Control System, Control Method, and Program

Abstract

According to the present invention, the formation of a drone unit including a plurality of drones or the communication network configuration within the drone unit can be changed more appropriately. 【Solution means】The present invention includes a drone group having a plurality of drones, a state determination unit that determines a state related to the activity area of the drone group, a state related to the operation of the drone group, or a state related to the operation history of the drone group, and a formation change determination unit that determines whether or not a formation change of the drone group is necessary and at least one of the formations after the change according to the determination information by the state determination unit, and a command output unit that transmits and outputs a control command corresponding to the determination content by the formation change determination unit to the drone group or displays and outputs information related to the control command from a display unit.

Description

Technical Field

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

Background Art

[0002] For the purpose of preventing nuisance acts and illegal fishing by ships sailing on the sea or divers diving in the sea, for the purpose of inspecting offshore infrastructure facilities, or for the purpose of ecological surveys of marine organisms such as whales and dolphins, marine monitoring by manned ships has been conventionally carried out. However, since the area of the marine area to be monitored, inspected, or surveyed is extremely vast, there is a limit to the area that can be monitored, inspected, or surveyed by manned ships. Therefore, there is a need to perform monitoring, inspection, survey, etc. more efficiently. Further, in such a background, in recent years, it has been considered to utilize multiple unmanned ships capable of autonomously sailing on the sea, and it is expected to be utilized for the above-described monitoring, inspection, survey, etc.

[0003] As a technology for controlling a plurality of unmanned aerial vehicles, Patent Document 1 discloses a control technology for realizing a spatial effect by a plurality of aerial vehicles in an outdoor live event or the like. In particular, a commander aircraft 1 as a first aerial vehicle and a plurality of player aircraft 2 as second aerial vehicles form one formation, the commander aircraft 1 is remotely controlled, and the player aircraft 2 is autonomously flown according to a command signal from the commander aircraft 1. Each player aircraft 2 controls its own flight so that the relative position of its own aircraft with respect to the commander aircraft 1 becomes the part position indicated by the formation information 168 stored in the memory, and the entire formation is commanded and flown in a flight formation based on the formation information 168. A technology is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When operating multiple drones in a target area for purposes such as monitoring, inspection, and investigation, it is required to avoid collisions with stationary obstacles existing in the target area, avoid collisions with moving objects passing through the target area, or avoid accidentally entering a restricted area. In addition, the target area may include a complex and narrow confined area, and in such a case, it may be required to enter or pass through the confined area.

[0006] Patent Document 1 discloses changing the formation of multiple unmanned aerial vehicles based on formation information input from a remote operator or preset formation information for the purpose of an outdoor live event or the like. However, when operating multiple drones in a target area for purposes such as monitoring, inspection, and investigation, it is required to appropriately change the formation of the multiple drones according to the situation, such as avoiding the above-mentioned obstacles and restricted areas. In addition, it may be desirable to change the configuration of the wireless communication network among the multiple drones according to the change in the formation.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one object thereof is to provide a system or control method or the like that can more appropriately change the formation of a drone group including multiple drones or the communication network configuration within the drone group.

Means for Solving the Problems

[0008] According to the present invention, there is provided a control system including: a group of unmanned aerial vehicles having a plurality of unmanned aerial vehicles; a state determination unit that determines a state related to an activity area of the group of unmanned aerial vehicles, a state related to an operation of the group of unmanned aerial vehicles, or a state related to an operation history of the group of unmanned aerial vehicles; a formation change determination unit that determines at least one of a necessity for changing a formation of the group of unmanned aerial vehicles and a formation after the change according to determination information by the state determination unit; and a command output unit that transmits and outputs a control command corresponding to a determination content by the formation change determination unit to the group of unmanned aerial vehicles, or displays and outputs information related to the control command from a display unit.

