned to the unmanned boat system 1000 and other systems respectively based on the received exploration request, and the system configuration of the unmanned boat system 1000. Further, the overall pre-plan determination unit 2112 may have a function of performing cooperation and mediation with a plurality of heterogeneous systems when generating the overall exploration plan. Also, the overall pre-plan determination unit 2112 instructs the exploration plan to the unmanned boat system management unit 2200 described later.

[0070] Next, the overall operation management unit 2120 is a functional unit that manages the execution of the exploration task for the entire heterogeneous systems including the unmanned boat system 1000 and other systems during the execution of the exploration work. The overall operation management unit 2120 includes an overall plan progress management unit 2121, an overall plan update management unit 2122, an inter-heterogeneous system mediation unit 2123, and an overall plan progress recording unit 2124.

[0071] The overall plan progress management department 2121 is a functional department that obtains the working status of each from the unmanned boat system 1000 and other systems and grasps the progress status of the overall exploration plan. The overall plan update management department 2122 is a functional department that updates the overall exploration plan when there are changes in the exploration requirements of the user or delays occur in the progress status. The heterogeneous system mediation department 2123 is a functional department that can perform cooperation and mediation with multiple heterogeneous systems when updating the overall exploration plan. The overall plan progress recording department 2124 is a functional department that records information on the progress status of the overall exploration plan grasped by the overall plan progress management department 2121.

[0072] (A-3-3. Processing flow of the upper-level functions of the overall control system 2000) Next, with reference to FIG. 10, the flow of each process of the upper-level functions of the overall control system 2000 will be described. FIG. 10 is a flowchart showing an example of the upper-level processing flow of the overall control system 2000. Steps 101 to 104 in the flowchart shown in FIG. 10 indicate pre-preparation processing, and steps 105 to 108 indicate real-time processing during exploration execution.

[0073] First, the pre-information acquisition unit 2111 of the heterogeneous system overall management department 2100 acquires pre-information (step 101). In this step, for example, request information from the user and information about systems other than the unmanned boat system 1000 are acquired.

[0074] Next, the overall pre-plan determination unit 2112 determines the overall exploration plan for heterogeneous systems (step 102).

[0075] Next, the overall pre-plan determination unit 2112 transmits information regarding the overall exploration plan to the unmanned boat system 1000 and other systems (step 103). In this step, the overall pre-plan determination unit 2112 can transmit information regarding the overall exploration plan to, for example, the external cooperation monitoring system of the unmanned boat system 1000 and the cooperation system 5000, and the monitoring ship.

[0076] Next, the unmanned boat system management unit 2200 determines a pre-operation plan for the unmanned boat system 1000 (step 104). In this step, the unmanned boat system management unit 2200 can determine a pre-operation plan based on, for example, the overall search plan received from the overall pre-plan determination unit 2112.

[0077] Next, the overall plan progress management unit 2121 performs progress management for the entire heterogeneous system (step 105). In this step, the overall plan progress management unit 2121 can grasp the progress status of the overall search plan by, for example, obtaining the working status of each from the unmanned boat system 1000 and other systems.

[0078] Next, the overall plan update management unit 2122 updates the overall search plan for the entire heterogeneous system (step 106). In this step, the overall plan update management unit 2122 can update the overall search plan, for example, when there is a change in the user's search request or when a delay occurs in the progress status.

[0079] Next, the unmanned boat system management unit 2200 performs progress management for the search by the unmanned boat system 1000 (step 107). In this step, the unmanned boat system management unit 2200 can grasp the progress status of the search results for the detailed search plan based on, for example, the information received from the unmanned boat system 1000.

[0080] (A-3-4. Configuration of the Unmanned Boat System Management Unit 2200) Next, the configuration of the unmanned boat system management unit 2200 will be described. FIG. 11 is a functional block diagram showing the functional configuration of the unmanned boat system management unit 2200. As shown in FIG. 11, the unmanned boat system management unit 2200 includes a pre-information acquisition unit 2210, a history information processing unit 2220, a search target determination unit 2230, a search plan determination unit 2240, a search status determination unit 2250, a search target update unit 2260, and a search operation command unit 2270.

[0081] (A-3-4-1. Pre-information Acquisition Unit 2210) The pre-information acquisition unit 2210 is a functional unit that acquires pre-information necessary for calculating a search target by a search target determination unit 2230 described later. The pre-information acquisition unit 2210 includes a search condition information acquisition unit 2211 and a system information acquisition unit 2212.

[0082] The search condition information acquisition unit 2211 is a functional unit that acquires search condition information regarding search conditions desired by a user or the like, and can acquire search condition information including at least one of a search target area and a search period. Further, the system information acquisition unit 2212 is a functional unit that acquires information regarding the system configuration of the unmanned boat system 1000 used for the search. Here, FIG. 12 is a diagram showing an example of search condition information and system information acquired by the pre-information acquisition unit 2210.

[0083] As shown in FIG. 12, the search condition information (desired information) includes information regarding an object 7000 to be searched, a search target area, and a search time (such as a search period). The object 7000 to be searched can include ships, divers, marine organisms, and other maritime or underwater objects. Further, the target area includes designation information of positions and ranges in a maritime area (two-dimensional plane area) and an underwater area (three-dimensional space area). The search time is specified, for example, by the date and time, time, or time zone (such as 18:00 to 24:00) when the search is executed.

[0084] The system information includes information regarding unmanned boats used for the search. For example, the system information includes the number of unmanned boats used for the search, the performance of the unmanned boats (such as maximum speed, maximum acceleration, maximum deceleration), the type and measurement performance of measurement sensors (such as measurable range), and the communication performance of the unmanned boats (such as communication range, communication speed, communication strength).

[0085] (A-3-4-2. History Information Processing Unit 2220) The history information processing unit 2220 is a functional unit that acquires the discovery history information of the object 7000 through past searches and performs statistical processing and the like. The history information processing unit 2220 includes a history information acquisition unit 2221, a history information analysis unit 2222, and a statistical value correction unit 2223.

[0086] The history information acquisition unit 2221 is a functional unit that acquires the discovery history information of the object 7000 through past searches. Hereinafter, the discovery history information acquired by the history information acquisition unit 2221 will be described with reference to FIGS. 13 to 15.

[0087] FIG. 13 is a diagram showing an example of information items related to the discovered object included in the discovery history information acquired by the history information acquisition unit 2221. As shown in FIG. 13, the information items related to the discovered object 7000 include the appearance of the discovered object, discovery information, and dynamic state. The appearance of the object includes the type, size, length, number, orientation (nose direction), etc. of the object 7000. In addition, the discovery information includes the discovery position (position in a two-dimensional plane or three-dimensional space), discovery time, etc. Further, the dynamic information includes the speed, course direction, course trajectory, turning speed, turning angle, turning radius, maximum speed, maximum acceleration, etc. of the object 7000.

