Control System, Control Method, and Program

Abstract

According to the present invention, it is possible to improve the performance of monitoring and tracking a moving object that moves in a marine area or the like using a plurality of unmanned aircraft. 【Solution means】The present invention includes a sound wave measurement unit that measures sound waves in water, an unmanned boat that sails on water or in water, an operation command unit that commands the execution of a first measurement operation using the sound wave measurement unit executed by the unmanned boat, a measurement data acquisition unit that executes the first measurement operation and acquires first measurement data measured by the sound wave measurement unit, and a first object determination unit that detects an underwater object based on the first measurement data. When the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned boat to execute a second measurement operation different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation. It is a control system.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a technology related to a mobile sonobuoy that can supply its own power, minimize the influence of the thermocline (LD) and the shadow zone, and reliably transmit the presence and position information of underwater objects to the command post. In particular, a technology is disclosed in which the sonar unit is lowered to the deep-sea sound propagation layer in the sea by a cable, so that sound waves from a distance can be detected without being affected by the thermocline depth.

[0003] For the purpose of preventing nuisance acts by divers or the like navigating in the sea and illegal fishing, or for the purpose of ecological surveys of marine organisms, marine monitoring has been conventionally carried out by manned monitoring boats and research vessels. However, since the range of the marine area to be monitored or surveyed is extremely large, there is a limit to the area that can be monitored or surveyed by manned monitoring boats and research vessels, and there is a problem that there are areas where monitoring and surveys do not reach. In addition, when monitoring and surveying by coordinating a number of manned monitoring boats, it is not easy to quickly and manually control and operate, and it is difficult to appropriately perform operations such as tracking the object to be monitored. In addition, it has not been easy to train personnel equipped with such control and operation skills. Against this background, in recent years, the use of unmanned ships that can autonomously navigate the sea has been studied, and it is expected to be used for monitoring of suspicious ships and ecological surveys described above.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When conducting monitoring and ecological surveys in marine areas, it is necessary not only to detect underwater objects, but also to appropriately determine whether the detected underwater objects are the objects to be monitored or surveyed, and it is required to grasp in detail the characteristics and shapes of underwater objects. On the other hand, since marine area monitoring and ecological surveys are carried out over a very large area, it is required to monitor a wider area while moving unmanned ships, etc. based on the monitoring plan.

[0006] In Patent Document 1, although a mobile sonobuoy is disclosed that can detect sound waves from a distance without being affected by the thermocline depth by lowering a sonar unit to the deep-sea sound wave propagation layer in the sea using a cable, there has been no consideration of moving the mobile sonobuoy to more efficiently monitor or survey a wide area. Therefore, it is required not only to improve the measurement accuracy of underwater objects, but also to streamline the monitoring or survey of a vast target area.

[0007] 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, a control method, etc. that improve the work efficiency of monitoring or surveying moving objects moving in the sea, etc. using an unmanned aircraft, or that achieve both an improvement in work efficiency of monitoring or surveying and an improvement in measurement accuracy.

Means for Solving the Problems

[0008] According to the present invention, there is provided a control system including a sound wave measurement unit for measuring sound waves in water, one or more unmanned boats navigating on water or underwater, an operation command unit for commanding the execution of a first measurement operation using the sound wave measurement unit to be performed by the unmanned boat, a measurement data acquisition unit for acquiring first measurement data measured by the sound wave measurement unit by executing the first measurement operation, and a first object determination unit for detecting an underwater object based on the first measurement data. When the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned boat to execute a second measurement operation different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation.

Advantages of the Invention

[0009] According to the present invention, it is possible to improve the performance of monitoring and tracking a moving object moving in a marine area or the like using a plurality of unmanned aircraft.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] The contents of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] It includes a sound wave measurement unit for measuring sound waves in water, one or more unmanned boats sailing on water or in water, an operation command unit for instructing the execution of the first measurement operation using the sound wave measurement unit executed by the unmanned boat, a measurement data acquisition unit for executing the first measurement operation and acquiring the first measurement data measured by the sound wave measurement unit, and a first object determination unit for detecting underwater objects based on the first measurement data. When the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned boat to execute a second measurement operation different from the first measurement operation, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation. A control system. [Item 2] In the control system according to Item 1, The first measurement operation is a measurement operation in which the sound wave measurement unit performs sound wave measurement while driving the propulsion device of the unmanned boat. The second measurement operation is a measurement operation in which the sound wave measurement unit performs sound wave measurement while the propulsion device of the unmanned boat is stopped, substantially stopped, or driven with a second driving amount smaller than the first driving amount of the propulsion device in the first measurement operation. A control system. [Item 3] In the control system according to Item 1 or 2, The sound wave measurement unit has at least one of an active sonar or a passive sonar. The first measurement operation is a measurement operation in which the sound wave measurement unit performs sound wave measurement using the active sonar or the passive sonar while driving at least one of the propulsion devices of a plurality of the unmanned boats. The second measurement operation is a measurement operation in which the sound wave measurement unit performs sound wave measurement using the active sonar while the propulsion devices of a plurality of the unmanned boats are stopped, substantially stopped, or driven with a second driving amount smaller than the first driving amount of the propulsion device in the first measurement operation. A control system. [Item 4] In the control system according to any one of Items 1 to 3, The second measurement operation is a measurement operation in which the propulsion devices are stopped, substantially stopped, or driven with a second driving amount smaller than the first driving amount of the propulsion device in the first measurement operation, and a plurality of the unmanned boats are synchronized to perform sound wave measurement using a plurality of the active sonars. A control system. [Item 5] In the control system according to any one of Items 1 to 4, The ultrasonic measurement unit has an active sonar, The second measurement operation is a measurement operation in which ultrasonic measurement is performed by the active sonar while performing attitude angle maintenance control for maintaining the attitude angle including at least the yaw angle of the unmanned boat at a constant or substantially constant level, control system. [Item 6] In the control system according to any one of Items 1 to 5, The ultrasonic measurement unit has a separable sonar that can be separated from the unmanned boat while being connected to the unmanned boat by a cable, The first measurement operation is a measurement operation in which ultrasonic measurement is performed by the ultrasonic measurement unit while driving the propulsion device of the unmanned boat, The second measurement operation is a measurement operation in which ultrasonic measurement is performed in a state where the separable sonar is located at a position on or in the water at a distance of a predetermined distance or more from the unmanned boat, control system. [Item 7] In the control system according to any one of Items 1 to 6, When the relative distance between the unmanned boat and the underwater object at the time of performing the first measurement operation is defined as the first relative distance, The second measurement operation is a measurement operation in which ultrasonic measurement is performed by the ultrasonic measurement unit mounted on the unmanned boat in a state where the unmanned boat is moved to a position where the second relative distance between the unmanned boat and the underwater object is shorter than the first relative distance, control system. [Item 8] In the control system according to any one of Items 1 to 7, The ultrasonic measurement unit has a separable sonar that can be separated from the unmanned boat while being connected to the unmanned boat by a cable, When the relative distance between the ultrasonic measurement unit mounted on the unmanned boat and the underwater object at the time of performing the first measurement operation is defined as the first relative distance, The second measurement operation is a measurement operation in which ultrasonic measurement is performed by the separable sonar in a state where the separable sonar is located at a position on or in the water where the second relative distance between the separable sonar and the underwater object is shorter than the first relative distance, control system. [Item 9] In the control system according to any one of Items 1 to 8, the first measurement operation is a measurement operation of performing acoustic wave measurement on the underwater object by the acoustic wave measurement unit provided on the unmanned boat, the second measurement operation is a measurement operation of performing acoustic wave measurement of the underwater object from a plurality of different directions by a plurality of the acoustic wave measurement units mounted on a plurality of the unmanned boats, the control system. [Item 10] In the control system according to any one of Items 1 to 9, the acoustic wave measurement unit has a separable sonar that can be separated from the unmanned boat while being connected to the unmanned boat by a cable, the first measurement operation is a measurement operation of performing acoustic wave measurement of the underwater object by the acoustic wave measurement unit provided on the unmanned boat, the second measurement operation is a measurement operation of performing acoustic wave measurement of the underwater object from a plurality of different directions by a plurality of the separable sonars mounted on one or a plurality of the unmanned boats, or a measurement operation of performing acoustic wave measurement of the underwater object from a plurality of different directions by the acoustic wave measurement unit provided on the unmanned boat and the separable sonar, the control system. [Item 11] In the control system according to any one of Items 1 to 10, the second measurement operation includes, in addition to the measurement operation of acquiring the second measurement data using the acoustic wave measurement unit, a measurement operation of measuring optical image data or infrared image data or point cloud data or radar measurement data, or other oceanographic data for an underwater area or on the water surface or in the airspace above the water surface, the control system. [Item 12] In the control system according to any one of Items 1 to 11, the control system includes a second object determination unit that determines information or a state regarding the underwater object based on the second measurement data. [Item 13] In the control system according to any one of Items 1 to 12, The operation command unit determines whether or not to track the underwater object by the unmanned boat according to the determination result of the second object determination unit, and is a control system. [Item 14] In the control system according to any one of Items 1 to 13, When the operation command unit determines that it is unnecessary to track the underwater object by the unmanned boat according to the determination result of the second object determination unit, the operation command unit commands the unmanned boat to execute the first measurement operation, and is a control system. [Item 15] In the control system according to any one of Items 1 to 14, When the determination result of the information or state regarding the underwater object by the second object determination unit is indeterminate, The operation command unit commands the unmanned boat to re-execute the second measurement operation, and is a control system. [Item 16] In the control system according to any one of Items 1 to 15, It has a notification unit that notifies or displays the determination result of the first object determination unit to the user, When the first object determination unit detects the underwater object, the notification unit notifies or displays at least any one of the fact that the first object determination unit has detected the underwater object, the information or state regarding the underwater object determined by the first object determination unit, and the first measurement data, and is a control system. [Item 17] In the control system according to any one of Items 1 to 16, It has a notification unit that notifies or displays the determination result of at least any one of the first object determination unit and the second object determination unit to the user, When the second object determination unit determines the information or state regarding the underwater object, the notification unit notifies or displays at least any one of the information or state regarding the underwater object determined by the second object determination unit and the second measurement data, and is a control system. [Item 18] In the control system according to any one of Items 1 to 17, It is provided with a user input reception unit that receives input information from the user, The user input receiving unit is a control system that receives request information regarding data transmission of the first measurement data or the second measurement data. [Item 19] In the control system according to any one of Items 1 to 18, The request information received by the user input receiving unit includes request information on any one of data transmission priority conditions of time priority transmission, detailed data priority transmission, and communication data capacity priority transmission. The control system. [Item 20] In the control system according to any one of Items 1 to 19, It includes a user input receiving unit that receives input information from a user, The user input receiving unit is a control system that receives request information regarding an additional measurement operation using the acoustic measurement unit or other measurement sensors mounted on the unmanned boat. [Item 21] In the control system according to any one of Items 1 to 20, It includes a user input receiving unit that receives input information from a user, The user input receiving unit is a control system that receives a designation input of a measurement area for performing acoustic measurement by the acoustic measurement unit mounted on the unmanned boat. [Item 22] In the control system according to any one of Items 1 to 21, It includes a user input receiving unit that receives input information from a user, When information or status regarding the underwater object is determined by the second object determination unit, the user input receiving unit is a control system that receives a third measurement operation different from the first measurement operation and the second measurement operation, or request information for executing the first measurement operation. [Item 23] In the control system according to any one of Items 1 to 22, A control system comprising a recording unit that records at least any one of the first measurement data, the second measurement data, the determination result by the first object determination unit, the determination result by the second object determination unit that determines information or state regarding the underwater object based on the second measurement data, the command information by the operation command unit, the information received by the user input reception unit that receives input information from the user, the operation history information of the unmanned boat, the information regarding the detection loss of the underwater object, the optical image data or infrared image data for the underwater or on-water or airspace above the water surface, or other sea state data. [Item 24] A control method for a system that includes a sound wave measurement unit for measuring underwater sound waves and detects an underwater object by an unmanned boat that sails on water or underwater, wherein a computer executes a first measurement operation command step for commanding execution of a first measurement operation using the sound wave measurement unit executed by the unmanned boat, a first measurement data acquisition step for executing the first measurement operation and acquiring first measurement data measured by the sound wave measurement unit, a first object determination step for detecting an underwater object based on the first measurement data, when the underwater object is detected based on the first measurement data in the first object determination step, executes a second measurement operation command step for commanding the unmanned boat to execute a second measurement operation different from the first measurement operation, or a second measurement data acquisition step for acquiring second measurement data obtained by the second measurement operation. [Item 25] A program usable for a system that includes a sound wave measurement unit for measuring underwater sound waves and detects an underwater object by an unmanned boat that sails on water or underwater, wherein the computer is given a first measurement operation execution command for commanding execution of a first measurement operation using the sound wave measurement unit executed by the unmanned boat, a first measurement data acquisition command for executing the first measurement operation and acquiring first measurement data measured by the sound wave measurement unit, A first object determination command for detecting an underwater object based on the first measurement data, When the first object determination command is executed and the underwater object is detected based on the first measurement data, a program for causing the unmanned boat to execute a second measurement operation different from the first measurement operation, or a second measurement data acquisition command for acquiring second measurement data obtained by the second measurement operation.

[0012] <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description 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.

[0013] [A-1. Configuration] (A-1-1. System Configuration) First, with reference to FIGS. 1 and 2, the system configuration of a control system 1 according to an embodiment of the present invention will be described.

[0014] (A-1-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of a 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 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 1000 deployed at sea via a communication satellite 3000 and a ground base station 4000, and can receive the operation status and measurement data of the unmanned boat 1000.