Advantages of the Invention

[0009] According to the present invention, it is possible to more appropriately change the formation of a unit of unmanned aerial vehicles including a plurality of unmanned aerial vehicles or the configuration of a communication network within the unit of unmanned aerial vehicles.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] The content of the embodiments of the present invention will be listed and described below. The present invention has the following configuration. [Item 1] An unmanned aircraft group having a plurality of unmanned aircraft, A state determination unit that determines a state related to the activity area of the unmanned aircraft group, or a state related to the operation of the unmanned aircraft group, or a state related to the operation history of the unmanned aircraft group, A formation change determination unit that determines at least one of the necessity of formation change of the unmanned aircraft group and the formation after change according to the determination information by the state determination unit, A control system including a command output unit that transmits and outputs a control command corresponding to the determination content by the formation change determination unit to the unmanned aircraft group, or displays and outputs information related to the control command from a display unit. [Item 2] In the control system according to Item 1, The formation change determination unit determines a formation change process when changing the formation of the unmanned aircraft group according to the determined formation after change, The command output unit transmits and outputs the control command corresponding to the formation change process to the UAV group, or displays and outputs information regarding the control command from the display unit, control system. [Item 3] In the control system according to Item 1 or 2, a communication configuration determination unit that determines whether or not to change the network configuration of the wireless communication network that connects a plurality of the UAVs in the UAV group, or determines the changed network configuration, according to the changed formation determined by the formation change determination unit, is provided. The command output unit transmits and outputs the control command corresponding to the determination content by the communication configuration determination unit to the UAV group, or displays and outputs information regarding the control command from the display unit, control system. [Item 4] In the control system according to any one of Items 1 to 3, the communication configuration determination unit determines a network configuration change process when changing the network configuration of the UAV group according to the determined changed network configuration, The command output unit transmits and outputs the control command corresponding to the network configuration change process to the UAV group, or displays and outputs information regarding the control command from the display unit, control system. [Item 5] In the control system according to any one of Items 1 to 4, the state regarding the activity area of the UAV group determined by the state determination unit includes information on moving or stationary objects or areas to be avoided in the activity area of the UAV group, control system. [Item 6] In the control system according to any one of Items 1 to 5, the formation change determination unit determines whether or not formation change is necessary, or determines the changed formation, according to the relative distance or positional relationship between the object or area to be avoided and the UAV group or the UAVs in the activity area determined by the state determination unit, control system. [Item 7] In the control system according to any one of Items 1 to 6, the state regarding the operation of the drone group determined by the state determination unit includes at least one of the states of the speed, acceleration, deceleration, and turning speed of the drone, and the control system. [Item 8] In the control system according to any one of Items 1 to 7, the formation change decision unit determines whether a formation change is necessary or determines the formation after the change according to the state regarding the operation of the drone group determined by the state determination unit, and the control system. [Item 9] In the control system according to any one of Items 1 to 8, the state regarding the operation history of the drone group determined by the state determination unit includes the measurement implementation area measured by the measurement sensor provided in the drone, or the measurement implementation time, or the search rate calculated from the measurement implementation area and the measurement implementation time, and the control system. [Item 10] In the control system according to any one of Items 1 to 9, the formation change decision unit determines whether a formation change is necessary or determines the formation after the change according to the state regarding the operation history of the drone group determined by the state determination unit, and the control system. [Item 11] In the control system according to any one of Items 1 to 10, when deploying the drone group in a narrow area where the area width or area area avoiding the object to be avoided or the area to be avoided is narrower than a predetermined value, the formation change decision unit determines a formation for narrow areas in which a plurality of the drones constituting at least a part of the drone group are arranged in a line within the narrow area as the formation after the change, and the control system. [Item 12] In the control system according to any one of Items 1 to 11, when deploying the drone group in a narrow area where the area width or area area avoiding the object to be avoided or the area to be avoided is narrower than a predetermined value, The formation change decision unit determines, as the changed formation, a first narrow space formation in which a first drone constituting at least a part of the drone unit maintains a relative distance range within which wireless communication is possible with at least two or more other second drones, a control system. [Item 13] In the control system according to any one of Items 1 to 12, The first narrow space formation is a formation in which a wireless communication network is connected between the first drone and at least two or more of the second drones that are maintained within a relative distance range in which wireless communication is possible, a control system. [Item 14] In the control system according to any one of Items 1 to 13, When there is a communicable area capable of wireless communication with an external communication network, The formation change decision unit determines, as the changed formation, a serial communication formation in which at least a part of the first drones in the drone group arranged in the communicable area and the other part of the second drones in the drone group are connected in series by a wireless communication network, a control system. [Item 15] In the control system according to any one of Items 1 to 14, When the state determination unit detects the object to be avoided or the area to be avoided in front of the advancing direction of the drone group, or when it detects the object to be avoided or the area to be avoided approaching the drone group, The formation change decision unit determines, as the changed formation, an avoidance formation for avoiding the object to be avoided or the area to be avoided, a control system. [Item 16] In the control system according to any one of Items 1 to 15, The avoidance formation is a separation avoidance formation that separates at least a part of the group formation so that the relative distance between