[0088] In addition, the information items related to the discovered object included in the discovery history information may include, in addition to the information shown in FIG. 13, an escape route, an escape direction, a tracking end position, a predicted escape destination, etc. that can be acquired when discovering and tracking the object 7000. The predicted escape destination can be predicted and calculated from information such as the escape route, escape direction, and tracking end position. The information on the predicted escape destination can be used in future searches, such as increasing the search target value of the movement route to the predicted escape destination.

[0089] Next, FIG. 14 is a diagram showing an example of information items related to search conditions and search performance included in the discovery history information acquired by the history information acquisition unit 2221. As shown in FIG. 14, the search condition information includes a target area, search time, number of unmanned boats used for the search, arrangement, movement state, measurement sensors used for the search, and the like. Further, the search performance-related information includes, as index information indicating search performance, a search rate (also referred to as a coverage rate or monitoring density distribution) indicating the ratio of the area that has been moved or measured by the unmanned boat 1010 with respect to the target area or partial area of the search, or a detection probability (also referred to as a target discovery probability, detection rate, or encounter rate) indicating the probability that the unmanned boat 1010 detects the target object 7000 with respect to the target area or partial area of the search. Further, the search performance-related information may include an existence probability indicating the probability that the target object 7000 exists in the target area or partial area of the search.

[0090] Next, FIG. 15 is a diagram showing an example of information items related to environmental disturbances included in the discovery history information acquired by the history information acquisition unit 2221. As shown in FIG. 15, the environmental disturbances include information on various environmental disturbances that affect the measurement performance and power performance of the unmanned boat during the search. The disturbance information on the measurement performance includes optical measurement disturbance information, laser measurement disturbance information, acoustic measurement disturbance information, radio wave measurement disturbance information, and the like.

[0091] The optical measurement disturbance information includes the solar altitude, fog, rain, snow, light quantity, wave height, wave splash, and other environmental disturbances that affect the measurement of other optical sensors. The laser measurement disturbance information includes fog, rain, snow, wave height, wave splash, and other environmental disturbances that affect the measurement of other laser sensors. The acoustic measurement disturbance information includes seawater concentration, seawater temperature, seawater transparency, and other environmental disturbances that affect the measurement of other acoustic sensors. The radio wave measurement disturbance information includes lightning strike, rain, fog, wave height, wave splash, and other environmental disturbances that affect the measurement of other radio wave sensors.

[0092] The disturbance information on power performance includes moving body resistance disturbance information, marine obstacle information, temperature disturbance information, etc. The moving body resistance disturbance information includes ocean currents, tides, wave heights, flow velocities, wind speeds, and other environmental disturbances that cause resistance to the movement of the unmanned boat. The marine obstacle information includes seaweed, drift ice, floating objects, ships, and other obstacles that impede the marine movement of the unmanned boat. The temperature disturbance information includes water temperature, air temperature, solar radiation, and other environmental disturbances that affect the temperature of each device mounted on the unmanned boat.

[0093] Next, the history information analysis unit 2222 is a functional unit that analyzes and processes the discovery history information acquired by the history information acquisition unit 2221 and calculates statistical information on the discovery of the object 7000 in the past search history. The history information analysis unit 2222 has a function of determining the discovery frequency, discovery times, or discovery performance index of the object 7000 for each of a plurality of sub-areas defined within the search target area or for each of a plurality of time periods within the search period, for example.

[0094] Hereinafter, with reference to FIGS. 16 to 18, the content of the analysis and processing of the discovery history information by the history information analysis unit 2222 will be described. FIG. 16 is a diagram showing an example of the aggregation result of the object discovery performance for each sub-area in a predetermined time period generated by the history information analysis unit 2222. FIG. 16 particularly shows the aggregation result of the discovery position and discovery times of the object in a predetermined time period (18:00 to 24:00) based on the search results of suspicious ships implemented in a predetermined period (for example, one year in 2023).

[0095] In FIG. 16, for each sub-area obtained by dividing the search target area into a plurality of parts, the number of discoveries is aggregated, and the areas with a large number of discoveries are displayed in a dark color, while the areas with a small number of discoveries or no discoveries are displayed in a light color. As shown in FIG. 16, within the search target area, there are sub-areas with a large number of discoveries and sub-areas with a small number of discoveries. Therefore, it is desirable to generate a future search plan based on the tendency of the discovery position of the object in such past history. Note that in FIG. 16, an example of aggregating the number of discoveries for each sub-area has been described, but it is not limited to the number of discoveries, and aggregation may be performed using discovery frequency or other discovery performance indices.

[0096] Next, FIG. 17 is a diagram showing an example of the aggregation results for each of a plurality of time zones of the object discovery achievements generated by the history information analysis unit 2222. FIG. 17 shows, in particular, the aggregation results of the discovery positions and discovery frequencies of objects in a plurality of time zones (6:00 am to 6:00 pm, 6:00 pm to 12:00 am, 12:00 am to 6:00 am) based on the search results of suspicious ships conducted during a predetermined period (for example, one year in 2023).

[0097] As shown in FIG. 17, even in the same search target area, when aggregated for each time zone, there may be significant differences in the discovery frequency of the object 7000 and the tendency of the discovery positions. In the example shown in this figure, from 6:00 am to 6:00 pm, since it is a time zone when the sun rises and it is bright, the number of discoveries of suspicious ships is small. However, in the time zone after evening, from 6:00 pm to 12:00 am, the number of discoveries of the object 7000 increases, and in the late-night time zone, from 12:00 am to 6:00 am, the number of discoveries of the object increases the most. Also, from 12:00 am to 6:00 am, since the discovery positions of the objects are formed in a band connecting between the lower left and the upper right, it can be predicted that the objects may be moving between the lower left and the upper right.

[0098] Next, FIG. 18 is a diagram showing an example of the statistical information of the object discovery achievements generated by the history information analysis unit 2222. FIG. 18 shows, in particular, the results of the statistical processing of the discovery achievement indices such as the number of discoveries in each time zone for each of a plurality of sub-areas set within the search target area.

[0099] In the example shown in FIG. 18, the statistical processing results in a predetermined sub-area are shown. In this sub-area, the discovery achievement index reaches the highest peak especially around 2:00 am in the night time zone. In this way, the discovery achievement index can be determined for each sub-area and each time zone.

[0100] Next, the statistical value correction unit 2223 has a function of correcting the discovery frequency or the number of discoveries or the discovery achievement index of the object 7000 for each sub-area or each time zone based on the environmental disturbance information at the time of past search implementation included in the discovery history information.