[0015] The unmanned boat 1000 is equipped with a master unit 1001 capable of communicating with a communication satellite 3000 and slave units 1002 capable of communicating directly or indirectly with the master unit 1001, and constructs a communication network between the plurality of slave units 1002 and the master unit 1001. Also, the plurality of slave units 1002 and the master unit 1001 have the function of detecting and measuring divers navigating in the sea, marine organisms such as whales, stationary sunken ships, submarine cables, and other undersea infrastructure by measurement sensors (such as acoustic sensors such as sonar, optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter-wave sensors and microwave sensors) mounted on themselves.

[0016] The detection determination results and measurement data of the objects detected by the unmanned boat 1000, and further various information on the operation status of the unmanned boat 1000 are transmitted to the overall control system 2000 via the communication satellite 3000 and the ground base station 4000. The overall control system 2000 determines an operation command for the unmanned boat 1000 based on the acquired information from the unmanned boat 1000, pre-registered information, etc. Information such as the generated operation command is transmitted to the cooperation system 5000, and it is also possible to obtain an intervention command from the cooperation system.

[0017] (A-1-1-2. Implementation Example of Control System 1 in Real Space) FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in 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 marine survey related facilities and private regulatory organization related facilities (including private security organizations, private rescue organizations, etc.) is provided, and further, an external system 6000 such as an AIS (Automatic Identification System) control center and an AIS base station for managing information on ships navigating on the sea is provided.

[0018] On the other side, on the ocean side shown on the left of the drawing, there are deployed a drone boat 1000, objects to be monitored or surveyed such as a monitoring target 7000, and a part of a cooperation system 5000 such as a monitoring boat or a survey boat operated by an external cooperation organization. The drone boat 1000 has a plurality of squads (squad a, squad b, squad c) composed of a parent machine and a plurality of child machines, and each squad can communicate directly or via a communication satellite 3000. The drone boat 1000 can also communicate with a monitoring boat directly or via the communication satellite 3000. For example, detection information regarding the monitoring target 7000 can be notified from the drone boat 1000 to the monitoring boat (or survey ship). The drone boat 1000 may be communicably connected to an AIS base station to acquire AIS information.

[0019] In the example shown in FIG. 2, the overall control system 2000 is shown as being installed in a ground-side facility, but 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 other ground-side coastal field bases or manned mother ships on the sea side (not shown), and it is also possible to operate and manage the drone boat 1000 at the coastal field bases or manned mother ships.

[0020] (A-1-2. Stakeholders Regarding Control System 1) FIG. 3 is a diagram showing stakeholders regarding control system 1. As shown in FIG. 3, there is an operator who operates the drone boat 1000 by inputting and outputting information through the user interface unit 2500 of the overall control system 2000 in the control system 1. When all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in a ground-side coastal field base or a manned mother ship on the sea side (not shown), the operator can operate and manage the drone boat 1000 at the coastal field base or manned mother ship.

[0021] In addition, there are supervisors in the private organization-related facilities of the cooperation system 5000, and monitors on the monitoring boats. They cooperate with each other to monitor nuisances and other activities in the marine area. In addition, there are investigation supervisors in the marine research-related facilities and investigators on the research vessels. They cooperate with each other to conduct research on marine organisms and the like in the marine area. In addition, the cooperation system 5000 may also include private security companies and private rescue organizations. In addition, there are personnel in the AIS control center of the external system 6000 who are responsible for generating, operating, and managing AIS information.

[0022] In addition, as monitoring targets 7000 subject to monitoring and investigation by the control system 1 and the cooperation system 5000, there are divers and marine organisms (such as whales). By communicating and cooperating with the cooperation system 5000 and the external system 6000, the control system 1 can more efficiently conduct the monitoring or investigation of the monitoring targets 7000.

[0023] (A-1-3. Configuration of the unmanned boat 1000) Fig. 4 is a configuration diagram showing a squad 1010 composed of the unmanned boat 1000. As shown in Fig. 4, the unmanned boat 1000 is composed of one or more squads 1010 (1010a, 1010b). Each squad 1010 is equipped with at least one master unit 1001 and a plurality of slave units 1002. The master unit 1001 is communicatively connected to the communication satellite 3000, aggregates the information collected from the plurality of slave units 1002, and transmits it to the communication satellite 3000. It also has the function of directly or indirectly transmitting information regarding the operation commands obtained from the satellite communication 3000 and the information generated by itself to each slave unit 1002.

[0024] The squad 1010a shown in FIG. 4 includes a primary connected slave device 10021 that communicates and connects with the master device 1001, a secondary connected slave device 10022 that communicates and connects with the primary connected slave device 10021, and a tertiary connected slave device 1023 that communicates and connects with the secondary connected slave device 10022. Each slave device (primary connected slave device 10021, secondary connected slave device 10022, tertiary connected slave device 1023) has a function of relaying information received from other master devices 1001 or slave devices 1002 to other master devices 1001 and slave devices 1002, thereby constituting a communication network among the master device 1001 and the plurality of slave devices 1002.

[0025] FIG. 5 is a conceptual diagram showing a state in which the unmanned boat 1000 deployed on the sea monitors or investigates the object to be monitored 7000. As shown in FIG. 5, a plurality of unmanned boats (master device 1001, slave devices 10021, 10022, 10023) are deployed on the sea, and the measurement sensor 1110 mounted on each unmanned boat 1000 can detect the object to be monitored 7000 existing within the measurable range in the sea. Measurement data of the detected object to be monitored 7000, detection determination results, etc. are aggregated to the master device 1001 via the communication network among the unmanned boats 1000, transmitted from the master device 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 1000 is provided with a navigation unit 1300 capable of navigating the unmanned boat in an arbitrary direction, and based on an operation command generated by the overall control system 2000 or the master device 1001, etc., it is possible to execute a detailed measurement operation on the object to be monitored 7000 after the initial detection of the object to be monitored 7000.

[0026] As the configuration of the present embodiment described with reference to FIGS. 1 to 5, 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 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. Further, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1000, it is also possible to use a communication network that directly connects the ground base station 4000 and the unmanned boat 1000 by wireless communication without passing through the communication satellite 3000 or HAPS. Note that the ground base station 4000 is not limited to a fixed immobile base station and may be composed of a movable mobile base station.

[0027] (A-1-4. Configuration of Unmanned Boat 1000) Next, with reference to FIGS. 6 and 7, the functions implemented in the unmanned boat 1000 and their details will be described. In the present invention, the unmanned boat refers to a moving body that can navigate on water or underwater regardless of the control type of autonomous navigation or remote control, and means a moving body including a mobile buoy equipped with a thrust generating unit.

[0028] (A-1-4-1. Configuration of Unmanned Boat 1000) FIG. 6 is a functional block diagram showing the functional configuration of the unmanned boat 1000. In FIG. 6, the functional block diagram of the unmanned boat 1000 is described. However, the main unit 1001 and the sub-unit 1002 of the unmanned boat 1000 can implement the same functions as the configuration shown in FIG. 6. The unmanned boat 1000 includes a measurement unit 1100, a self-state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, a recording unit 1600, and a separation state control unit 1700.

[0029] The measurement unit 1100 is a functional unit that detects a monitoring target object 7000 existing within the measurable range in the sea around the unmanned boat 1000 using a measurement sensor 1110 and acquires measurement information regarding the monitoring target object 7000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0030] The measurement sensor 1110 can be composed of, for example, a sound wave sensor (also referred to as a sound wave measurement unit) including a sonar, etc. The sound wave sensor includes both an active sonar that generates sound waves and measures the sound waves that resonate with objects in the water, and a passive sonar that measures the sound generated from objects in the water. Also, the active sonar can be composed of, for example, a side scan sonar, a multi-beam sonar, or a single-beam sonar, etc. Furthermore, the sound wave sensor may be connected to the unmanned boat 1000 by a cable and include a separable sonar that performs sound wave measurement at a position on the sea surface or in the sea away from the unmanned boat 1000 by a separation state control unit 1700 described later. Also, the sound wave sensor may be composed of a USBL transceiver, an acoustic communication modem, etc.

[0031] In addition to the sound wave sensor, the measurement sensor 1110 may also include an optical sensor such as an electro-optical sensor (Electro-Optical sensor) that acquires image data on the sea or in the sea, an infrared sensor (IR sensor), a laser sensor such as a LiDAR or a ToF sensor (Time of Flight sensor) that acquires point cloud data, or a radar sensor that detects millimeter waves or microwaves. The measurement sensor 1110 acquires measurement data of the monitoring target object existing within the measurable range on the sea or in the sea by measuring the periphery of the unmanned boat 1000.

[0032] 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 the three axes with respect to the unmanned boat 1000. Also, for example, when the measurement sensor is an acoustic wave sensor, particularly an active sonar that emits acoustic waves by itself, the measurement control unit 1120 can adjust the output of the generated acoustic waves to an arbitrary control amount. Further, 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 camera or an infrared camera, the measurement control unit 1120 can change the zoom amount and resolution of the optical camera or infrared camera to an arbitrary control amount.

[0033] 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 1000. The navigation state determination unit 1210 determines state quantities related to the own-ship's position (two-dimensional or three-dimensional), 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 of the battery or fuel mounted on the own-ship, the movable distance that can be calculated based on the remaining energy amount, a temporary abnormal state (such as temperature abnormality, communication abnormality, etc.) of the devices mounted on the own-ship, and the failure state of the devices. Also, the external state determination unit 1230 determines the communication state such as the communication strength (dB value, etc.) and communication speed with other unmanned boats 1000 within the squad 1010 that performs communication, or the ocean current and tide (flow velocity, flow direction), wind speed (wind speed, wind direction), wave height, weather (rain, snow, cloudy, etc.) around the own-ship.

[0034] The method for the navigation state determination unit 1210 to determine the position, moving speed, moving direction, and acceleration / deceleration of the own aircraft is not particularly limited. For example, GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. can be used to determine the position, moving speed, and moving direction of the own aircraft at the current time. 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 the determined moving speed over time.

[0035] Also, the method for measuring the heading direction of the own aircraft is, for example, to use a geomagnetic sensor, a GNSS compass, a SLAM technology using the seabed shape, etc. to determine the heading direction of the own aircraft at the current time. The heading direction includes at least the attitude angle (azimuth) in a plan view around the Z-axis, and preferably may be 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 the determined heading direction information over time.

[0036] 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 parent aircraft 1001 in an arbitrary direction according to the operation command received via the communication unit 1400. The thrust generation unit 1310 is composed of, for example, a propeller, and can generate thrust by driving the propeller using the power of an engine or an electric motor. 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.

[0037] The attitude control mechanism 1320 is composed of a rudder plate provided on the hull, a propeller attitude change mechanism capable of changing the attitude angle of the propeller (mainly the yaw angle around the Z axis), etc. By changing these angles, the bow direction (yaw angle) of the unmanned boat 1000 can be controlled. Also, with a center of gravity position change mechanism that changes the position of the weight object inside the hull by an actuator, the attitude angles of the roll angle around the X axis and the pitch angle around the Y axis of the hull can also be controlled.

[0038] Also, the navigation control unit 1330 is a functional unit that controls the navigation operation of the own ship by controlling the output from 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 is provided with a processing unit that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that are executable by the processing unit to perform one or more processing steps.

[0039] The processing unit includes a control module configured to control the navigation state of the own ship. For example, the control module adjusts the position of the own ship on the sea surface, the moving speed, the moving acceleration and deceleration, the bow orientation, 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 ship by causing the own ship to perform operations such as moving forward, backward, accelerating, decelerating, and turning.

[0040] Next, the communication unit 1400 includes an inter-unmanned-boat communication unit 1410, a satellite communication unit 1420, and an external communication unit 1430, and is a functional unit that communicates with other unmanned boats 1000 within the squad 1010, the communication satellite 3000, and external monitoring boats or AIS base stations. The inter-unmanned-boat communication unit 1410 is provided with a communication antenna for inter-unmanned-boat communication and communicates with other unmanned boats 1000 within the squad 1010. The satellite communication unit 1420 is provided with a satellite communication antenna and communicates with the communication satellite 3000. The external communication unit 1430 is provided with an AIS antenna and a VHF antenna and communicates with external monitoring boats or AIS base stations.

[0041] Next, the determination unit 1500 is a functional unit that makes determinations regarding the object to be monitored 7000. The determination unit 1500 includes an object detection determination unit 1510 and an analysis necessity determination unit 1520. The object detection determination unit 1510 interprets the measurement data acquired by the measurement sensor 1110 (particularly a sound wave sensor) to determine the presence or absence of an object, the sound wave intensity, the size of the shadow, and so on.

[0042] Based on the information determined by the object detection determination unit 1510, the analysis necessity determination unit 1520 determines whether to transmit the measurement data to the overall control system 2000 and perform object analysis. For example, even if an object is detected in the water by the object detection determination unit 1510, if the size of the shadow is small and it is highly likely to be a marine organism such as a small fish, it can be determined that it is unnecessary to transmit the measurement data to the overall control system 2000. On the other hand, if the shadow of the underwater object detected by the object detection determination unit 1510 is large, it is highly likely to be a whale or the like that is the object of monitoring. Also, if the sound wave intensity of the detected underwater object is strong, it is highly likely to be a part of an oxygen cylinder of a diver or a sunken ship that is the object of monitoring. Therefore, it can be determined that it is necessary to transmit the measurement data to the overall control system 2000.

[0043] Next, the recording unit 1600 includes a measurement data recording unit 1610, a self - 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 self - state recording unit 1620 records various state information regarding the own vehicle determined by the own vehicle state determination unit 1200. Also, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0044] Next, the separation state control unit 1700 is a functional unit that switches between a state in which the separation - type sonar is separated from the airframe of the unmanned boat 1000 while maintaining the state where the separation - type sonar and the airframe of the unmanned boat 1000 are connected by a cable, and a state in which the separation - type sonar is stored in the unmanned boat 1000. The separation state control unit 1700 includes a cable winding unit 1710 and a winding control unit 1720.

[0045] The cable winding unit 1710 is composed of a cable reel or the like, and has a function of changing the length of the cable extended from the hull of the unmanned boat 1000 by rotating the reel with a motor or the like. The winding control unit 1720 can control the amount of reel rotation by the motor of the cable winding unit 1710 to adjust the distance between the separable sonar and the hull.