a part of the drones in the drone group and the other part of the drones is increased. [Item 17] In the control system according to any one of Items 1 to 16, The avoidance formation is a compressed avoidance formation in which at least a part of the formation of the unmanned aircraft group is compressed so that the formation width seen from at least one direction of the formation of the unmanned aircraft group becomes narrow. [Item 18] In the control system according to any one of Items 1 to 17, when at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned aircraft determined by the state determination unit exceeds a predetermined range, the formation change determination unit determines a compressed formation in which at least a part of the formation of the unmanned aircraft group is compressed as the formation after the change, the control system. [Item 19] In the control system according to any one of Items 1 to 18, when moving the unmanned aircraft group, the formation change determination unit determines a substantially V-shaped formation with the traveling direction in which the unmanned aircraft group moves as the apex as the formation after the change, the control system. [Item 20] In the control system according to any one of Items 1 to 19, the substantially V-shaped formation is a formation in which some of the unmanned aircraft in the unmanned aircraft group are arranged in the inner area of the substantially V-shaped area, and the unmanned aircraft is connected to other multiple unmanned aircraft by a wireless communication network, the control system. [Item 21] In the control system according to any one of Items 1 to 20, when moving the unmanned aircraft group to the activity area, the formation change determination unit determines the formation during the movement to the activity area as the first formation, and the formation after moving to the activity area as the second formation with a wider deployment range than the first formation, the control system. [Item 22] In the control system according to any one of Items 1 to 21, when acquiring measurement data by the measurement sensor of the unmanned aircraft, The formation change decision unit is a control system that determines, as the changed formation, a parent drone that serves as a hub of a wireless communication network connecting a plurality of the drones in the drone group and a branched connection formation in which communication paths of the wireless communication network from the parent drone branch into a plurality of paths. [Item 23] In the control system according to any one of Items 1 to 22, a control system including a formation change control unit that controls a formation change of the drone group according to the formation change process. [Item 24] In the control system according to any one of Items 1 to 23, the formation change control unit performs an operation of interrupting a formation change, returning to the formation before the change, or moving to reduce the distance between the drones according to a communication state in a wireless communication network connecting a plurality of the drones in the drone group. [Item 25] In the control system according to any one of Items 1 to 24, the drone group has a first drone, a second drone, and a third drone, when switching, by a wireless communication network, a drone connected to the first drone from the second drone to the third drone, the formation change control unit performs connection of wireless communication between the first drone and the third drone and disconnection of wireless communication between the first drone and the second drone when both the second drone and the third drone are located within a distance range in which wireless communication with the first drone is possible. [Item 26] In the control system according to any one of Items 1 to 25, when changing the formation of the drone group from a first formation to a second formation in which the arrangement density of the drones is lower than that of the first formation, the formation change control unit preferentially performs a movement operation of increasing the relative distance between a plurality of drones starting from a position close to a parent drone that serves as a hub of a wireless communication network connecting a plurality of the drones in the drone group. [Item 27] In the control system according to any one of Items 1 to 26, when changing the formation of the unmanned aircraft group from a first formation to a second formation having a lower arrangement density of the unmanned aircraft than the first formation, the formation change control unit performs a movement operation of preferentially increasing the relative distance between a plurality of unmanned aircrafts from a position far from the parent aircraft of the unmanned aircraft that becomes a hub of a wireless communication network connecting the plurality of unmanned aircrafts in the unmanned aircraft group, the control system. [Item 28] In the control system according to any one of Items 1 to 27, the state regarding the activity area of the unmanned aircraft group determined by the state determination unit includes information on moving or stationary avoidance objects or avoidance areas in the activity area of the unmanned aircraft group, when the unmanned aircraft group passes through a narrow area narrower than a predetermined width or a predetermined area avoiding the avoidance object or the avoidance area, and a part of the first unmanned boats of the unmanned aircraft group has completed passing through the narrow area, and another part of the second unmanned boats of the unmanned aircraft group is passing through or before passing through the narrow area, the formation change control unit performs an operation of waiting for the first unmanned boat that has completed passing through the narrow area at the exit of the narrow area or the peripheral area of the exit, the control system. [Item 29] A control method for a system including an unmanned aircraft group having a plurality of unmanned aircrafts, wherein a computer performs a state determination step of determining a state regarding the activity area of the unmanned aircraft group, or a state regarding the operation of the unmanned aircraft group, or a state regarding the operation history of the unmanned aircraft group, a formation change determination step of determining at least one of the necessity of changing the formation of the unmanned aircraft group and the formation after the change according to the determination information in the state determination step, a command output step of transmitting and outputting a control command corresponding to the determination content in the formation change determination step to the unmanned aircraft group, or displaying and outputting information regarding the control command from a display unit, and executes the control method. [Item 30] A program applicable to a system including a group of drones having a plurality of drones, the computer is caused to execute a state determination command for determining a state related to the activity area of the drone group, a state related to the operation of the drone group, or a state related to the operation history of the drone group, execute a formation change determination command for determining at least either the necessity of changing the formation of the drone group or the formation after the change according to the determination information obtained by the state determination command, execute a command output command for transmitting and outputting a control command corresponding to the determination content obtained by the formation change determination command to the drone group, or for displaying and outputting information related to the control command from a display unit, and a program for causing the computer to execute the above operations.