[0101] Using FIG. 19, the predetermined operation by the statistical value correction unit 2223 will be described. FIG. 19 is a diagram showing an example of the result of the disturbance correction process by the statistical value correction unit 2223. Since the disturbance of the measurement performance shown in FIG. 15 is a factor that degrades the measurement performance, when the disturbance of the measurement performance in the past object discovery history is large, the discovery performance data of the object discovered in the state of low measurement performance is used. Therefore, if the measurement performance is high, it is expected that the number of times the object is discovered will increase. Considering the above, when the disturbance of the measurement performance is large, the statistical value correction unit 2223 corrects the statistical value so as to increase the index of the past discovery performance.

[0102] Note that the statistical value correction unit 2223 may have a function of correcting not only the number of times the object 7000 is discovered but also the target discovery probability, detection rate, encounter rate, etc., which are the search performance of the unmanned boat 1010, based on the environmental disturbance information at the time of search execution.

[0103] The history information processing unit 2220 may have a function of displaying and outputting to the user, via the user interface unit 2300, the statistical information of the discovery frequency, discovery times, or discovery performance index of the object 7000 for each partial area or time zone corrected by the statistical value correction unit 2223.

[0104] (A-3-4-3. Search target determination unit 2230) The search target determination unit 2230 is a functional unit that determines a search target according to the search condition information acquired by the search condition information acquisition unit 2211. In particular, the search target determination unit 2230 has a function of determining a search target for each of a plurality of partial areas defined within the target area of the search condition information or for each of a plurality of time zones within the search period. The search target determination unit 2230 includes a vigilance determination unit 2231 and a target search rate determination unit 2232.

[0105] The alert level determination unit 2231 has a function of determining the alert level for each partial area or each time period based on the discovery history information of the object obtained from past searches performed on an area where at least a part of the search target area included in the search condition information overlaps. Here, the overlapping area means an area where a past search has been performed on a partial area or the entire area within the marine two-dimensional area when the search target area included in the search condition information is a predetermined marine two-dimensional area.

[0106] In addition, the alert level determination unit 2231 compares various target information regarding the search performance in past searches with various actual performance information of the searches, determines the excess or deficiency of the search performance in each item regarding the search for each partial area or each time period, and can set a higher alert level for the partial area or time period determined to have a deficiency in search performance. Note that the excess or deficiency of the search performance is, for example, the excess or deficiency regarding the search rate, detection probability, number of unmanned boats 1010, arrangement distribution, moving speed, straight-line time, moving route, search execution time, etc. Note that the influence of environmental disturbances can also be considered in the determination of the excess or deficiency of the search performance.

[0107] In addition, the alert level determination unit 2231 has a function of determining the alert level for each partial area or each time period based on the discovery history information of past searches performed during the time periods included in the search period of the search condition information.

[0108] In addition, the alert level determination unit 2231 can also determine the alert level for each partial area or each time period based on the discovery history information of past searches performed on an area where at least a part of the target area included in the search condition information overlaps, considering both the area and the time period, and during the time periods included in the search period.

[0109] When information on the discovery frequency or the number of discoveries of the object 7000 for each of a plurality of partial areas is included, as in the discovery history information shown in FIGS. 16 to 18, the alert level determination unit 2231 can, for example, set the alert level of a first partial area where the discovery frequency or the number of discoveries is greater than that of a second partial area to a higher alert level than the alert level of the second partial area. That is, the alert level of a partial area where the discovery frequency or the number of discoveries is relatively higher than that of other partial areas can be set to a relatively higher alert level.

[0110] Also, when information on the discovery frequency or the number of discoveries of the object 7000 for each of a plurality of time periods is included, as in the discovery history information shown in FIGS. 16 to 18, the alert level determination unit 2231 can, for example, set the alert level of a first time period where the discovery frequency or the number of discoveries is greater than that of a second time period to a higher alert level than the alert level of the second time period. That is, the alert level of a time period where the discovery frequency or the number of discoveries is relatively higher than that of other time periods can be set to a relatively higher alert level.

[0111] Further, the alert level determination unit 2231 can set a higher alert level for a partial area or a time period with a high probability of existence or detection probability (such as object discovery probability, detection rate, encounter rate, etc.) of the object shown in FIG. 14 included in the discovery history information.

[0112] Next, the target search rate determination unit 2232 has a function of determining search targets such as a search rate for each partial area or each time period according to the alert level for each partial area or each time period determined by the alert level determination unit 2231. For example, when there are a first partial area and a second partial area, and the alert level of the first partial area is higher than the alert level of the second partial area, the target search rate determination unit 2232 can set the search target of the first partial area to a higher search target than the search target of the second partial area.

[0113] Note that the method for determining the search target by the target search rate determination unit 2232 is not limited to the method of determining the search target for each partial area or each time period according to the alert level for each partial area or each time period determined by the alert level determination unit 2231. The target search rate determination unit 2232 can also determine the search target for each partial area or each time period based on at least one of the discovery history information of past searches performed on an area where at least a part of the target area included in the search condition information overlaps, or the discovery history information of past searches performed during the time periods included in the search period, without using the alert level.

[0114] Also, as another example of the method for determining the search target by the target search rate determination unit 2232, it is not limited to the method of determining the search target for each partial area or each time period according to the alert level for each partial area or each time period determined by the alert level determination unit 2231. The target search rate determination unit 2232 can calculate the probability of the existence of the object 7000 for each partial area or each time period based on at least one of the discovery history information of past searches performed on an area where at least a part of the target area included in the search condition information overlaps, or the discovery history information of past searches performed during the time periods included in the search period, and determine the search target so that the search target for the partial area or time period with a high probability of existence becomes higher.

[0115] The search target determined by the target search rate determination unit 2232 can be the target value of the search rate calculated from the area of the target area or partial area and the area of the searched area. More specifically, for example, it can be the target value of the search rate indicating the ratio of the area of the searched area to the area of the target area or a partial area of the target area included in the search condition information.

[0116] As another example, the search target determined by the target search rate determination unit 2232 can also be a target value of the search rate calculated from the area of the target area or partial area, the area of the searched area, the length of the search period, and the length of the search execution time. In this case, for example, it can be a target value of the search rate indicating the ratio of the searched area and the search execution time to the area of the search target and time defined by the combination of the area of the search target area or partial area of the target area included in the search condition information and the search period (search time zone).

[0117] As yet another example, the target search rate determination unit 2232 can also calculate, as a search target, the encounter rate indicating the probability that the unmanned boat 1010 encounters the object 7000, the detection probability indicating the probability that the unmanned boat 1010 detects the object 7000, or the discovery probability indicating the probability that the unmanned boat 1010 recognizes the object 7000 and makes a discovery determination, in the target area or partial area included in the search condition information.

[0118] In addition to the search condition information acquired by the search condition information acquisition unit 2211, the search target determination unit 2230 can also determine the search target according to the resource information of the unmanned boat system 1000 regarding at least any one of the number or performance of the unmanned boats used for the search, the measurement sensors used for the search, and the communication performance of the wireless communication used for the search.