[0046] (A-1-4-2. Object Detection by Sound Wave Sensor) FIG. 7 is a conceptual diagram showing how to detect an object in water using a sound wave sensor. In the example shown in FIG. 7, it shows how to detect marine organisms such as whales and underwater divers using a side scan sonar, and how to detect the positions of underwater divers capable of mutual communication using a USBL transceiver and an acoustic communication modem, respectively.

[0047] When using a side scan sonar, the surface material, size, and object position of the underwater object can be determined based on the sound wave intensity and shadow information that can be grasped from the sound waves reflected from the underwater object.

[0048] When detecting the positions of underwater divers capable of mutual communication using a USBL transceiver and an acoustic communication modem, an acoustic signal (call) is transmitted from the USBL transceiver, and the acoustic signal (response) transmitted in response from the acoustic positioning transponder mounted on the diver side is received by the USBL transceiver, thereby detecting the relative position of the diver with respect to the unmanned boat 1000. Also, based on the self-position coordinates calculated by the navigation state determination unit 1210 in the unmanned boat 1000, the absolute position coordinates of the diver can be calculated, and the data including the absolute position coordinates of the diver can be transmitted from the acoustic communication modem to the diver.

[0049] (A-1-5. Configuration of the Overall Control System 2000) Next, the functions and details of the overall control system 2000 will be described with reference to FIG. 8. 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 an information import unit 2100, a monitoring plan generation unit 2200, an object analysis unit 2300, an operation command unit 2400, a user interface unit 2500, a recording unit 2600, and a communication unit 2700.

[0050] (A-1-5-1. Information Import Unit 2100) The information import unit 2100 is a functional unit that imports information processed or used in each functional unit within the overall control system 2000 from the unmanned boat 1000, the cooperation system 5000, or the external system 6000. The information import unit 2100 includes a preset information acquisition unit 2110, an unmanned boat performance information acquisition unit 2120, a measurement data acquisition unit 2130, an external information acquisition unit 2140, and an external intervention information acquisition unit 2150.

[0051] The preset information acquisition unit 2110 is a functional unit that acquires in advance the criteria for each determination executed in the determination unit 1500 of the unmanned boat 1000 and the object analysis unit 2300. The preset information acquisition unit 2110 can acquire, for example, reference values such as sound wave intensity and shadow size as the criteria for determining whether to perform object analysis by the analysis necessity determination unit 1520 of the determination unit 1500. Also, the criteria for each determination item by the object analysis unit 2300 shown in FIGS. 9 and 10 can be acquired.

[0052] Moreover, the preset information acquisition unit 2110 may acquire information on the criteria for determining the operation commands determined by the operation command unit 2400, not limited to the criteria for each determination executed in the determination unit 1500 of the unmanned boat 1000 and the object analysis unit 2300.

[0053] In addition, the preset information acquired by the preset information acquisition unit 2110 may include the setting conditions of the monitoring plan used when the monitoring plan generation unit 2200 generates the monitoring plan. In this case, the setting conditions of the monitoring plan include information on the monitoring area where the monitoring measurement is to be performed, the target value of the search rate of the monitoring area, and the like.

[0054] The unmanned boat performance information acquisition unit 2120 is a functional unit that acquires in advance information regarding the movement performance of the unmanned boat 1000. The unmanned boat performance information acquisition unit 2120 can acquire, for example, the maximum movement speed, the maximum turning radius, the maximum turning-back speed, the maximum acceleration, the maximum deceleration, the movable distance, etc. of the unmanned boat 1000 as movement performance information. In addition to these, it may also have performance information other than the movement speed, such as the upper limit of the relative distance between the unmanned boats 1000 for maintaining the communication network between the unmanned boats 1000, the processing speed of the CPU in the unmanned boat 1000, and the transmission speed of the measurement data.

[0055] The measurement data acquisition unit 2130 is a functional unit that acquires the determination result determined by the determination unit 1500 of the unmanned boat 1000 via a communication satellite 3000, a HAPS, a ground base station 4000, etc., and the measurement data measured by the unmanned boat 1000. The measurement data acquired by the measurement data acquisition unit 2130 includes the first measurement data acquired by the monitoring measurement operation instructed to the unmanned boat 1000 by the monitoring measurement operation instruction unit 2430 described later, and the second measurement data acquired by the detailed measurement operation instructed to the unmanned boat 1000 by the detailed measurement operation instruction unit 2440 described later.

[0056] The external information acquisition unit 2140 is a functional unit that acquires the navigation information of ships in the ocean area where the unmanned boat 1000 is deployed or its surrounding area from the AIS control center of the external system 6000. It may also acquire the navigation information of ships from other VHF Data Exchange Systems included in the external system 6000. In addition, the external information acquisition unit 2140 may acquire the weather information in the ocean area where the unmanned boat 1000 is deployed or its surrounding area from the Meteorological Agency or a private weather information providing system, which is the external system 6000.

[0057] The external intervention information acquisition unit 2150 is a functional unit that receives intervention command information from the cooperation system 5000. For example, it can receive intervention command information from the cooperation system 5000 for candidate information of measurement operation commands sent to the cooperation system 5000 via the information communication unit 2700 described later.

[0058] (A-1-5-2. Monitoring plan generation unit 2200) The monitoring plan generation unit 2200 is a functional unit that generates a monitoring plan for performing monitoring measurements based on preset information such as the monitoring area and the target value of the search rate of monitoring measurements acquired by the preset information acquisition unit 2110, and performance information of the unmanned boat 1000 (including the measurable range, etc.) acquired by the unmanned boat performance information acquisition unit 2120.

[0059] Here, the monitoring plan generated by the monitoring plan generation unit 2200 is generated as a plan including the deployment positions and time-series movement plans of multiple unmanned boats so that the target value of the search rate defined by parameters including area and time can be achieved. Here, the search rate in the present application can be defined, for example, as the total measurement execution time for each area. Also, the search rate may be expressed as the coverage rate or the monitoring density distribution.

[0060] The monitoring plan generation unit 2200 acquires the history information of the movement positions of each unmanned boat 1000 from multiple unmanned boats 1000, and determines the search rate in the monitoring area considering the measurable range of the unmanned boat 1000, etc. Also, it determines whether the search rate has reached the target value, and if there is an area where the target value has not been reached, it can change the monitoring plan so that the search rate of the area increases. For example, it can be considered to change to a monitoring plan of parking the unmanned boat at a position where the search rate is lower than the target value for a predetermined time.

[0061] Note that there is a limit to the measurable distance of the acoustic sensor in water. When performing acoustic measurement near the water surface, the measurable range is a hemispherical range. Therefore, it is necessary to set the exploration rate for the underwater space in consideration of the measurable range. As an example, the exploration rate can be defined as the exploration rate near the water surface within a predetermined depth (for example, about 50 m) from the water surface. Also, as another example, the exploration rate can be defined for each depth.

[0062] As described above, since the target value of the exploration rate can be set for each depth, the monitoring plan generation unit 2200 determines the exploration rate for each depth with respect to the monitoring area, and generates a plan including the deployment positions of a plurality of unmanned boats and the time-series movement plan so as to satisfy the exploration rate target value for each depth. In this case, as a monitoring measurement operation, in order to improve the exploration rate at a predetermined depth, a separable sonar can be temporarily lowered into the water to perform acoustic measurement.

[0063] Also, when receiving a command input of an area (position in a two-dimensional plane), depth (position in a three-dimensional space), and time zone for increasing the exploration rate from the user via the user input reception unit 2520, the monitoring plan can be changed so as to improve the exploration rate in the area, depth, and time zone specified by the specified input information.

[0064] (A-1-5-3. Object Analysis Unit 2300) The object analysis unit 2300 is a functional unit that analyzes an object based on the detection information and measurement data of the object acquired by the detection data acquisition unit 2412, and determines information and status regarding the object. The object analysis unit 2300 includes a primary detection determination unit 2310 and a secondary detailed detection determination unit 2320.

[0065] The primary detection determination unit 2310 is a functional unit that detects an underwater object based on the first measurement data acquired by the monitoring measurement operation commanded to the unmanned boat 1000 by the monitoring measurement operation command unit 2430 described later, and determines information and status regarding the underwater object.

[0066] The secondary detailed detection determination unit 2320 is a functional unit that determines information and conditions regarding underwater objects based on second measurement data acquired by a detailed measurement operation commanded to the unmanned boat 1000 by a detailed measurement operation command unit 2440, which will be described later. The second measurement data used by the secondary detailed detection determination unit 2320 is more accurate or high-resolution measurement data than the first measurement data used by the primary detection determination unit 2310, and therefore the secondary detailed detection determination unit 2320 can determine more items and has higher determination accuracy than the primary detection determination unit 2310.

[0067] The object detection determination by the primary detection determination unit 2310 will be described below with reference to FIG. 9. FIG. 9 is a diagram showing the determination items by the primary detection determination unit 2310. As shown in FIG. 9, the object analysis unit 2300 can determine the type, shape, size, orientation, and material of an object as the object feature determination items. In addition, the object analysis unit 2300 can determine the relative distance, relative orientation, and position coordinates of an object as the static state determination items. In addition, the moving state / stationary state, moving direction, moving speed, past moving route history, future predicted route, and the like can be determined as dynamic state determination.

[0068] Here, an example of a method for determining each item of object feature determination will be described. For example, when a side scan sonar is used as the active sonar, the surface material of the detected object can be determined according to the magnitude of the received sound wave intensity obtained as measurement data, and the type, shape, size, and orientation of the detected object can be determined based on the shadow information obtained from the measurement data. Note that, when the measurement data is not of sufficiently high resolution, the shadow information may not be able to accurately determine the type, shape, or orientation, but at least the approximate size of the detected object can be determined. As another example, when a passive sonar is used, the type of the detected object can also be determined by a sound print obtained by frequency analysis of the sound included in the measurement data.

[0069] Next, an example of a method for determining the static state will be described. First, the relative distance is determined from the difference between the detection time of the reflected sound wave included in the measurement data and the time when the sound wave was emitted, to obtain the relative distance between the unmanned boat 1000 and the object. Also, the relative azimuth between the unmanned boat 1000 and the object can be determined from the azimuth at which the reflected sound wave is detected. Furthermore, based on the information of the self-position coordinates detected by the self-state determination unit 1200 of the unmanned boat 1000, and the information of the relative azimuth and relative distance described above, the position coordinates of the object can be calculated. Here, the position coordinates may be two-dimensional coordinates in a horizontal XY plane, but three-dimensional coordinates in an XYZ space including height direction information are desirable.

[0070] Next, an example of a method for determining the dynamic state will be described. Based on the change analysis of the measurement data obtained by performing a plurality of measurements in a time series, it is possible to determine the moving state / stationary state, the moving direction, and the moving speed. Also, based on the past measurement data, the history of the past moving path can be determined. Furthermore, based on the determination results such as the past moving history, the current moving direction, and the orientation, the future predicted path can be determined.

[0071] Hereinafter, with reference to FIG. 10, the object detection determination by the secondary detailed detection determination unit 2320 will be described. FIG. 10 is a diagram showing the determination items by the secondary detailed detection determination unit 2320. The determination items by the secondary detailed detection determination unit 2320 include all the determination items by the primary detection determination unit 2310, and further, items related to the information and state of the detected object as shown below can be determined.

[0072] Among the determination items of the secondary detailed detection determination unit 2320, as dynamic states, in addition to the moving state / stationary state, moving direction, moving speed, history of the past moving path, and future predicted path described above, the turning radius, response speed, acceleration, and deceleration can be determined.

[0073] In addition, the determination items of the secondary detailed detection determination unit 2320 may include the movement performance of the detected object. The movement performance includes, for example, the maximum movement speed, the maximum turning radius, the maximum turning-back speed, the maximum acceleration, the maximum deceleration, the movable distance, and the like. Note that the movement performance can be estimated based on the type and size of the detected object that has been determined, but it can also be estimated based on the movement speed, turning radius, response speed, acceleration, deceleration, and movement distance measured in the past or up to the present.

[0074] In addition, the detailed measurement operation for acquiring the second measurement data includes a measurement operation for measuring optical image data, infrared image data, point cloud data, radar measurement data, or other sea state data for an underwater area, on the water surface, or in the airspace above the water surface. Therefore, the secondary detailed detection determination unit 2320 can perform more accurate determination of object characteristics based on the optical image data and infrared image data. In addition, the wave height, tidal current, and weather conditions at the site where the detected object is detected can be determined by the sea state data. Note that in this application, the sea state data includes wave height, tidal current, weather, air temperature, water temperature, wind speed, atmospheric pressure, humidity, solar radiation amount, light intensity, salt concentration, Ph value, and the like.

[0075] In addition, the secondary detailed detection determination unit 2320 may have a function of determining the navigation pattern of the monitoring object that is the target object. As an example, the secondary detailed detection determination unit 2320 can determine, as the navigation pattern of the target object, the status regarding the speed and acceleration / deceleration pattern of the target object, the status regarding the navigation route of the target object, or the status regarding the tracking disturbance navigation of the target object, or the escape behavior status of the target object, and the like.

[0076] In addition, as a detailed measurement operation, when acquiring the second measurement data using the moored active sonar mode, moored state maintenance mode, separated sonar mode, etc. described later, in order to accurately calculate the relative speed and relative direction with respect to the underwater object, it is desirable to detect (or predict) the sea current movement speed around the unmanned boat 1000 or the sea current movement speed around the separated sonar, and subtract the speed of the sea current movement speed to calculate the speed and direction of the underwater object.

[0077] Here, in the determination of the type of the detected object by the primary detection determination unit 2310 and the secondary detailed detection determination unit 2320, for example, it is possible to determine an underwater diver in water or the sea, marine organisms (such as whales, dolphins, and fish schools), a sunken ship, marine infrastructure (such as submarine cables), etc. In this way, by also detecting and determining the type of a sunken ship, etc., it can also be utilized for purposes such as rescue operations associated with sinking or submarine accidents, maritime disasters, drifting, and rescue and search after tsunamis, for the purpose of saving lives and disaster response.

[0078] (A-1-5-4. Operation Command Unit 2400) The operation command unit 2400 is a functional unit that determines the state of the unmanned boat 1000, determines the measurement mode to be executed by the unmanned boat from a plurality of measurement mode candidates, and outputs a measurement operation command for the determined measurement mode to the unmanned boat 1000. The operation command unit 2400 includes a system state determination unit 2410, a measurement mode determination unit 2420, a monitoring measurement operation command unit 2430, a detailed measurement operation command unit 2440, and an other operation command unit 2450.

[0079] The system state determination unit 2410 is a functional unit that determines the current state or the current operation status of the unmanned boat 1000. As the current state of the unmanned boat 1000, the system state determination unit 2410 can determine, for example, at least any one of the positions, formations, the number of aircraft, moving directions, moving speeds, movable distances, remaining energy amounts of a plurality of unmanned boats, an estimated value of the moving ability including the moving speed or the movable distance of the unmanned boat under an external environment such as waves, winds, and tides in the activity area of the unmanned boat, a predicted position at a future time, and a position capture lost state.

[0080] The method for determining the current operation state by the system state determination unit 2410 will be described below with reference to FIG. 11. FIG. 11 is a state transition diagram showing the operation status of the unmanned boat 1000. In the example shown in FIG. 11, the operation status of the unmanned boat 1000 includes a monitoring navigation state in which a monitoring measurement operation is executed, a state in which an underwater object that is a monitoring target candidate is detected by the determination unit 1500 of the unmanned boat 1000, an initial detection determination state of the monitoring target by the primary detection determination unit 2310, a detailed measurement execution state, a detailed detection determination state by the secondary detailed detection determination unit 2320, a re-detailed measurement state in which detailed measurement is performed again after the detailed detection determination, a position capture loss state in which the position capture of the monitoring target by the unmanned boat 1000 is lost, a re-capture monitoring state for performing position capture of the monitoring target again, a continuous capture navigation state in which measurement and capture are performed after the detailed detection determination, an execution state of other operations different from the above-described operations, and a monitoring measurement end state.

[0081] The system state determination unit 2410 determines the operation status shown in FIG. 11 according to the information obtained from the own-ship state determination unit 1200 of the unmanned boat 1000, the determination result of the target analysis unit 2300, the operation command output state from the operation command unit 2400, the input information from the user input reception unit 2520, and the like.

[0082] Note that the system state determination unit 2410 may have a function of determining the future state of the unmanned boat 1000 or the current or future relative operation state between the unmanned boat 1000 and the monitoring target object in addition to the current state or current operation status of the unmanned boat 1000 described above.

[0083] The measurement mode determination unit 2420 is a functional unit that determines the measurement operation from among a monitoring measurement operation, a detailed measurement operation, or other measurement operations based on the operation status of the unmanned boat 1000 shown in FIG. 11, the determination result regarding the object by the object analysis unit 2300, the input information from the user input reception unit 2520, and the like. As an example, when the primary detection determination unit 2310 of the object analysis unit 2300 detects an object in the water based on the first measurement data measured by the monitoring measurement operation, it determines to execute a detailed measurement operation that enables more accurate or high-precision measurement by a measurement operation different from the monitoring measurement operation. When the execution of the detailed measurement operation is determined by the measurement mode determination unit 2420, an execution command for the detailed measurement operation is transmitted to the unmanned boat 1000 by the detailed measurement operation command unit 2440, and the measurement data acquisition unit 2130 acquires the second measurement data obtained by the detailed measurement operation.

[0084] Also, when the determination result of the detailed detection determination by the secondary detailed detection determination unit 2320 is indeterminate, the measurement mode determination unit 2420 determines to execute the detailed measurement operation again, and a command regarding the detailed measurement operation is output by the detailed measurement operation command unit 2440 described later.

[0085] In addition, the measurement mode determination unit 2420 can determine whether it is necessary to track the detected object by the unmanned boat 1000 according to the determination result of the secondary detailed detection determination unit 2320. When it is determined by the measurement mode determination unit 2420 that tracking of the detected object is necessary, a command regarding the tracking operation (continuous capture operation) is output by the other operation command unit 2450 described later. On the other hand, when it is determined by the measurement mode determination unit 2420 that tracking of the detected object is unnecessary, it determines to execute the monitoring measurement operation (monitoring navigation), and a command regarding the monitoring measurement operation is output by the monitoring measurement operation command unit 2430 described later.

[0086] In addition, when the determination result of the initial detection by the primary detection determination unit 2310 is indeterminate, the measurement mode determination unit 2420 determines to execute the monitoring measurement operation again. When it is determined that way, it determines to execute the monitoring measurement operation (monitoring navigation), and a command regarding the monitoring measurement operation is output by the monitoring measurement operation command unit 2430 described later.

[0087] Also, when it detects the occurrence of position capture loss (also referred to as "detection loss") where the position of the monitoring target cannot be captured during the execution of each operation such as the detailed measurement operation, re-detailed measurement operation, and tracking operation (continuous capture operation), it notifies or displays the occurrence information of the position capture loss to the display unit 2510 described later, and can accept the selection input of the operation status to be executed next from monitoring for re-capture, or normal monitoring navigation, or after the end of monitoring measurement. Also, when it executes monitoring for re-capture and can re-capture the monitoring target, it transitions the operation to the status of monitoring target candidate detection. On the other hand, when it cannot re-capture and the detection loss state continues, it transitions the operation to the status of normal monitoring navigation.

[0088] So far, based on the operation status shown in FIG. 11, the method of determining the measurement operation from the monitoring measurement operation, the detailed measurement operation, or other measurement operations has been described. However, based on the desired monitoring mode (including the stealth mode, wide-area monitoring mode, deep-sea monitoring mode, ambush standby mode, etc.) specified by the user via the user input reception unit 2520, the measurement operation can also be determined from the monitoring measurement operation, the detailed measurement operation, or other measurement operations.

[0089] When the measurement mode determination unit 2420 determines to execute the monitoring and measurement operation, the monitoring and measurement operation instruction unit 2430 is a functional unit that determines the content of the monitoring and measurement operation and outputs an execution instruction for the monitoring and measurement operation to the unmanned boat. The monitoring and measurement operation instruction unit 2430 issues an execution instruction for the monitoring and measurement operation according to the monitoring plan generated by the above-mentioned monitoring plan generation unit 2200. That is, while the unmanned boat 1000 is patrolled or berthed according to the deployment position and the time-series movement plan of the unmanned boat 1000 included in the monitoring plan generated by the monitoring plan generation unit 2200, the first measurement data is acquired by a measurement sensor such as a sound wave sensor. When the speed of the ocean current or tidal current is faster than a predetermined value and it is impossible to stay at the deployment position of the monitoring plan in the berthed state, the thrust generation unit 1310 is used to control so as to stay at the deployment position of the monitoring plan.

[0090] When the measurement mode determination unit 2420 determines to execute the detailed measurement operation, the detailed measurement operation instruction unit 2440 is a functional unit that determines the content of the detailed measurement operation and outputs an execution instruction for the detailed measurement operation to the unmanned boat.

[0091] The detailed measurement operation instruction unit 2440 can select one measurement operation from a plurality of detailed measurement operation candidates. In that case, the measurement operation may be automatically determined based on the setting information set by the pre-set information acquisition unit 2110, or the measurement operation may be selected according to the user input information received from the user input reception unit 2520.

[0092] When using an active sonar, if the underwater object is stationary, even if the unmanned boat or the separated sonar measures in a stopped state, it is impossible to obtain the measurement data necessary for detailed detection and analysis. Therefore, it is desirable to perform the measurement in a state where the relative speed between the acoustic sensor and the underwater object is within a predetermined range of speeds. For this reason, based on the speed information of the underwater object determined by the initial detection by the primary detection determination unit 2310, it is possible to select a measurement mode for the detailed measurement operation in which the relative speed between the acoustic sensor and the underwater object is within a predetermined range of speeds. That is, when the speed of the underwater object is stopped or low, a detailed measurement operation that can perform acoustic measurement while moving is selected. When the speed of the underwater object is equal to or higher than a predetermined speed, a moored active sonar mode or a moored state maintenance mode that performs measurement in a moored state can be selected as the detailed measurement operation.

[0093] Hereinafter, candidates for the measurement mode of the detailed measurement operation will be described with reference to FIGS. 12 to 21.

[0094] FIG. 12 is a diagram showing candidates for the operation mode of the detailed measurement operation. As shown in FIG. 12, the operation modes of the detailed measurement operation can be classified into three types: a disturbance reduction measurement mode, a short-distance measurement mode, and a multi-angle measurement mode.

[0095] First, the disturbance reduction measurement mode is a measurement mode that suppresses the influence of external noise, waves, tides, etc. that affect the position and attitude of the unmanned boat. It includes a moored active sonar mode, a moored state maintenance mode, and a separated sonar mode.

[0096] First, the moored active sonar mode will be described. FIG. 13 is a diagram showing the state of measurement by the moored active sonar mode. FIG. 13 shows the state at time t1 when performing the monitoring measurement operation and the state of measurement at time t2 when performing the detailed measurement operation by the moored active sonar mode.

[0097] As shown in FIG. 13, at time t1, a driving sound (noise sound) is generated from the thrust generating unit 1310 of the unmanned boat 1000. However, in the parked active sonar mode at time t2, the thrust generating unit 1310 of the unmanned boat 1000 is stopped, substantially stopped, or driven with a driving amount smaller than the driving amount of the thrust generating unit 1310 in the monitoring measurement operation, and sound wave measurement is performed by a sound wave sensor (active sonar). By this measurement operation, since the driving sound (noise sound) from the thrust generating unit can be reduced compared to the monitoring measurement operation (the operation of performing measurement while driving the thrust generating unit 1310 and navigating), more accurate sound wave measurement with less noise becomes possible.

[0098] Note that the parked active sonar mode can also be applied to detailed measurement by a plurality of unmanned boats 1000. In that case, the thrust generating units 1310 of the plurality of unmanned boats 1000 are stopped, substantially stopped, or driven with a driving amount smaller than the driving amount of the thrust generating unit 1310 in the monitoring measurement operation, and sound wave measurement is performed by a sound wave sensor (active sonar). Furthermore, a measurement operation is performed in which a plurality of the unmanned boats are synchronized, the thrust generating units 1310 of the plurality of unmanned boats 1000 are stopped, substantially stopped, or driven with a driving amount smaller than the driving amount of the thrust generating unit 1310 in the monitoring measurement operation, and sound wave measurement is performed using the plurality of active sonars in this state. In this measurement operation, since the driving sound (noise sound) from the thrust generating unit can be reduced compared to the monitoring measurement operation (the operation of performing sound wave measurement while driving and navigating at least a part of the thrust generating units 1310 of a plurality of unmanned boats), more accurate sound wave measurement with less noise becomes possible.

[0099] Next, the stationary state maintenance mode will be described. The stationary state maintenance mode is a measurement operation in which acoustic wave measurement by an active sonar is performed in a state where attitude angle maintenance control (control by the navigation unit 1300) is performed to maintain the attitude angle (which may include at least the yaw angle (angle around the Z axis) of the unmanned boat 1000) constant or substantially constant. In this measurement operation, in addition to maintaining the attitude angle, it is desirable to control the navigation unit 1300 to maintain the position of the unmanned boat at a fixed position or to substantially stop the thrust generation unit 1310. In this measurement operation, since the orientation of the hull of the unmanned boat 1000 can be kept constant, when underwater measurement is performed by an active sonar (such as a side scan sonar), the shape and size of underwater objects can be detected more accurately.

[0100] Next, the disturbance reduction measurement mode using a separable sonar will be described. FIG. 14 is a diagram showing the state of measurement in the disturbance reduction measurement mode using a separable sonar. FIG. 14 shows a state where the separable sonar is positioned on the water at a distance of a predetermined distance or more from the unmanned boat 1000 and a state where it is positioned underwater.

[0101] As shown in FIG. 14, in the disturbance reduction measurement mode using a separable sonar, acoustic wave measurement is performed by the separable sonar in a state where the separable sonar is positioned on the water or underwater at a distance of a predetermined distance or more from the unmanned boat 1000. Therefore, since the separable sonar can perform acoustic wave measurement from a position sufficiently separated from the noise generated by the thrust generation unit 1310 of the unmanned boat 1000, more accurate acoustic wave measurement with less noise becomes possible.

[0102] Here, the determination of whether to place the separable sonar on the water surface or in the water can be made based on the desired monitoring mode specified by the user. For example, when the desired monitoring mode is the wide-area monitoring mode, the separable sonar is placed on the water surface to perform detailed measurement. When the desired monitoring mode is the deep-sea monitoring mode, the separable sonar is placed in the water to perform detailed measurement. Furthermore, after placing the separable sonar on the water surface to perform detailed measurement, the separable sonar can be placed in the water to perform additional detailed measurement. Conversely, after placing the separable sonar in the water to perform detailed measurement, the separable sonar can be placed on the water surface to perform additional detailed measurement.

[0103] Next, the short-distance measurement mode is a measurement mode that performs acoustic wave measurement from a position where the relative distance to the underwater object, which is the measurement target, is smaller. There are a mode using ship movement and a mode using a separable sonar.

[0104] First, the short-distance measurement mode using unmanned boat movement will be described. FIG. 15 is a diagram showing the state of measurement by the short-distance measurement mode using unmanned boat movement. FIG. 15 shows the state at time t1 when performing the monitoring measurement operation and the state of measurement at time t2 when performing the detailed measurement operation by the short-distance measurement mode.