[0119] Here, the search target determination unit 2230 may have a function of causing the user interface unit 2300 to display and output to the user the information on the search target for each partial area or time zone determined by the target search rate determination unit 2232.

[0120] Also, when receiving user input information regarding the search target via the user interface unit 2300, the search target determination unit 2230 may have a function of determining the search target based on the received user input information. In this case, for example, the user can check the information on the search target for each partial area or time zone determined by the target search rate determination unit 2232 on the display output unit 2310, and input approvals, rejections, corrections, etc. for the search target as user input information, and can intervene in the final determination process of the search target by the search target determination unit 2230.

[0121] (A-3-4-4. Search Plan Determination Unit 2240) The search plan determination unit 2240 is a functional unit that generates a search plan for the unmanned boat 1010 based on the search target determined by the search target determination unit 2230, and commands the search operation command unit 2270, which will be described later, to send an execution command of the search plan to the unmanned boat system 1000 or the like. Also, when the search target is updated by the search target update unit 2260, which will be described later, the search plan determination unit 2240 has a function of generating a command for the execution plan of the search based on the updated search target. Hereinafter, with reference to FIG. 20, the determined search plan will be described. FIG. 20 is a diagram showing an example of the search plan determined by the search plan determination unit 2240.

[0122] As shown in the table at the bottom of FIG. 20, the search plan determined by the search plan determination unit 2240 includes information regarding the search time, the search target area at each time, the number of unmanned boats, the arrangement, the movement target, and the measurement sensors used for the search. Note that the search time is defined by the date and time, time, or time zone of the search execution. Also, the movement target of the unmanned boat includes the target movement speed, the target turning speed, the target movement direction, the target movement route, the target straight-ahead time, and the like.

[0123] Note that, as shown at the top of FIG. 20, the search target area, the target movement route, the number of unmanned boats, the arrangement, etc. may be displayed and output from the user interface unit 2300 in a map format.

[0124] In the example shown in FIG. 20, a search plan for one group composed of a plurality of unmanned boats 1010 is shown, but a similar search plan for a plurality of groups may also be used. In that case, the search plan includes information on the search time, the search target area at each time, the number of groups, the arrangement, the movement target, and the measurement sensors used for the search.

[0125] In FIG. 20, an example in which the search plan determination unit 2240 generates a search plan by the unmanned boat 1010 has been described, but the search plan determination unit 2240 may have a function of generating an action after discovery, particularly a tracking plan, in advance after discovering an object. In that case, a tracking plan can be generated according to the type, discovery position, and discovery time zone of the discovered object 7000. Further, a tracking plan such as tracking toward the predicted escape destination can be generated based on information on the predicted escape destination predicted and calculated in advance from information such as the escape route, escape direction, and tracking end position.

[0126] The search plan determination unit 2240 can display and output information on the search plan as shown in FIG. 20 from the user interface unit 2300.

[0127] (A-3-4-5. Search state determination unit 2250) The search state determination unit 2250 has a function of determining the search state of the unmanned boat based on the current operation state information, measurement information, and environmental disturbance information of the unmanned boat 1010 acquired from the unmanned boat 1010. The search state determination unit 2250 includes a search situation estimation unit 2251, a current search rate calculation unit 2252, a target presence probability calculation unit 2253, and a target discovery probability calculation unit 2254.

[0128] The search situation estimation unit 2251 has a function of interpreting the search state of the unmanned boat 1010 based on the current operation state information of the unmanned boat 1010, which is the determination result by the own ship state determination unit 1200 acquired from the unmanned boat system 1000, the measurement information by the measurement unit 1100, or the environmental disturbance information around the unmanned boat 1010 acquired from the unmanned boat system 1000 or the external system 6000.

[0129] FIG. 21 is a diagram showing an example of disturbance state information used for the search state determination by the search state determination unit 2250. FIG. 21 particularly shows the ambient disturbance information around the unmanned boat 1010 acquired from the unmanned boat system 1000 and the external system 6000. As shown in FIG. 21, the disturbance state information includes information on various ambient disturbances that affect the measurement performance and power performance of the unmanned boat during the search.

[0130] The disturbances to the measurement performance include optical measurement disturbance information, laser measurement disturbance information, acoustic measurement disturbance information, radio wave measurement disturbance information, etc. The optical measurement disturbance information includes solar altitude, fog, rain, snow, light quantity, wave height, wave splash, and other ambient disturbances that affect the measurement of other optical sensors. The laser measurement disturbance information includes fog, rain, snow, wave height, wave splash, and other ambient disturbances that affect the measurement of other laser sensors. The acoustic measurement disturbance information includes seawater concentration, seawater temperature, seawater transparency, and other ambient disturbances that affect the measurement of other acoustic sensors. The radio wave measurement disturbance information includes lightning strike, rain, fog, wave height, wave splash, and other ambient disturbances that affect the measurement of other radio wave sensors.

[0131] In addition, the disturbances to the power performance include disturbance information on the power performance, such as moving body resistance disturbance information, marine obstacle information, temperature disturbance information, etc. The moving body resistance disturbance information includes ocean current, tidal current, wave height, flow velocity, wind speed, and other ambient disturbances that cause resistance to the movement of the unmanned boat. The marine obstacle information includes seaweed, drift ice, floating objects, ships, and other obstacles that hinder the marine movement of the unmanned boat. The temperature disturbance information includes water temperature, air temperature, solar radiation amount, and other ambient disturbances that affect the temperature of each device mounted on the unmanned boat.

[0132] FIG. 22 is a diagram showing an example of the search state information estimated by the search state estimation unit 2251. The search state estimation unit 2251 can estimate the search state as shown in FIG. 22 in consideration of various environmental disturbances that affect the measurement performance and power performance of the unmanned boat during the search as shown in FIG. 21. The search state estimated by the search state estimation unit 2251 includes the search position, search time, number of unmanned boats, arrangement, operation command value, operation state, measurement state, and the like. In particular, the search state estimation unit 2251 can determine the measurement state including the measurement range and the like based on various environmental disturbances that affect the measurement performance and power performance.

[0133] Next, the current search rate calculation unit 2252 has a function of calculating an actual value of the search rate indicating the ratio of the searched area area and the search execution time with respect to the area and time to be searched. Note that the current search rate calculation unit 2252 can calculate the actual value of the search rate based on, for example, the search state information as shown in FIG. 22 estimated by the search state estimation unit 2251.

[0134] The current search rate calculation unit 2252 can determine whether the search progress state is excessive or insufficient based on the search state estimated by the search state estimation unit 2251 and the like. For example, the current search rate calculation unit 2252 can determine whether there is an excess or deficiency regarding the search rate, detection probability, number of airframes of the unmanned boat 1010, arrangement distribution, moving speed, straight-ahead time, moving route, search execution time, and the like.