[0105] As shown in FIG. 15, the relative distance between the unmanned boat 1000 and the underwater object at time t2 when performing the detailed measurement operation by the short-distance measurement mode is shorter than the relative distance between the unmanned boat 1000 and the underwater object at time t1 when performing the monitoring measurement operation. Therefore, in the detailed measurement operation, acoustic wave measurement is performed by the acoustic wave sensor mounted on the unmanned boat 1000 while moving the position of the unmanned boat 1000 on the sea surface. Therefore, at time t2 when performing the detailed measurement operation, acoustic wave measurement of the object can be performed from a position where the relative distance is closer, and more detailed measurement data can be obtained.

[0106] Next, the short-distance measurement mode using the separable sonar will be described. FIG. 16 is a diagram showing the state of measurement in the short-distance measurement mode using the separable sonar. FIG. 17 is a diagram showing the state of measurement in the short-distance measurement mode using the separable sonar and the movement of the unmanned boat. FIGS. 16 and 17 show the state at time t1 when the monitoring measurement operation is performed and the state of measurement at time t2 when the detailed measurement operation in the short-distance measurement mode is performed.

[0107] As shown in FIG. 16, the relative distance between the unmanned boat 1000 and the underwater object at time t2 when the detailed measurement operation in the short-distance measurement mode using the separable sonar is shorter than the relative distance between the unmanned boat 1000 and the underwater object at time t1 when the monitoring measurement operation is performed. Therefore, at time t2 when the detailed measurement operation is performed, the sound wave measurement of the object can be performed from a position where the relative distance is closer, and more detailed measurement data can be obtained. Here, the water depth position where the separable sonar is arranged can be determined based on the water depth position of the underwater object grasped by the initial detection determination by the primary detection determination unit 2310.

[0108] In FIG. 16, an example is shown in which the separable sonar is submerged in the sea to reduce the relative distance. However, the separable sonar may be arranged at a position on the water surface where the relative distance from the object is shorter than that of the unmanned boat 1000, and the sound wave measurement may be performed. Also, as shown in FIG. 17, the detailed measurement operation may be performed in a state where the relative distance between the separable sonar and the object is reduced by using both the movement of the unmanned boat and the separable sonar.

[0109] Next, the multiple-angle measurement mode is a measurement mode in which the same object is measured by sound waves from multiple directions using multiple unmanned boats or separable sonars, and has a mode in which multiple unmanned boats cooperate and a mode in which a separable sonar is used.

[0110] First, the multiple-angle measurement mode using cooperation of multiple unmanned boats will be described. FIG. 18 is a diagram showing the state of measurement in the multiple-angle measurement mode using cooperation of multiple unmanned boats. FIG. 18 shows the state of sound wave measurement of the same object by multiple unmanned boats 1000 deployed at multiple positions on the sea surface.

[0111] As shown in FIG. 18, by performing acoustic wave measurement from a plurality of unmanned boats 1000 deployed at a plurality of positions on the sea surface, acoustic wave measurement can be performed from a plurality of different directions as viewed from the object. Therefore, for example, when using an active sonar, the shape of the object as viewed from different directions can be measured, and the shape of the object can be measured more accurately. When performing acoustic wave measurement with such a plurality of unmanned boats 1000, the measurement may be performed asynchronously by the plurality of unmanned boats 1000, or may be performed synchronously.

[0112] Next, a multi-angle measurement mode using a separated sonar will be described. FIGS. 19 to 21 are diagrams showing the state of measurement in the multi-angle measurement mode using a separated sonar. FIG. 19 is a diagram showing the state of measurement in the multi-angle measurement mode using a separated sonar lowered into the sea. FIG. 20 is a diagram showing the state of measurement in the multi-angle measurement mode using a separated sonar positioned on the sea surface. FIG. 21 is a diagram showing the state of measurement in the multi-angle measurement mode using separated sonars positioned in the sea and on the sea surface.

[0113] In the example shown in FIG. 19, acoustic wave measurement can be performed from a plurality of different directions as viewed from the object by the separated sonar lowered into the sea and the acoustic wave sensor mounted on the unmanned boat 1000. Similarly, in the example shown in FIG. 20, acoustic wave measurement can be performed from a plurality of different directions as viewed from the object by the separated sonar positioned on the sea surface and the acoustic wave sensor mounted on the unmanned boat 1000. Similarly, in the example shown in FIG. 21, acoustic wave measurement can be performed from a plurality of different directions as viewed from the object by the separated sonar lowered into the sea, the separated sonar positioned on the sea surface, and the acoustic wave sensor mounted on the unmanned boat 1000.

[0114] Thus, in the multi-angle measurement mode using a separated sonar, since acoustic wave measurement of the object can be performed from different directions, the shape of the object as viewed from different directions, which cannot be grasped by the measurement from one direction from the unmanned boat 1000 in the monitoring measurement operation, can be measured, and the shape of the object can be measured more accurately.

[0115] In addition, in FIGS. 19 to 21, an example using a single unmanned boat 1000 and a separable sonar is shown. However, it is also possible to perform acoustic wave measurement of an object from a plurality of different directions using a plurality of separable sonars connected to a plurality of unmanned boats 1000.

[0116] So far, the measurement operation using the acoustic wave sensor as the detailed measurement operation has been described. However, the detailed measurement operation command unit 2440 may include, in addition to or instead of the measurement operation by the above-described acoustic wave sensor, as the detailed measurement operation, optical image data or infrared image data for an underwater, water surface, or airspace above the water surface, or a measurement operation for measuring oceanographic data (wave height, tidal current, weather, etc.) in the sea area around the unmanned boat 1000. Further, the above-described optical image data, infrared image data, and oceanographic data may be measured prior to the measurement operation using the acoustic wave sensor.

[0117] When it is determined by the measurement mode determination unit 2420 that it is necessary to track the detected object by the unmanned boat 1000, the other operation command unit 2450 issues a command regarding the tracking operation.

[0118] In addition, when the other operation command unit 2450 obtains, from the user, the data transmission priority conditions of the first measurement data and the second measurement data as request information by the user input reception unit 2520, the other operation command unit 2450 outputs a data transmission command corresponding to the data transmission priority conditions to the unmanned boat 1000.

[0119] When the other operation instruction unit 2450 accepts time-priority transmission as a data transmission priority condition, it calculates the processing time for processing measurement data by the unmanned boat 1000 or the overall control system 2000 and the data transmission time in a plurality of communication paths from the unmanned boat 1000 to the overall control system 2000, respectively. It selects a transmission path with a shorter total time of data processing time and transmission time and outputs a data transmission instruction for the transmission path to the unmanned boat 1000. Here, the plurality of communication paths from the unmanned boat 1000 to the overall control system 2000 include, for example, a communication path via the communication satellite 3000, a communication path via the HAPS, a communication path for directly communicating from the unmanned boat 1000 to the ground base station 4000, and a communication path using direct communication between multi-hop communication by a plurality of unmanned boats 1000 and the ground base station 4000.

[0120] Also, when accepting detailed data priority transmission as a data transmission priority condition, it selects a communication path capable of transmitting a large amount of measurement data without reducing the resolution and outputs a data transmission instruction for the transmission path to the unmanned boat 1000.

[0121] Also, when accepting communication data capacity priority as a data transmission priority condition, it outputs a data transmission instruction to the unmanned boat 1000 to transmit measurement data with the data amount reduced by performing compression processing of the measurement data or the like in the unmanned boat 1000 so as not to overload the communication capacity between the unmanned boat 1000 and the overall control system 2000.

[0122] (A-1-5-5. User Interface Unit 2500) The user interface unit 2500 is a functional unit that notifies or displays and outputs the determination result by the object analysis unit 2300 to the user and accepts user input information regarding commands for the measurement operation of the unmanned boat from the user. The user interface unit 2500 includes a display unit 2510 and a user input reception unit 2520. Note that the user interface unit 2500 may be a portable mobile terminal such as a smartphone, a tablet terminal, or a notebook PC.

[0123] The display unit 2510 is a functional unit that notifies or displays and outputs to the user the determination result by the object analysis unit 2300 and the like. Note that when notifying the user, the display unit 2510 can notify the user not only by display output but also by voice, light emission, or vibration. For example, the display unit 2510 can display and output the first measurement data and the second measurement data measured by the unmanned boat 1000, the search rate of the monitoring measurement determined by the monitoring plan generation unit 2200, the determination results by the determination unit 1500, the primary detection determination unit 2310, and the secondary detailed detection determination unit 2320 of the unmanned boat 1000, the information of the operation command generated by the operation command unit 2400, the user input information received by the user input reception unit 2520, the current operation state (including tracking, handover tracking, ahead, surrounding, etc.) and operation history information of the unmanned boat 1000 determined by the system state determination unit 2410, the information regarding the detection loss of the detected object, and further, the optical image data or infrared image data for the underwater, on the water surface, or the airspace above the water surface measured by the unmanned boat 1000, or other sea state data, the notification information to the outside such as the cooperation system 5000, etc.

[0124] When the primary detection determination unit 2310 detects an underwater object, the display unit 2510 can notify the user or display and output on the screen the fact that the primary detection determination unit 2310 has detected an underwater object, the information or state regarding the underwater object determined by the primary detection determination unit 2310, and at least any one of the information of the first measurement data.

[0125] When the secondary detailed detection determination unit 2320 determines the information or state regarding an underwater object, the display unit 2510 can notify the user or display and output on the screen the information or state regarding the underwater object determined by the secondary detailed detection determination unit 2320 and at least any one of the second measurement data.

[0126] Also, when transmitting information regarding an object to the cooperation system 5000 or other external systems by the information communication unit 2700 described later, information such as the contact information, communication means, and location of the transmission destination may be displayed on the display unit 2510.

[0127] The user input receiving unit 2520 is a functional unit that receives user input for each piece of information displayed by the display unit 2510. The reception of user input information can also be performed via operation buttons provided on the display screen of the display unit 2510.

[0128] The user input receiving unit 2520 can receive, for example, as user input information, request information regarding the data transmission of the first measurement data and the second measurement data. That is, it can receive input information regarding a transmission request to transmit the first measurement data and the second measurement data measured by the unmanned boat 1000 from the unmanned boat 1000 to the integrated control system 2000 via a wireless communication network.

[0129] Also, as described above, when receiving request information regarding the data transmission of the first measurement data and the second measurement data, as the request information, it can receive data transmission priority conditions including any one of time - priority transmission, detailed - data - priority transmission, and communication - data - volume - priority transmission.

[0130] The user input receiving unit 2520 can receive, for example, request information regarding an additional measurement operation using a sound wave sensor or other measurement sensors mounted on the unmanned boat 1000. Here, the additional measurement operation may be, for example, when a user who has confirmed the determination result of the secondary detailed detection determination unit 2320 on the display unit 2510 requests to execute the detailed measurement operation again. Also, in addition, when a user who has confirmed the determination result of the primary detection determination unit 2310 on the display unit 2510 requests a measurement operation using a measurement sensor of a type different from the sound wave sensor. Not limited to the above cases, the user can input a request for an additional measurement operation at any timing.

[0131] As the above-described request information for additional measurement operations, it is possible to input an acquisition command for measurement data from a different angle, an acquisition command for a close-range image (including the close-range measurement mode in FIG. 12), a simultaneous measurement command for multiple angles (including the cooperative mode of multiple unmanned boats in FIG. 12), an acquisition command for a high-quality measurement image (including the measurement mode for disturbance reduction in FIG. 12), and an acquisition command for optical image data, infrared image data, or sea state data for an underwater area, on the water surface, or in the airspace above the water surface. For example, when a suspicious diver or the like is discovered, since it is highly likely that there are other companions in the vicinity, it is desirable to take pictures with optical images, infrared images, etc. of the underwater area, on the water surface, and in the air above a certain distance range of 360 degrees around.

[0132] The user input reception unit 2520 can receive an input for designating a measurement area for measurement by the acoustic sensor mounted on the unmanned boat 1000. Therefore, the user can designate an arbitrary area as the measurement area based on information such as the detection position of the underwater object displayed by the display unit 2510. Also, when the underwater object is a suspicious diver or the like, by specifying an input to place the unmanned boat in a position where it is likely to be noticed from the front in the traveling direction or from the underwater object (diver), it is possible to monitor, track, or surround the underwater object (diver) and prompt it to leave on its own.

[0133] The user input reception unit 2520 can receive request information for a measurement operation different from the monitoring measurement operation and the detailed measurement operation, or for resuming the monitoring measurement operation, when information or status regarding an underwater object is determined by the secondary detailed detection determination unit 2320. That is, the user can input a measurement operation (such as a monitoring area, the formation of unmanned boats, etc.) arbitrarily set by the user, such as tracking measurement of the detected object or measurement concentrated on a specific area, according to the determination result by the secondary detailed detection determination unit 2320. Also, when the user can determine that the detected object is not a target for monitoring or tracking based on the determination result by the secondary detailed detection determination unit 2320, the user can input an instruction to return to the monitoring measurement operation before object detection.

[0134] In addition, the user input reception unit 2520 can perform command inputs for an area (position in a two-dimensional plane), depth (position in a three-dimensional space), and time zone for increasing the search rate with respect to the information on the search rate of monitoring measurements determined by the monitoring plan generation unit 2200 that is displayed on the display unit 2510 in real time or periodically.

[0135] In addition, the user input reception unit 2520 may have a function of receiving a display request for measurement data acquired by the unmanned boat 1000. In that case, as a priority display request for measurement data, a time priority display for preferentially displaying measurement data that can be displayed earlier, a detailed image priority display for preferentially displaying detailed measurement data, an area designation priority display for preferentially displaying measurement data in a designated area by the user, etc., a function of receiving a priority display request for preferentially performing display can be provided. Further, when receiving the above-described priority display request for measurement data, the predicted display time of the measurement data corresponding to the designated priority display may be displayed on the display unit 2510.

[0136] In addition, when causing the display unit 2510 to display measurement data, the user input reception unit 2520 can receive from the user a display mode including display of the latest measurement data or display of measurement data at a specified past time recorded in a recording unit described later. Further, when the unmanned boat 1000 acquires the latest measurement data, the user may be notified that the latest measurement data has been updated by the display unit 2510 or the like. Further, the predicted time required for display when receiving a display request for past measurement data may be displayed.

[0137] (A-1-5-6. Recording Unit 2600) The recording unit 2600 records the first measurement data and the second measurement data measured by the unmanned boat 1000, the determination results by the determination unit 1500, the primary detection determination unit 2310, and the secondary detailed detection determination unit 2320 of the unmanned boat 1000, the information of the operation commands generated by the operation command unit 2400, the user input information received by the user input reception unit 2520, the operation history information of the unmanned boat 1000 determined by the system state determination unit 2410, the information regarding the detection loss of the detected object, and further, at least any one of the optical image data or the infrared image data for the underwater or on the water surface or the airspace above the water surface measured by the unmanned boat 1000, or other sea state data.

[0138] In addition to the above-mentioned various information, the recording unit 2600 may include the history information of the transmission and reception data transmitted and received between the unmanned boat 1000 and the overall control system 2000, and the user input information regarding the data transmission and reception.

[0139] (A-1-5-7. Information Communication Unit 2700) The information communication unit 2700 is a functional unit that outputs the monitoring plan and search rate information generated by the monitoring plan generation unit 2200, the determination results regarding the target object by the target object analysis unit 2300, and the respective information of the operation commands generated by the operation command unit 2400 to the cooperation system 5000, the external system 6000, or other external systems.

[0140] The information communication unit 2700 can transmit, for example, the operation command candidates for the detailed measurement operation generated by the detailed measurement operation command unit 2440 to the cooperation system 5000. Also, it can transmit the candidates for the upper measurement mode determined by the measurement mode determination unit 2420 to the cooperation system 5000.

[0141] The functions implemented in the unmanned boat 1000 and the overall control system 2000 described so far with reference to FIGS. 6 and 8 are merely one of the embodiments, and the present invention is not limited to this implementation example. That is, a part of the functions implemented in the unmanned boat 1000 shown in FIG. 6 (mainly the functions of the determination unit 1500) can be implemented in the overall control system 2000. On the other hand, a part of the functions implemented in the overall control system 2000 shown in FIG. 8 (mainly at least any one of the information import unit 2100, the monitoring plan generation unit 2200, the object analysis unit 2300, and the operation command unit 2400) can also be implemented in the unmanned boat 1000. Further, in the present embodiment, an example in which the function of the first object determination for detecting an underwater object based on the first measurement data is implemented in the determination unit 1500 on the unmanned boat 1000 side and the primary detection determination unit 2310 on the overall control system 2000 side has been described. However, it is also possible to implement all of the functions of this first object determination on the unmanned boat side, and conversely, it is also possible to implement all of the functions of the first object determination on the overall control system 2000 side.

[0142] (A-1-6. Hardware Configuration) FIG. 22 is a hardware configuration diagram of the overall control system 2000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 includes an input device 100, an output device 200, a processing device 300, a main storage device 400, an auxiliary storage device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0143] The input device 100 can constitute the user input reception unit 2520 of the user interface unit 2500 and is a device for the user to input information and instructions to 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.

[0144] The output device 200 is a device that outputs various types of information generated by the overall control system 2000, and can constitute the display unit 2510 of the user interface unit 2500. Specifically, the output device 200 can constitute the display unit 2510 with a display device for eyewear, AR, VR, etc., and can also be a printer or a speaker.

[0145] 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.

[0146] The main memory device 400 is a memory device such as a RAM that temporarily stores various types of read information, a ROM that stores programs and application programs executed by the processing device 300, and various other information. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that can store digital information.

[0147] The communication device 600 is a device that performs information communication wirelessly or by wire with the outside, and can constitute the information communication unit 2700 described above.

[0148] (A-1-7. Control Flow of Control System 1) Next, the control flow of the entire control system 1 will be described. FIG. 23 is a flowchart showing the processing flow of the control system 1.

[0149] First, the information import unit 2100 acquires information from the external system 6000 (step 101).

[0150] Next, the monitoring plan generation unit 2200 determines a monitoring plan (step 102).

[0151] Next, the monitoring measurement operation instruction unit 2430 transmits a measurement operation instruction for the monitoring measurement operation to the unmanned boat 1000 to execute the monitoring measurement operation (step 103).

[0152] Next, the determination unit 1500 determines the processing step to transition according to whether or not a monitoring target candidate is detected (step 104). If a monitoring target candidate is detected in this step, the process transitions to step 105. On the other hand, if no monitoring target candidate is detected, the process returns to the process of step 103.

[0153] Next, the primary detection determination unit 2310 performs an initial detection determination of the monitoring target (step 105).

[0154] Next, the detailed measurement operation instruction unit 2440 transmits a measurement operation instruction for the detailed measurement operation to the unmanned boat 1000 to execute the detailed measurement operation (step 106).

[0155] #A014016# Next, the secondary detailed detection determination unit 2320 performs a detailed detection determination of the monitoring target (step 107).

[0156] Next, the operation instruction unit 2400 determines the operation after the detailed detection determination and executes the operation (step 108).

[0157] (A-1-8. Control Sequence within Control System 1) Next, the control sequence between each system within the control system 1 will be described. FIG. 24 is a sequence diagram showing the signal exchange between the systems within the control system 1.

[0158] First, external information is transmitted from the external system 6000 to the overall control system 2000.

[0159] Next, a monitoring plan is generated by the monitoring plan generation unit 2200 of the overall control system 2000, and a monitoring measurement command based on the monitoring plan is transmitted to the master unit 1001 by the detailed measurement operation command unit 2440. The master unit 1001 that has received the monitoring measurement command relays and transmits the monitoring measurement command to the slave unit 1002 as well, and the master unit 1001 and the slave unit 1002 execute the monitoring measurement operation.

[0160] Next, when the slave unit 1002 detects a monitoring target candidate, the first measurement data of the monitoring target candidate is transmitted to the master unit 1001. The master unit 1001 relays and transmits the received first measurement data to the overall control system 2000.

[0161] The overall control system 2000 performs an initial detection determination of the object based on the received first measurement data by the primary detection determination unit 2310. When the monitoring target object is detected, the detailed measurement operation command unit 2440 determines an operation command candidate for the detailed measurement operation and transmits it to the cooperation system 5000 by the information communication unit 2700.

[0162] When the overall control system 2000 receives intervention command information from the cooperation system 5000 by the external intervention information acquisition unit 2150, it determines an operation command for the unmanned boat 1000 in consideration of the intervention command information and transmits the operation command to the master unit 1001. In the example shown in this figure, a detailed measurement command is transmitted.

[0163] The master unit 1001 receives the detailed measurement command, relays and transmits the detailed measurement command to the slave unit 1002 as well, and the detailed measurement operation is executed by either the master unit 1001 or the slave unit 1002, or both.

[0164] The slave unit 1002 transmits the second measurement data obtained by the detailed measurement operation to the master unit 1001, and the master unit 1001 relays and transmits the received second measurement data to the overall control system 2000.

[0165] The overall control system 2000 performs detailed detection determination of the target object based on the received second measurement data by the secondary detailed detection determination unit 2320, and determines operation command candidates based on the detailed analysis results of the monitored target object and the like by the operation command unit 2400. Further, the overall control system 2000 transmits the operation command candidates to the cooperation system 5000 by the information communication unit 2700.

[0166] When the overall control system 2000 receives intervention command information from the cooperation system 5000 by the external intervention information acquisition unit 2150, it determines an operation command for the unmanned boat 1000 in consideration of the intervention command information, and transmits the operation command to the master unit 1001.

[0167] The master unit 1001 receives the operation command, relays and transmits the operation command to the slave unit 1002 as well, and executes an operation according to the operation command by either or both of the master unit 1001 and the slave unit 1002.

[0168] (A-1-9. Generation of Monitoring Plan) Hereinafter, a method for generating a monitoring plan by the monitoring plan generation unit 2200 will be described with reference to FIGS. 25 and 26.

[0169] (A-1-9-1. Generation Process Flow of Monitoring Plan) FIG. 25 is a flowchart showing the generation process flow of the monitoring plan generated by the monitoring plan generation unit 2200. In particular, it shows the detailed process flow of step 102 in the flowchart shown in FIG. 23.

[0170] First, the pre-setting information acquisition unit 2110 acquires pre-setting information such as the monitoring area for performing monitoring measurement and the target search rate of the monitoring measurement (step 201).

[0171] Next, the unmanned boat performance information acquisition unit 2120 acquires the performance information of the unmanned boat 1000 (step 202).

[0172] Next, the monitoring plan generation unit 2200 generates a monitoring plan for the designated area based on the acquired information described above (step 203).

[0173] Next, the information import unit 2100 acquires information on the movement position history of each unmanned boat 1000 from the unmanned boat 1000 (step 204).

[0174] Next, the monitoring plan generation unit 2200 determines the search rate in the monitoring area based on the information on the movement position history of the unmanned boat (step 205).

[0175] Next, the monitoring plan generation unit 2200 determines the processing step to transition according to whether the search rate in the monitoring area is lower than the target search rate (step 206). If the search rate is lower than the target search rate in this step, the process is transitioned to step 207. On the other hand, if the search rate is not lower than the target search rate, the process is transitioned to step 208.

[0176] Next, in step 206, if it is determined that the search rate is lower than the target search rate, the monitoring plan generation unit 2200 updates the monitoring plan (step 207).

[0177] Next, in step 206, if it is determined that the search rate is not lower than the target search rate, the monitoring plan is not updated and the monitoring plan is maintained (step 208).

[0178] (A-1-9-2. Search Rate of Monitoring Area) FIG. 26 is a diagram showing the search rate of the monitoring area generated by the monitoring plan generation unit 2200. In particular, it shows the determination result of the search rate in step 205 shown in FIG. 25.

[0179] In the example shown in FIG. 26, the information of the monitoring area acquired by the preset information acquisition unit 2110 is displayed on a two-dimensional map, and the search rate (search rate in an area where the water depth is shallower than a predetermined depth) at each position obtained by dividing this monitoring area into a mesh shape is represented by the shade of color. In this figure, the darker-colored part indicates a position with a high search rate, and the lighter-colored part indicates a position with a low search rate. Also, since the measurable distance of the acoustic sensor is about 100 m to several hundred m, the search rate can be determined for each depth of the water depth (for example, every 50 m of water depth). Therefore, when displaying on a two-dimensional map as shown in FIG. 26, it is also possible to accept a depth switching input and switch the display of the search rate for each depth. Further, the search rate may be displayed on a three-dimensional map including the depth direction underwater.

[0180] When the monitoring plan generation unit 2200 has target value information of the search rate for each divided position as shown in FIG. 26, it can determine whether the search rate target is achieved or not achieved for each position divided into a mesh shape. When the number of positions where the search rate target is not achieved is more than a predetermined value, or the degree of non-achievement is lower than the lower limit value, etc., it is determined that the monitoring plan needs to be changed, and the monitoring plan is updated so that the search rate of the position where the search rate target is not achieved is improved. Note that a plurality of unmanned boats 1000 are arranged at a relatively narrow interval (that is, high density) in the sea area for monitoring a deep area in the sea (for example, a sea area with a water depth of 150 m), and a plurality of unmanned boats are arranged at a relatively wide interval (that is, low density) in the sea area for monitoring a shallow area in the sea (for example, a sea area with a water depth of 50 m).

[0181] Note that in this figure, the determination result of the search rate in the two-dimensional plane is shown, but the determination of the search rate is not limited to two dimensions, and the three-dimensional search rate including the sea depth direction can also be determined, and based on the comparison with the target value of the three-dimensional search rate, it is also possible to determine whether the monitoring plan can be updated.

[0182] (A-1-10. Processing flow of initial detection determination) Next, a method for initial detection judgment of a monitoring target will be described with reference to Fig. 27. Fig. 27 is a flow chart showing the initial detection judgment processing flow by the primary detection judgment unit 2310. This figure particularly shows the detailed processing flow of step 105 in the flow chart shown in Fig. 23.

[0183] First, the measurement data acquisition unit 2130 acquires first measurement data acquired by a monitoring measurement operation (step 301). Note that this step may include a process of converting the sound wave data acquired as the first measurement data into a mosaic image by the primary detection determination unit 2310.

[0184] Next, the primary detection determination unit 2310 determines object characteristics based on the first measurement data (step 302). In this step, object characteristics such as type, shape, size, orientation, and material shown in FIG.

[0185] Next, the primary detection determination unit 2310 performs a static state determination based on the first measurement data (step 303). In this step, the relative distance, relative direction, position coordinates, etc., which are the static state shown in FIG.

[0186] Next, the primary detection determination unit 2310 performs dynamic state determination based on the first measurement data (step 304). In this step, the dynamic states shown in Fig. 9, i.e., moving state / stationary state, moving direction, moving speed, past moving route history, and future predicted route, are determined.

[0187] Next, the primary detection determination unit 2310 determines the processing step to transition according to whether the determination content determined in the above step satisfies a predetermined condition (step 305). In this step, if it is determined that the predetermined condition is satisfied, the process is transitioned to step 307. On the other hand, if it is determined that the predetermined condition is not satisfied, the process is transitioned to step 306. The predetermined condition in this step can be, for example, corresponding to a predetermined material, being equal to or larger than a predetermined size, being in a moving state, etc. Also, when the same monitoring object is detected based on the first measurement data acquired by a plurality of unmanned boats 1000, it can also be determined that the predetermined condition in this step is satisfied.

[0188] Next, if it is determined in step 305 that the predetermined condition is not satisfied, the determination result of the initial detection process by the primary detection determination unit 2310 is determined as detection indeterminate (step 306). After this step, the process is transitioned to step 308.

[0189] Next, if it is determined in step 305 that the predetermined condition is satisfied, the determination result of the initial detection process by the primary detection determination unit 2310 is determined as the detection of the monitoring target (step 307).