[0135] Next, the target existence probability calculation unit 2253 is a functional unit that calculates a target existence probability indicating the probability that the target object 7000 exists in the target area or partial area based on the current operation state information of the unmanned boat 1010, which is the determination result by the own-ship state determination unit 1200 acquired from the unmanned boat 1010, the measurement information by the measurement unit 1100, or the environmental disturbance information around the unmanned boat 1010 acquired from the unmanned boat system 1000 or the external system 6000.

[0136] For example, the target presence probability calculation unit 2253 determines the searched area based on the information on the previous movement path and measurement range of the unmanned boat 1010, and can calculate the target presence probability such that the probability of the target object 7000 existing in the currently or previously searched area becomes a low value.

[0137] Next, the target discovery probability calculation unit 2254 is a functional unit that calculates the target discovery probability indicating the probability of the unmanned boat 1010 discovering the target object 7000 based on the current operation state information of the unmanned boat 1010, which is the determination result by the own ship state determination unit 1200 obtained from the unmanned boat 1010, the measurement information by the measurement unit 1100, or the ambient disturbance information around the unmanned boat 1010 obtained from the unmanned boat system 1000 or the external system 6000.

[0138] For example, the target discovery probability calculation unit 2254 can calculate the target discovery probability based on the information on the previous movement path and measurement range of the unmanned boat 1010, and the future target movement path and measurement range, etc. Further, in an area or time zone where the measurement disturbance (such as sunset, high waves, fog, etc.) is large based on the measurement performance disturbance information, the measurement range becomes narrow, so the target discovery probability calculation unit 2254 can calculate the probability of discovering the target object 7000 to be a relatively low value.

[0139] Here, the target presence probability calculation unit 2253 and the target discovery probability calculation unit 2254 can also calculate the presence probability and discovery probability of the target object 7000 based on the current operation state information or measurement information or ambient disturbance information of the unmanned boat 1010 obtained from the unmanned boat 1010, etc., and the accumulated information of the operation state information or measurement information or ambient disturbance information of the unmanned boat 1010 obtained from the unmanned boat 1010, etc. during the currently ongoing search period.

[0140] The search state determination unit 2250 can display and output in real time the information on the determination result regarding the search state of the unmanned boat determined by the search state determination unit 2250 from the user interface unit 2300.

[0141] (A-3-4-6. Search target update unit 2260) The search target update unit 2260 has a function of updating the search target according to the search state determined by the search state determination unit 2250. For the method of updating the search target by the search target update unit 2260, a plurality of update processing methods are applicable. Hereinafter, each update processing method will be described with reference to FIGS. 23 to 25.

[0142] First, the first update processing method will be described. FIG. 23 is a diagram showing the first search target update processing by the search target update unit 2260. In the first update processing method shown in FIG. 23, based on the comparison result of comparing the target value of the search rate determined in advance by the search rate determination unit 2230 according to the discovery history information from past searches and the actual value of the search rate determined by the search state determination unit 2250 according to the search state information of the currently executing search operation by a comparator, the target value of the search rate can be updated.

[0143] In FIG. 23, in particular, an example is shown in which the target value of the search rate is determined for each partial area and each time zone, and a high target value of the search rate is set for the partial area shown in dark color. Also, the actual value of the search rate up to the present is shown for each partial area, and the partial area shown in dark color is the partial area with a high actual value of the search rate. Therefore, by performing the difference processing between the target value and the actual value of the search rate by the comparison of the comparator, the search target value can be updated so that the search target value of the partial area where there is still no actual value of the search and the target value of the search rate is high becomes a high value. Note that in FIG. 23, an example is shown in which the target value of the search rate is determined for each partial area and each time zone, but the target value of the search rate can also be determined for each time zone for the entire search target area.

[0144] Next, the second update processing method will be described. FIG. 24 is a diagram showing the second search target update processing by the search target update unit 2260. In the second update processing method shown in FIG. 24, based on the discovery history information from past searches and the information on the current search state (operation state information or measurement information or environmental disturbance information) obtained from the unmanned boat 1010, the target value of the search rate can be updated.

[0145] In FIG. 24, as information on the current search state obtained from the unmanned boat 1010, in particular, the current operation state information or measurement information or environmental disturbance information (real-time search state information) obtained from the unmanned boat 1010 or the like, and the operation state information or measurement information or environmental disturbance information accumulation information (current operation search result accumulation information) of the unmanned boat 1010 obtained from the unmanned boat 1010 or the like during the currently executing search period are obtained. Further, discovery history information from past searches is obtained, and an example of updating and calculating the target value of the search rate based on these three types of information is shown.

[0146] Next, a third update processing method will be described. FIG. 25 is a diagram showing a third search target update process by the search target update unit 2260. In the third update processing method shown in FIG. 25, first, based on the above-described real-time search state information and current operation search result accumulation information, the target existence probability calculation unit 2253 calculates the target existence probability. Similarly, based on the real-time search state information and current operation search result accumulation information, the target discovery probability calculation unit 2254 calculates the target discovery probability. Further, based on the discovery history information from past searches, the target existence probability, and the target discovery probability, the search target update unit 2260 can update the target value of the search rate.

[0147] In addition, in the third update processing method shown in FIG. 25, an example of updating the target value of the search rate by the search target update unit 2260 based on three types of information, namely, the discovery history information from past searches, the target existence probability, and the target discovery probability, has been described. However, the present invention is not limited to this, and an update processing method of updating the target value of the search rate based on the discovery history information and the target existence probability information, or an update processing method of updating the target value of the search rate based on the discovery history information and the target discovery probability can also be applied.

[0148] (A-3-4-7. Search operation command unit 2270) The search operation command unit 2270 is a functional unit that transmits an execution command to the unmanned boat system 1000 or the like when it obtains a command to transmit an execution command for the search from the search plan determination unit 2240.

[0149] The exploration operation instruction unit 2270 transmits an execution instruction of an exploration plan including information such as the number, arrangement, movement target (movement speed, turning speed, movement direction, movement route, straight - running time), exploration target area, and exploration time of the unmanned boat 1010 to the unmanned boat system 1000 and the like. In addition to the above, the execution instruction of the exploration plan may include instructions such as the execution of a charging recovery operation using a solar panel or a wave power generation unit mounted on the unmanned boat 1010 and the execution position of the recovery operation.

[0150] (A - 3 - 5. Processing Flow of Unmanned Boat System Management Unit 2200) Next, the processing flow of the unmanned boat system management unit 2200 will be described. FIG. 26 is a flowchart showing an example of the processing flow of the unmanned boat system management unit 2200. Steps 201 to 204 shown in FIG. 26 are pre - preparation processes before executing the exploration, and steps 205 to 207 show the processes performed during the exploration.

[0151] First, the pre - information acquisition unit 2210 acquires exploration condition information regarding exploration conditions requested by the user or the like and information regarding the system configuration of the unmanned boat system 1000 used for the exploration (step 201).