[0190] Next, the determination results of the initial detection process determined in steps 306 and 307 are recorded and notified or displayed on the display unit 2510 of the user interface unit 2500 (step 308).

[0191] (A-1-11. Determination Processing Flow of Detailed Measurement Operation) Next, the determination processing method of the detailed measurement operation will be described with reference to FIG. 28. FIG. 28 is a flowchart showing the determination processing flow of the detailed measurement operation by the detailed measurement operation command unit 2440. This figure particularly shows the detailed processing flow of step 106 in the flowchart shown in FIG. 23.

[0192] First, the detailed measurement operation instruction unit 2440 determines candidates for the detailed measurement operation (step 401). In this step, for example, candidates are selected from among a plurality of detailed measurement operations shown in FIG. 12.

[0193] Next, the candidates for the selected detailed measurement operation are displayed on the display unit 2510 of the user interface unit 2500 (step 402). In this step, instead of or in addition to displaying the candidates for the detailed measurement operation on the display unit 2510, the cooperative system 5000 may be notified via the information communication unit 2700.

[0194] Next, the user input reception unit 2520 of the user interface unit 2500 receives user input information regarding the candidate information for the detailed measurement operation (step 403). In this step, instead of or in addition to receiving the user input information by the user input reception unit 2520, the external intervention information acquisition unit 2150 may receive input information from the cooperative system 5000.

[0195] Next, the detailed measurement operation instruction unit 2440 determines the detailed measurement operation based on the presence or absence of the input information received by the user input reception unit 2520 or the external intervention information acquisition unit 2150, or based on the content of the input information (step 404).

[0196] Next, the detailed measurement operation instruction unit 2440 transmits an operation instruction for the determined detailed measurement operation to the unmanned boat 1000 (step 405).

[0197] (A-1-12. Processing Flow of Detailed Detection Judgment) Next, a method for judging the detailed detection of the monitoring target will be described with reference to FIG. 29. FIG. 29 is a flowchart showing the detailed detection judgment processing flow by the secondary detailed detection judgment unit 2320. This figure particularly shows the detailed processing flow of step 107 in the flowchart shown in FIG. 23.

[0198] First, the measurement data acquisition unit 2130 acquires the second measurement data acquired by the detailed measurement operation (step 501).

[0199] Next, the secondary detailed detection determination unit 2320 determines the object characteristics based on the second measurement data (step 502). In this step, the type, shape, size, orientation, material, etc., which are the object characteristics shown in FIG. 10, are determined. Note that these determination items are the same as those in the initial detection determination, but more detailed determination is performed than in the initial detection determination.

[0200] Next, the secondary detailed detection determination unit 2320 determines the static state based on the second measurement data (step 503). In this step, the relative distance, relative orientation, position coordinates, etc., which are the static states shown in FIG. 10, are determined. Note that these determination items are the same as those in the initial detection determination, but more detailed determination is performed than in the initial detection determination.

[0201] Next, the secondary detailed detection determination unit 2320 determines the dynamic state based on the second measurement data (step 504). In this step, the moving state / stationary state, moving direction, moving speed, past moving path history, future predicted path, turning radius, response speed, acceleration, and deceleration, which are the dynamic states shown in FIG. 10, are determined.

[0202] Next, the secondary detailed detection determination unit 2320 determines the movement performance of the target object based on the second measurement data (step 505). In this step, the maximum moving speed, maximum turning speed, minimum turning radius, maximum acceleration, maximum deceleration, and movable distance (subsequent possible distance), which are the movement performances shown in FIG. 10, are determined.

[0203] Next, the secondary detailed detection determination unit 2320 determines the walrus state in the area around the position of the object to be monitored based on the walrus data acquired as the second measurement data (step 506).

[0204] Next, according to whether a position capture loss state occurs in which the position capture of the monitoring target is lost due to the detailed measurement operation by the unmanned boat 1000, a processing step to transition is determined (step 507). In this step, if position capture loss is not detected, the process is transitioned to step 508, while if position capture loss is detected, the process is transitioned to step 511.

[0205] Next, if position capture loss is not detected in step 507, according to whether the determination content determined in the above steps satisfies a predetermined condition, a processing step to transition is determined (step 508). In this step, if it is determined that the predetermined condition is satisfied, the process is transitioned to step 510, while if it is determined that the predetermined condition is not satisfied, the process is transitioned to step 509. The predetermined condition in this step can be, for example, corresponding to a predetermined type, corresponding to a predetermined shape, etc.

[0206] Next, if it is determined in step 508 that the predetermined condition is not satisfied, the determination result of the detailed detection process by the secondary detailed detection determination unit 2320 is determined as detection uncertainty (step 509). After this step, the process is transitioned to step 511.

[0207] Next, if it is determined in step 508 that the predetermined condition is satisfied, the determination result of the detailed detection process by the secondary detailed detection determination unit 2320 is determined as the detection of the monitoring target (step 510).

[0208] Next, the determination result of the detailed detection process determined in steps 509 and 510 and the occurrence or non-occurrence of position capture loss are recorded and notified or displayed on the display unit 2510 of the user interface unit 2500 (step 511).

[0209] (A-1-13. Operation determination after detailed detection determination) Hereinafter, a plurality of patterns of the operation determination method after detailed detection determination will be described with reference to FIGS. 30 and 31.

[0210] (A-1-13-1. Example of operation determination after detailed detection determination) Figure 30 is a flowchart showing an example of an operation determination process flow after detailed detection determination by the operation command unit 2400. This figure particularly shows an example of the detailed process in step 108 of the flowchart shown in Figure 23.

[0211] First, it is determined which processing step to transition to according to whether a position capture loss state has occurred in which the position capture of the object to be monitored has been lost (step 601). In this step, if position capture loss is not detected, the process is transitioned to step 603, while if position capture loss is detected, the process is transitioned to step 602.

[0212] Next, in step 601, if position capture loss is detected, a monitoring operation for recapture is determined as the execution operation (step 602). After this step ends, the process is transitioned to step 606.

[0213] Next, in step 601, if position capture loss is not detected, it is determined which processing step to transition to according to whether the determination result of the detailed detection determination process is indeterminate (step 603). In this step, if the determination result of the detailed detection determination process is indeterminate, the process is transitioned to step 604, while if the determination result of the detailed detection determination process is not indeterminate, the process is transitioned to step 605.

[0214] Next, in step 603, when the determination result of the detailed detection determination process is indeterminate, it is determined that the operation of reacquiring the second measurement data by the detailed measurement operation is the execution operation (step 604). Note that in this step, the operation of reacquiring the measurement data in the same method as the detailed measurement operation executed last time may be used, but another detailed measurement operation capable of acquiring more detailed measurement data than the measurement data acquired last time may be selected from the candidates of the detailed measurement operations shown in FIG. 12. Also, in this step, the display unit 2510 of the user interface unit 2500 and the cooperative system 5000 may be notified that the determination result of the detailed detection determination is indeterminate, and an input from the user may be received. After this step ends, the process proceeds to step 606.

[0215] Next, when the determination result of the detailed detection determination process is not indeterminate, the execution operation is determined according to the determination result of the detailed detection determination (step 605). After this step ends, the process proceeds to step 606.

[0216] Next, the execution operation determined in steps 602, 604, and 605 is notified or displayed on the display unit 2510 of the user interface unit 2500, and input information from the user is received (step 606).

[0217] (A-1-13-2. Another Example of Operation Determination after Detailed Detection Determination) FIG. 31 is a state transition diagram showing an example of a method of transitioning the operation state after detailed detection determination. This figure particularly shows an example of the state transition for determining the operation state of the unmanned boat 1000 in step 108 of the flowchart shown in FIG. 23.

[0218] As shown in FIG. 31, when the detailed detection determination by the secondary detailed detection determination unit 2320 is completed, the operation command unit 2400 determines the operation of the unmanned boat 1000. At this time, the operation determination is performed according to the type of the monitoring target object and the warning level (such as levels 0, 1, 2, 3, 4, 5, etc.) determined by the detailed detection determination. Here, the warning level can be determined according to the type of the target object, size, detection date and time (time zone), detection position, measured moving speed, acceleration, past moving trajectory, etc. In addition, when the warning level determination is indefinite, the detailed measurement operation is re-executed to perform the warning level determination again. Thereby, the warning level (such as levels 0, 1, 2, 3, 4, 5, etc.) is determined from the indefinite state of the warning level determination, and the operation mode transitions according to the level.

[0219] For example, when the determined warning level is a relatively low level (levels 0 to 3), the operation state is transitioned to normal monitoring navigation (monitoring measurement operation), monitoring navigation for warning level 1, monitoring navigation for warning level 2, and monitoring navigation for warning level 3 according to the warning level. When the monitoring navigation becomes unnecessary, the monitoring measurement is terminated.

[0220] In addition, when the determined warning level is a relatively high level (levels 4 to 5), or when the monitoring target object corresponds to a specific type that requires warning, the operation state transitions to continuous capture or tracking. Also, when the position capture is lost, re-capture monitoring is performed, and when the tracking or capture is completed, the operation determination is performed again.

[0221] (A-1-14. Display Screen for User) Hereinafter, with reference to FIGS. 32 to 35, the display information displayed on the display unit 2510 and the display device of the cooperation system 5000, and the input reception screen by the user input reception unit 2520 will be described.

[0222] (A-1-14-1. Display Screen of Initial Detection Determination Result) FIG. 32 is a diagram showing an example of a display screen of an initial detection determination result. In FIG. 32, in particular, an example of a display screen when the initial detection determination result by the primary detection determination unit 2310 is displayed on the display unit 2510 is shown. Note that similar information may be displayed on the display device of the cooperation system 5000.

[0223] As shown in FIG. 32, as an initial detection result, the detection of an object in the sea is highlighted at the upper part of the screen. Also, proposal information on the detailed measurement operation after the initial detection determination is displayed. Further, buttons for inputting the user's response to the proposal information on the detailed measurement operation are provided on the display screen. In the example shown in this figure, two input buttons of "measurement operation approval" and "designation of other measurement operations" are displayed.

[0224] Also, an image of measurement data is displayed at the lower left of the display screen. In this figure, an image of the shadow of an object detected by the active sonar is displayed. Further, at the lower right of the display screen, detection information such as the type, size, moving speed, position coordinates, water depth position, and orientation of the detected object is displayed as detailed detection information. Note that in the initial detection determination, since the information on the position coordinates of the detected object is important, at least the information on the position coordinates is displayed on the display screen of the initial detection result.

[0225] (A-1-14-2. Display Screen at the Time of Occurrence of Position Capture Loss) FIG. 33 is a diagram showing an example of a display screen of position capture loss occurrence information. In FIG. 33, in particular, an example of a display screen displayed on the display unit 2510 when a position capture loss occurs during the execution of the detailed measurement operation is shown. Note that similar information may be displayed on the display device of the cooperation system 5000.

[0226] As shown in FIG. 33, the occurrence of a position capture loss of the detected object is highlighted at the upper part of the screen. Also, as proposal information on the corresponding operation, re-capture monitoring is proposed and displayed. Further, buttons for inputting the user's response to the proposal information on the corresponding operation are provided on the display screen. In the example shown in this figure, two input buttons of "corresponding operation approval" and "designation of other operations" are displayed.

[0227] Also, at the lower left of the display screen, an input button for receiving the designation of a search area for recapture and a map of the on-site sea area for instructing the search area are displayed. Note that the on-site sea area map can display information on the communicable range (arc in the figure) when the ground base station 4000 and the unmanned boat 1000 perform direct wireless communication. With such a display, the user can specify and input a recapture search area in consideration of the area communicable with the ground base station 4000.

[0228] Also, one or more predicted routes or movement prediction areas of the object determined by the object analysis unit 2300 can be displayed on the local sea area map. With such a display, the user can specify and input a recapture search area in consideration of the movement prediction route of the detection object that has lost position capture.

[0229] Also, at the lower right of the display screen, as in FIG. 32, detection information such as the type, size, movement speed, position coordinates, water depth position, and orientation of the detection object is displayed as detailed detection information.

[0230] (A-1-14-3. Display Screen with Irregular Detection Timing) FIG. 34 is a diagram showing an example of a display screen of indefinite determination information for detailed detection determination. FIG. 34 shows an example of a display screen displayed on the display unit 2510 particularly when the result of the detailed detection determination by the secondary detailed detection determination unit 2320 is indefinite. Note that similar information may be displayed on the display device of the cooperation system 5000.

[0231] As shown in FIG. 34, it is highlighted at the upper part of the screen that the result of the detailed detection determination is indefinite. Also, as proposed information on the corresponding operation, a remeasurement operation is proposed and displayed. Also, buttons for inputting the user's response to the proposed information on the corresponding operation are provided on the display screen. In the example shown in this figure, two input buttons, "Measurement Operation Approval" and "Designation of Other Measurement Operations", are displayed.

[0232] In addition, an image of measurement data is displayed at the lower left of the display screen. In this figure, an image of the shadow of an object detected by the active sonar is displayed. Further, at the lower right of the display screen, detection information such as the type, size, moving speed, position coordinates, water depth position, and orientation of the detected object is displayed as detailed detection information.

[0233] (A-1-14-4. Display Screen of Detailed Detection Judgment Result) FIG. 35 is a diagram showing an example of a display screen of the judgment result of detailed detection. In FIG. 35, in particular, an example of the display screen displayed on the display unit 2510 when the detection of a whale is confirmed as a result of the detailed detection judgment by the secondary detailed detection judgment unit 2320 is shown. Note that similar information may be displayed on the display device of the cooperation system 5000.

[0234] As shown in FIG. 35, it is highlighted at the upper part of the screen that the result of the detailed detection judgment is the confirmation of the detection of a whale. Further, as proposal information for the corresponding operation, an operation of continuously capturing is proposed and displayed. In addition, buttons for inputting the user's response to the proposal information for the corresponding operation are provided on the display screen. In the example shown in this figure, two input buttons of "Approval of Corresponding Operation" and "Designation of Other Operations" are displayed.