[0152] Next, the history information processing unit 2220 acquires the discovery history information of the object 7000 from past explorations and performs statistical processing and the like (step 202).

[0153] Next, the exploration target determination unit 2230 determines an exploration target according to the exploration condition information acquired by the exploration condition information acquisition unit 2211 and the like (step 203).

[0154] Next, the exploration plan determination unit 2240 generates an exploration plan by the unmanned boat 1010 based on the exploration target determined by the exploration target determination unit 2230 and transmits an execution instruction of the exploration plan to the unmanned boat system 1000 and the like (step 204).

[0155] Next, the search state determination unit 2250 determines the search state of the unmanned boat 1010 based on the current operation state information, measurement information, and environmental disturbance information of the unmanned boat 1010 acquired from the unmanned boat 1010 (step 205).

[0156] Next, the search target update unit 2260 updates the search target according to the search state of the unmanned boat 1010 (step 206).

[0157] Next, the search plan determination unit 2240 generates a search plan according to the updated search target, and transmits an execution command of the search plan to the unmanned boat system 1000 or the like (step 207).

[0158] (A-4. Method for Analyzing Discovery History Information) Next, the method for analyzing the discovery history information will be described. FIG. 27 is a flowchart showing an example of a processing flow such as statistical processing of the discovery history information by the history information processing unit 2220. In particular, FIG. 27 shows the detailed processing of step 202 in the flowchart shown in FIG. 26.

[0159] First, the history information acquisition unit 2221 acquires the discovery history information of the object 7000 from past searches (step 301).

[0160] Next, the history information analysis unit 2222 grasps the search performance etc. of the unmanned boat system 1000 in past searches based on the discovery history information (step 302). In this step, for example, various state information such as the search performance and search state as shown in FIG. 14 can be grasped, and the statistical information of the discovery frequency, discovery times, or discovery performance index of the object 7000 for each partial area or time zone as shown in FIGS. 16 to 18 can be grasped.

[0161] Next, the statistical value correction unit 2223 corrects various state information such as the statistical information grasped in step 302 based on the environmental disturbance information (step 303). In this step, for example, as shown in FIG. 19, the correction of the past discovery performance index for each partial area or time zone can be performed based on the environmental disturbance information.

[0162] Next, the history information processing unit 2220 outputs and displays, to the user via the user interface unit 2300, statistical information on the discovery frequency, discovery count, or discovery performance index of the object 7000 for each partial area or time zone corrected by the statistical value correction unit 2223 (step 304).

[0163] (A-5. Method for Determining Search Target) Next, a method for determining a search target will be described. FIG. 28 is a flowchart showing an example of a determination processing flow of a search target value by the search target determination unit 2230. In particular, FIG. 28 shows the detailed processing of step 203 in the flowchart shown in FIG. 26.

[0164] First, the alert level determination unit 2231 determines the over- or under-performance in past searches (step 401). In this step, various target information regarding search performance in past searches is compared with various performance information of the searches, and the over- or under-performance of search performance in each item regarding the search is determined for each partial area or time zone. In this step, for example, over- or under-performance is determined regarding the search rate, detection probability, number of hulls of the unmanned boat 1010, arrangement distribution, moving speed, straight-ahead time, moving route, search execution time, etc.

[0165] Next, the alert level determination unit 2231 determines the alert level for each partial area or time zone (step 402). Specific examples of the method for determining the alert level in this step include multiple possible determination methods. As an example, the alert level of the partial area or time zone determined to have a shortage in search performance can be set high. As another example, the alert level of the partial area or time zone with a relatively high discovery frequency, discovery count, or past discovery performance index included in the discovery history information can be set higher than that of other partial areas or time zones. The method for determining the alert level is not limited to the methods described above, and other methods can be applied.

[0166] Next, the target search rate determination unit 2232 determines the target search rate (step 403). As specific examples of the method for determining the target search rate in this step, a plurality of determination methods can be considered. As an example, the target search rate can be determined according to the alert level determined in step 402. As another example, the target search rate can be determined according to the determination result of the excess or deficiency of the search performance determined in step 401. As still another example, the target search rate can be determined according to the statistical information of the discovery frequency or the number of discoveries or the discovery performance index of the object 7000 for each partial area or each time zone generated by the history information processing unit 2220. In addition, the target search rate can be determined by the methods shown in FIGS. 23 to 25.

[0167] Next, the display output unit 2310 of the user interface unit 2300 displays and outputs the target search rate determined in step 403 to the user (step 404).

[0168] Next, the user input reception unit 2320 of the user interface unit 2300 receives user input information regarding the target search rate (step 404).

[0169] Next, the target search rate determination unit 2232 determines the target search rate based on the user input information received in step 404 (step 405). Here, the area and time zone where the future object 7000 appears do not necessarily follow the trend of the past discovery history, and there is a possibility that the appearance trend may change. Therefore, the search target determination unit 2230 proposes the target search rate generated in step 403 to the user based on the past discovery history and the like, and by receiving inputs such as approval, rejection, and change from the user, the user's opinion can be reflected in the target search rate, and the future search accuracy can be improved.

[0170] (A-6. Method for Determining Search State) Next, a method for determining the search state will be described. FIG. 29 is a flowchart showing an example of a determination processing flow of the current search state of the unmanned boat by the search state determination unit 2250. In particular, FIG. 29 shows the detailed processing of step 205 of the flowchart shown in FIG. 26.

[0171] First, the search situation estimation unit 2251 determines the search state of the unmanned boat 1010 (step 501).

[0172] Next, the search situation estimation unit 2251 interprets the environmental disturbance information around the unmanned boat 1010 (step 502).

[0173] Next, the search situation estimation unit 2251 estimates the search performance of the unmanned boat 1010 in consideration of the influence of the environmental disturbance information (step 503).

[0174] Next, the current search rate calculation unit 2252 calculates the actual value of the search rate according to the search performance estimation result of the unmanned boat 1010 (step 504).

[0175] Next, the current search rate calculation unit 2252 determines whether there is an excess or deficiency in the search progress state based on the actual value of the search rate calculated in step 504 (step 505). In this step, for example, it is possible to determine whether there is an excess or deficiency regarding the search rate, detection probability, number of unmanned boats 1010, arrangement distribution, moving speed, straight-ahead time, moving route, search execution time, etc.

[0176] Next, the target existence probability calculation unit 2253 calculates a target existence probability indicating the probability that the target object 7000 exists in the target area or partial area (step 506).

[0177] Next, the target discovery probability calculation unit 2254 calculates a target discovery probability indicating the probability of discovering the target object 7000 (step 507).

[0178] (A-7. Hardware Configuration) Figure 30 is a hardware configuration diagram of the overall control system 2000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 includes an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary storage device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0179] The input device 100 can constitute the user input reception unit 2320 of the user interface unit 2300 and is a device for the user to input information and instructions into the overall 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.

[0180] The output device 200 is a device that outputs various information generated by the overall control system 2000 and can constitute the display output unit 2310 of the user interface unit 2300. Specifically, the output device 200 can constitute the display output unit 2310 with, for example, a display device for AR, VR, or smart glasses, and can also be a printer or a speaker.

[0181] 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 operations.

[0182] The main memory device 400 is a memory device including a RAM or a ROM that performs reading and temporary writing without requiring a waiting time dependent on an access pattern or the like for a memory element at an arbitrary address during processing. For example, the RAM performs temporary writing and reading during programs and application programs executed by the processing device 300 and various other processes. The ROM is a non-volatile memory in which recorded information is not lost even when the power of the device is lost. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory capable of storing digital information.

[0183] The communication device 600 is a device that performs information communication, wirelessly or by wire, between the integrated control system 2000 and the outside.

[0184] In the above-described embodiment, an example in which an unmanned boat is applied as an example of a moving object that performs search has been described. However, the present invention is not limited to this, and any moving object such as a submarine sailing in the sea, an aircraft flying in the air, or a vehicle running on land other than the unmanned boat can be applied.

[0185] The above-described embodiment is merely an exemplification for facilitating the understanding of the present invention, and is not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included in the present invention.

[0186] [A-2. Effects of the present embodiment] According to the above-described embodiment, the effects of a search operation using a plurality of moving objects can be improved. As an example, by determining search targets for each area and time zone, search can be performed more effectively.

Explanation of reference numerals

[0187] 1... Control system (system) 100... Input device 200... Output device 300…Processing device 400…Main memory device 500…Auxiliary memory device 600…Communication device 700…Bus 1000…Unmanned boat system 1001…Master unit 1002…Slave unit 10021…Primary connected slave unit 10022…Secondary connected slave unit 10023…Tertiary connected slave unit 1010…Unmanned boat 1100…Measurement unit 1110…Measurement sensor 1120…Measurement control unit 1200…Self - state determination unit 1210…Navigation state determination unit 1220…Internal state determination unit 1230…External state determination unit 1300…Navigation unit 1310…Thrust generation unit 1320…Attitude control mechanism 1330…Navigation control unit 1400…Communication unit 1410…Inter - unmanned - boat communication unit 1420…Overall control communication unit 1500…Determination unit 1600…Recording unit 1610…Measurement data recording unit 1620…Self - state recording unit 1630…Determination information recording unit 2000…Overall control system 2100…Heterogeneous system overall management unit 2110…Overall pre - plan determination unit 2111…Pre - information acquisition unit 2112…Overall pre - plan determination unit 2120…Overall operation management unit 2121…Overall plan progress management unit 2122…Overall plan update management unit 2123…Mediation unit between heterogeneous systems 2124…Overall plan progress recording unit 2200…Unmanned boat system management unit 2210…Pre - information acquisition unit 2211…Search condition information acquisition unit 2212…System information acquisition unit 2220…History information processing unit 2221…History information acquisition unit 2222…History information analysis unit 2223…Statistical value correction unit 2230… Exploration target determination unit 2231… Alert level determination unit 2232… Target exploration rate determination unit 2240… Exploration plan determination unit 2250… Exploration state determination unit 2251… Exploration situation estimation unit 2252… Current exploration rate calculation unit 2253… Target existence probability calculation unit 2254… Target discovery probability calculation unit 2260… Exploration target update unit 2270… Exploration operation command unit 2300… User interface unit 2310… Display output unit 2320… User input reception unit 2400… Data transmission / reception management unit 2410… Unmanned boat operation command transmission unit 2420… External information transmission unit 2430… Unmanned boat information reception unit 2440… External information reception unit 2500… Data recording management unit 2600… Maintenance and operation management unit 3000… Communication satellite 4000… Ground base station 5000… Cooperative system 6000… External system 7000… Target object

Claims

1. A control system for searching for an object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the object, comprising: a search condition information acquisition unit that acquires search condition information including at least one of a target area and a target period to be searched; A search target determination unit that determines a search target in accordance with the search condition information; a search operation command unit that transmits a command to execute the search by the moving object based on the search target; The search target determined by the search target determination unit is any one of the following target values: a search rate calculated from the area of ​​the target area or a plurality of partial areas included in the target area and the area of ​​a searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. A control system in which the search target determination unit determines the search target for the entire target area for each of a plurality of time periods within a 24-hour cycle, or determines the search target for each of a plurality of partial areas for each of the time periods.

2. 2. The control system of claim 1, A control system, wherein the search target determined by the search target determination unit is a target value of a search rate calculated from the area of ​​the target area or the partial area and the area of ​​an area that has already been searched.

3. A control system for searching for an object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the object, a search condition information acquisition unit that acquires search condition information including at least one of a target area and a target period to be searched; A search target determination unit that determines a search target for each of a plurality of partial areas defined within the target area or for each of a plurality of time periods within the target period according to the search condition information; a search operation command unit that transmits a command to execute the search by the moving object based on the search target; The search target determined by the search target determination unit is any one of the following target values: a search rate calculated from the area of ​​the target area or the partial area and the area of ​​the searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. A control system in which the search target determined by the search target determination unit is a target value of a search rate calculated from the area of ​​the target area or the partial area, the area of ​​the area that has been searched, and the length of the target period and the length of the period during which the search is conducted.

4. 2. The control system of claim 1, a statistical information acquisition unit that acquires discovery history information of the object through past searches; The discovery history information includes: Information on search conditions including at least one of the target area or target period of the search included in the search condition information in the past search, the number, arrangement, and movement state of the moving objects used in the search, the measurement sensor used in the search, and index information of the search rate, the encounter rate, the detection probability, or the discovery probability indicating search performance; Or, information about the object including at least any of the following: the location where the object was found, the time of discovery, the type, size, number, length, orientation, two-dimensional or three-dimensional position, speed, course direction, course trajectory, turning speed, turning angle, turning radius, maximum speed, and maximum acceleration of the object; Or, a control system including information about an environmental disturbance that affects the measurement performance of the measurement sensor or the dynamic performance of the moving body.

5. 2. The control system of claim 1, A control system in which the search target determination unit determines the search target for each time period based on history information of the discovery of the object in past searches conducted in areas that overlap at least partially with the target area included in the search condition information.

6. 2. The control system of claim 1, A control system in which the search target determination unit determines the search target for each time period based on discovery history information of past searches conducted during time periods included in the target period included in the search condition information.

7. 2. The control system of claim 1, A control system in which the search target determination unit determines the search target for each time period based on discovery history information of past searches conducted during time periods included in the target period for areas that overlap at least partially with the target areas included in the search condition information.