[0235] In addition, an image of measurement data is displayed at the lower left of the display screen. In this figure, an image of the shadow of a whale detected by the active sonar is displayed. Further, at the lower right of the display screen, detection information such as the type, size, moving speed, position coordinates, water depth position, and orientation of the detected object is displayed as detailed detection information.

[0236] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting 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.

[0237] [A-2. Effects of the Present Embodiment] According to the above-described embodiments, it is possible to improve the work efficiency of monitoring or investigating a moving object moving in the sea or the like using a drone, or to achieve both an improvement in the work efficiency of monitoring or investigating and an improvement in measurement accuracy. As an example, it has at least two measurement operation modes: an initial measurement capable of performing a measurement operation while moving, and a detailed measurement for obtaining more detailed measurement data using docking or a cooperative or separated sonar with a plurality of unmanned boats. When an object is initially detected by the initial measurement, by performing the detailed measurement, it is possible to satisfy both requirements of monitoring or investigating a vast area and detailed analysis of the detected object.

[0238] Further, according to the present embodiment, it is not necessary to perform a detailed detection operation that takes time from the measurement for initial detection, and the detailed measurement can be performed only when necessary. Therefore, it is possible to achieve compatibility with operations by unmanned boats such as tracking, preemptive movement, and surrounding of the detected object.

Explanation of Reference Numerals

[0239] 1... Control system (system) 100... Input device 200... Output device 300... Processing device 400... Main storage device 500... Auxiliary storage device 600... Communication device 700... Bus 1000... Unmanned boat 1001... Parent machine 1002... Sub machine 10021... Primary connected sub machine 10022... Secondary connected sub machine 10023... Tertiary connected sub machine 1010... Squad 1100... Measurement unit 1110... Measurement sensor 1120... Measurement control unit 1200... Self - machine 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... Satellite communication unit 1430... External communication unit 1500…Determination Unit 1510…Object Detection Determination Unit 1520…Analysis Necessity Determination Unit 1600…Recording Unit 1610…Measurement Data Recording Unit 1620…Own-Vessel State Recording Unit 1630…Determination Information Recording Unit 1700…Separation State Control Unit 1710…Cable Reeling Unit 1720…Reeling Control Unit 2000…Overall Control System 2100…Information Import Unit 2110…Pre-Setting Information Acquisition Unit 2120…Unmanned Vessel Performance Information Acquisition Unit 2130…Measurement Data Acquisition Unit 2140…External Information Acquisition Unit 2150…External Intervention Information Acquisition Unit 2200…Surveillance Plan Generation Unit 2300…Object Analysis Unit 2310…Primary Detection Determination Unit 2320…Secondary Detailed Detection Determination Unit 2400…Operation Command Unit 2410…System State Determination Unit 2420…Measurement Mode Determination Unit 2430…Surveillance Measurement Operation Command Unit 2440…Detailed Measurement Operation Command Unit 2450…Other Operation Command Unit 2500…User Interface Unit 2510…Display Unit 2520…User Input Reception Unit 2600…Recording Unit 2700…Information Communication Unit 3000…Communication Satellite 4000…Ground Base Station 5000…Cooperation System 6000…External System 7000…Surveillance Target

Claims

1. A control system having a platoon consisting of a plurality of unmanned boats capable of autonomous navigation on water and an integrated control unit that remotely controls the operation of the platoon, The platoon has a master unit that communicates with the general control unit, and a plurality of slave units that can wirelessly communicate with the master unit via a wireless communication network, The plurality of child units, or the parent unit and the child unit, each include an acoustic wave measuring unit that measures acoustic waves in water, The parent device includes a communication unit that transmits measurement data obtained by the ultrasonic wave measurement unit to the general control unit, The general control unit includes: an operation command unit that commands the unmanned watercraft to execute a first measurement operation using the sonic measurement unit; a measurement data acquisition unit that executes the first measurement operation and acquires first measurement data measured by the ultrasonic wave measurement unit via the communication unit of the parent device; a first object determination unit that detects an underwater object based on the first measurement data, the first measurement operation is a measurement operation in which the sonic measurement unit performs sonic measurement while a propulsion device of the unmanned watercraft is being driven, When the first object determination unit detects the underwater object based on the first measurement data, the operation command unit causes the multiple unmanned watercraft belonging to the platoon to operate in coordination, and transmits to the multiple unmanned watercraft via the parent unit an execution command for a second measurement operation that causes the ultrasonic measurement units of the multiple unmanned watercraft to perform ultrasonic measurement while stopping, nearly stopping, or driving the propulsion devices of the multiple unmanned watercraft at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation. Or a control system, which acquires second measurement data obtained by the second measurement operation using a measurement data acquisition unit.

2. 2. The control system of claim 1, The second measurement operation is a measurement operation in which the multiple unmanned watercraft belonging to the platoon are operated in coordination, the multiple unmanned watercraft are synchronized, and ultrasonic measurements are performed by the multiple ultrasonic measurement units.

3. 2. The control system of claim 1, The sonic wave measuring unit has at least one of an active sonar or a passive sonar, the first measurement operation is a measurement operation of performing acoustic measurement using the active sonar or the passive sonar while driving at least any of the propulsion devices of the plurality of unmanned watercraft belonging to the platoon; The second measurement operation is a measurement operation in which the propulsion devices of multiple unmanned boats belonging to the platoon are stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion devices in the first measurement operation, and acoustic measurement is performed using the active sonar, a control system.

4. 4. The control system of claim 3, The second measurement operation is a measurement operation in which the multiple unmanned watercraft are synchronized and acoustic measurements are performed using multiple active sonars while the propulsion device is stopped, nearly stopped, or driven at a second drive amount that is smaller than the first drive amount of the propulsion device in the first measurement operation, and the multiple unmanned watercraft are synchronized and acoustic measurements are performed using multiple active sonars.

5. 2. The control system of claim 1, The sonic wave measuring unit has an active sonar, The second measurement operation is a measurement operation that performs acoustic measurement using the active sonar while performing attitude angle maintenance control that maintains the attitude angle, including at least the yaw angle, of the unmanned watercraft constant or approximately constant, in a control system.

6. A control system having a platoon consisting of a plurality of unmanned boats capable of autonomous navigation on water and a central control unit that remotely controls the operation of the platoon, The platoon includes a master unit that communicates with the central control unit, and a plurality of slave units that can wirelessly communicate with the master unit via a wireless communication network, The plurality of child units, or the parent unit and the child unit, each include an acoustic wave measuring unit that measures acoustic waves in water, The parent device includes a communication unit that transmits measurement data obtained by the ultrasonic wave measurement unit to the general control unit, The general control unit includes: an operation command unit that commands the unmanned watercraft to execute a first measurement operation using the sonic wave measurement unit; a measurement data acquisition unit that executes the first measurement operation and acquires first measurement data measured by the ultrasonic measurement unit via the communication unit of the parent device; a first object determination unit that detects an underwater object based on the first measurement data, the first measurement operation is a measurement operation in which the sonic measurement unit provided in the unmanned watercraft performs sonic measurement on the underwater object, A control system in which, when the first object determination unit detects the underwater object based on the first measurement data, the operation command unit commands the unmanned boat to perform a second measurement operation in which acoustic measurement of the underwater object is performed from a plurality of different directions using a plurality of active sonars mounted on a plurality of the unmanned boats belonging to the platoon, or the measurement data acquisition unit acquires second measurement data obtained by the second measurement operation.

7. 4. The control system of claim 3, The second measurement operation is a measurement operation that performs measurements synchronously from multiple different directions using multiple active sonars mounted on multiple unmanned watercraft belonging to the platoon, a control system.

8. 2. The control system of claim 1, A control system in which the second measurement operation includes, in addition to a measurement operation of acquiring the second measurement data using the ultrasonic measurement unit, a measurement operation of measuring optical image data, infrared image data, point cloud data, radar measurement data, or sea state data for underwater, on the water surface, or the airspace above the water surface.

9. 2. The control system of claim 1, A control system comprising a second object determination unit that determines information or a state of the underwater object based on the second measurement data.

10. 10. The control system of claim 9, A control system in which the operation command unit determines whether or not the unmanned watercraft needs to track the underwater object depending on the judgment result of the second object judgment unit.

11. 10. The control system of claim 9, the operation command unit commands the unmanned watercraft to perform the first measurement operation when it determines, based on the determination result of the second object determination unit, that tracking of the underwater object by the unmanned watercraft is unnecessary. Control system.

12. 10. The control system of claim 9, When the determination result of the information or state of the underwater object by the second object determination unit is indeterminate, The operation command unit commands the unmanned craft to re-execute the second measurement operation, a control system.

13. 2. The control system of claim 1, a notification unit that notifies or displays a determination result of the first object determination unit to a user, A control system in which, when the first object determination unit detects the underwater object, the notification unit notifies or displays at least one of the fact that the underwater object has been detected by the first object determination unit, information or a state regarding the underwater object determined by the first object determination unit, and the first measurement data.

14. 10. The control system of claim 9, a notification unit that notifies or displays a determination result of at least one of the first object determination unit and the second object determination unit to a user, A control system in which, when the second object determination unit determines information or a state regarding the underwater object, the notification unit notifies or displays at least one of the information or a state regarding the underwater object determined by the second object determination unit and the second measurement data.

15. 2. The control system of claim 1, A user input receiving unit that receives input information from a user, The user input receiving unit receives request information regarding data transmission of the first measurement data or the second measurement data.

16. 16. The control system of claim 15, A control system, wherein the request information received by the user input receiving unit includes request information for one of data transmission priority conditions of time priority transmission, detailed data priority transmission, and communication data capacity priority transmission.

17. 2. The control system of claim 1, A user input receiving unit that receives input information from a user, A control system in which the user input receiving unit receives requested information regarding additional measurement operations using the ultrasonic measurement unit or other measurement sensors mounted on the unmanned craft.

18. 2. The control system of claim 1, A user input receiving unit that receives input information from a user, The user input receiving unit is a control system that receives an input designating a measurement area in which the ultrasonic measurement unit mounted on the unmanned boat will perform ultrasonic measurement.

19. 10. The control system of claim 9, A user input receiving unit that receives input information from a user, A control system in which, when information or a state regarding the underwater object is determined by the second object determination unit, the user input receiving unit receives request information to perform a third measurement operation different from the first measurement operation and the second measurement operation, or the first measurement operation.

20. 2. The control system of claim 1, A control system comprising a recording unit that records at least any of the first measurement data, the second measurement data, the determination result by the first object determination unit, the determination result by the second object determination unit that determines information or condition about the underwater object based on the second measurement data, command information by the operation command unit, information received by a user input receiving unit that receives input information from a user, operation history information of the unmanned boat, information regarding loss of detection of the underwater object, optical image data or infrared image data underwater, above the water surface, or the airspace above the water surface, or sea condition data.

21. A method for controlling a system having a platoon consisting of a plurality of unmanned boats capable of autonomous navigation on water and a central control unit that remotely controls the operation of the platoon, comprising: The platoon has a master unit that communicates with the general control unit, and a plurality of slave units that can wirelessly communicate with the master unit via a wireless communication network, The plurality of child units, or the parent unit and the child unit, each include an acoustic wave measuring unit that measures acoustic waves in water, The parent device includes a communication unit that transmits measurement data obtained by the ultrasonic wave measurement unit to the general control unit, The computer a first measurement operation command step of commanding execution of a first measurement operation in which a propulsion device of the unmanned watercraft is driven to perform a sonic measurement by the sonic measurement unit; a first measurement data acquisition step of performing the first measurement operation and acquiring first measurement data measured by the ultrasonic measurement unit via the communication unit of the parent device; a first object determination step of detecting an underwater object based on the first measurement data; A control method which, when an underwater object is detected based on the first measurement data by the first object determination step, executes a second measurement operation command step of causing multiple unmanned boats belonging to the platoon to operate in coordination, and sending a command to execute a second measurement operation to the multiple unmanned boats via the parent unit to cause the ultrasonic measurement units of the multiple unmanned boats to perform ultrasonic measurement when the underwater object is detected based on the first measurement data by the first object determination step, and while the propulsion devices of the multiple unmanned boats are stopped, nearly stopped, or driven at a second drive amount smaller than the first drive amount of the propulsion device in the first measurement operation, or a second measurement data acquisition step of acquiring second measurement data obtained by the second measurement operation.

22. A program usable for a system having a platoon consisting of a plurality of unmanned boats capable of autonomous navigation on water and a central control unit that remotely controls the operation of the platoon, The platoon has a master unit that communicates with the general control unit, and a plurality of slave units that can wirelessly communicate with the master unit via a wireless communication network, The plurality of child units, or the parent unit and the child unit, each include an acoustic wave measuring unit that measures acoustic waves in water, The parent device includes a communication unit that transmits measurement data obtained by the ultrasonic wave measurement unit to the general control unit, On the computer, a first measurement operation execution command that commands execution of a first measurement operation in which a sonic measurement is performed by the sonic measurement unit while a propulsion device of the unmanned watercraft is being driven; and a first measurement data acquisition command for executing the first measurement operation and acquiring first measurement data measured by the ultrasonic wave measurement unit via the communication unit of the parent device; a first object determination command for detecting an underwater object based on the first measurement data; A program that executes the first object determination command, and when an underwater object is detected based on the first measurement data, causes multiple unmanned boats belonging to the platoon to operate in coordination, and sends a second measurement operation execution command to the multiple unmanned boats via the parent unit to cause the propulsion devices of the multiple unmanned boats to perform ultrasonic measurement using the ultrasonic measurement units of the multiple unmanned boats, with the propulsion devices stopped, nearly stopped, or driven at a second drive amount smaller than the first drive amount of the propulsion devices in the first measurement operation, or a second measurement data acquisition command to acquire second measurement data obtained by the second measurement operation.

Images