8. A control system for controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting an object, and searching for the object, comprising: a search condition information acquisition unit that acquires search condition information including at least one of a target area and a target period to be searched; A search target determination unit that determines a search target for each of a plurality of partial areas defined within the target area or for each of a plurality of time periods within the target period according to the search condition information; a search operation command unit that transmits a command to execute the search by the moving object based on the search target; The search target determined by the search target determination unit is any one of the following target values: a search rate calculated from the area of ​​the target area or the partial area and the area of ​​the searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. The search target determination unit sets the search target of a first partial area, in which the object discovery frequency or number of times for each of the multiple partial areas included in the object discovery history information through past searches is higher than that of a second partial area, to a search target with a higher value than the search target of the second partial area.

9. A control system for controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting an object, and searching for the object, comprising: a search condition information acquisition unit that acquires search condition information including at least one of a target area and a target period to be searched; A search target determination unit that determines a search target for each of a plurality of partial areas defined within the target area or for each of a plurality of time periods within the target period according to the search condition information; a search operation command unit that transmits a command to execute the search by the moving object based on the search target; The search target determined by the search target determination unit is any one of the following target values: a search rate calculated from the area of ​​the target area or the partial area and the area of ​​the searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. The search target determination unit sets the search target for a first time period in which the frequency or number of discoveries of the object for each of the multiple time periods included in the object discovery history information from past searches is greater than that of a second time period, to a search target with a higher value than the search target for the second time period.

10. 2. The control system of claim 1, A control system comprising a user interface unit that displays and outputs the search target for each time period determined by the search target determination unit.

11. 11. The control system of claim 10, A control system, wherein when user input information regarding information of the search target is received, the search target determination unit determines the search target based on the received user input information.

12. A control system for searching for an object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the object, comprising: a search condition information acquisition unit that acquires search condition information including at least one of a target area and a target period to be searched; a search target determination unit that determines a search target in accordance with the search condition information; a search operation command unit that transmits a command to execute the search by the moving object based on the search target; a history information analysis unit that analyzes discovery history information of the object in the past searches and determines a discovery frequency or a discovery count of the object for each of a plurality of partial areas defined within the target area or for each of a plurality of time periods within the target period, The search target determined by the search target determination unit is any one of the following target values: a search rate calculated from the area of ​​the target area or the partial area and the area of ​​the searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. A control system in which the search target determination unit determines the search target for each of multiple partial areas defined within the target area or for each of multiple time periods within the target period, and determines the search target for the partial area or time period in which the object is discovered relatively frequently or frequently based on the frequency or number of times the object is discovered determined by the history information analysis unit, so that the search target is relatively higher than those for other partial areas or other time periods.

13. 13. The control system of claim 12, The history information analysis unit corrects the discovery frequency or number of discoveries of the object for each partial area or each time period based on environmental disturbance information from past searches that is included in the discovery history information.

14. 2. The control system of claim 1, a search state determination unit that determines a search state of the moving object based on current operation state information or measurement information of the moving object obtained from the moving object; A control system comprising a search target update unit that updates the search target in accordance with the search state.

15. 4. The control system according to claim 2 or 3, a search state determination unit that calculates an actual value of the search rate of the moving object based on current operation state information, measurement information, or environmental disturbance information of the moving object acquired from the moving object; A control system comprising a search target update unit that updates the target value of the search rate based on a comparison between the target value of the search rate and the actual value.

16. A control system according to any one of claims 5 to 7, A control system comprising a search target update unit that updates the search target based on current operating status information, measurement information, or environmental disturbance information of the moving body obtained from the moving body, and discovery history information of the object through past searches.

17. 17. The control system of claim 16, a search state determination unit that determines an object presence probability indicating a probability that the object is present in the object area or the partial area based on current operation state information, measurement information, or environmental disturbance information of the moving object acquired from the moving object; A control system comprising a search target update unit that updates the search target based on discovery history information of the object in past searches and the object presence probability.

18. 17. The control system of claim 16, a search state determination unit that determines a target discovery probability indicating a probability that the moving body will discover the target object based on current operation state information, measurement information, or environmental disturbance information of the moving body acquired from the moving body; A control system comprising a search target update unit that updates the search target based on discovery history information of the object in past searches and the object discovery probability.

19. 17. The control system of claim 16, a search state determination unit that determines an object presence probability indicating the probability that the object is present in the target area and an object discovery probability indicating the probability that the object will be discovered by the moving body, based on current operating state information, measurement information, or environmental disturbance information of the moving body obtained from the moving body, and accumulated information of operating state information, measurement information, or environmental disturbance information of the moving body obtained from the moving body during a currently ongoing search period; A control system comprising a search target update unit that updates the search target based on discovery history information of the object in past searches, the object presence probability, and the object discovery probability.

20. 2. The control system of claim 1, the search condition information acquisition unit includes resource information related to at least one of the number or performance of the moving objects used in the search, the measurement sensor used in the search, and the communication performance of the wireless communication used in the search; The search target determination unit determines the search target according to the search condition information and the resource information.

21. 2. The control system of claim 1, A control system, wherein the search execution command transmitted by the search operation command unit includes the search execution command including at least one of the number, position, movement speed, turning speed, movement direction, movement path, and straight-line travel time of the moving bodies.

22. 2. The control system of claim 1, A control system, wherein the moving body is an unmanned vessel capable of navigating the sea by remote control or autonomous control.

23. A control method for searching for an object by controlling the operation of a plurality of moving objects equipped with measurement sensors capable of detecting the object, comprising: The computer a search condition information acquisition step of acquiring search condition information including at least one of a target area and a target period to be subjected to the search; a search target determination step of determining a search target according to the search condition information; A search operation command step of transmitting a command to execute the search by the moving object based on the search target is performed; The search target determined by the search target determination step is any one of the following target values: a search rate calculated from the area of ​​the target area or a plurality of partial areas defined within the target area and the area of ​​a searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. A control method in which, in the search target determination step, the computer determines the search target for the entire target area for each of a plurality of time periods within a 24-hour cycle, or determines the search target for each of a plurality of partial areas for each of the time periods.

24. A program usable for a control system that controls the operation of a plurality of moving objects equipped with measurement sensors capable of detecting an object, and searches for the object, On the computer, A search condition information acquisition command for acquiring search condition information including at least one of a target area and a target search period to be searched; a search target determination command for determining a search target in accordance with the search condition information; Executing a search operation command command to transmit a command to execute the search by the moving object based on the search target; The search target determined by the search target determination command is one of the following target values: a search rate calculated from the area of ​​the target area or a plurality of partial areas defined within the target area and the area of ​​a searched area; an encounter rate indicating the probability that the moving body will encounter the target object; a detection probability indicating the probability that the moving body will detect the target object; and a discovery probability indicating the probability that the moving body will recognize the target object and make a discovery determination. The search target determination instructions cause the computer to determine the search target for the entire target area for each of a plurality of time periods within a 24-hour cycle, or to determine the search target for each of a plurality of partial areas for each of the time periods.

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