[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 following embodiments 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) Figure 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 Figure 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 and 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 also receive the operation status and measurement data of the unmanned boat 1000.

[0015] The unmanned boat 1000 includes a master unit 1001 capable of communicating with the 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. Further, the plurality of slave units 1002 and the master unit 1001 use measurement sensors (such as optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter-wave sensors and microwave sensors, and acoustic sensors such as sonar) mounted on their own units to detect ships, divers, drift objects, drifters, marine organisms such as whales, breakwaters, port areas, offshore infrastructure (such as wind power generation facilities, wave power generation facilities, offshore plants, and offshore runways), floating buoys, fish cages, and other objects.

[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 general control system 2000 via the communication satellite 3000 and the ground base station 4000. The general 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, user input 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. Example of implementation of the control system 1 in the real space) FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in the real space. In the example shown in FIG. 2, on the ground side shown in the upper right of the drawing, a ground base station 4000 and a general control system 2000 are provided. Also, on the ground side, a cooperation system 5000 including related facilities of external cooperation organizations such as private organization-related facilities (including private security organizations, ocean research organizations, infrastructure inspection organizations, private rescue organizations, etc.) is provided. Further, an external system 6000 such as an AIS (Automatic Identification System (also referred to as "Automatic Ship Identification System")) control center and an AIS base station that acquires information related to ships by wireless communication from ships navigating on the ocean and manages these ship information is provided.

[0018] On the other hand, on the ocean side shown on the left of the drawing, an unmanned boat 1000, an object 7000 to be monitored and inspected such as a suspicious ship or ocean infrastructure, and a part of the cooperation system 5000 such as a monitoring boat operated by an external cooperation organization are deployed. Also, the unmanned boat 1000 has a plurality of unmanned boat groups (1010a, 1010b, 1010c) composed of a master machine and a plurality of slave machines, and each unmanned boat group can communicate directly or via a communication satellite 3000. Also, the unmanned boat 1000 can communicate with the monitoring boat directly or via the communication satellite 3000. For example, detection information regarding the object 7000 can be notified from the unmanned boat 1000 to the monitoring boat (or survey ship). Also, the unmanned boat 1000 may be communicably connected to an AIS base station to acquire AIS information.

[0019] In the example shown in FIG. 2, the general control system 2000 shows an example of being implemented in a ground-side facility, but it is not limited to this. All or some of the functions implemented in the general control system 2000 shown in this embodiment can be mounted on other onshore field bases on the ground side or manned mother ships on the sea side that are not shown, and it is also possible to perform operation management of the unmanned boat 1000 at the onshore field bases and manned mother ships.

[0020] (A-1-2. Stakeholders Regarding Control System 1) Figure 3 is a diagram showing the stakeholders related to the control system 1. As shown in Figure 3, in the control system 1, there is an operator who operates the unmanned boat 1000 by inputting and outputting information via the command output unit 2600 and the user input reception unit 2700 of the overall control system 2000. In addition, when all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in an onshore coastal site base or an offshore manned mother ship not shown in the figure, the operator can perform the operation management of the unmanned boat 1000 at the coastal site base or the manned mother ship.

[0021] In addition, there is a monitoring responsible person in the private security organization-related facilities of the cooperation system 5000, and a monitor on the monitoring boat. They cooperate with each other to monitor suspicious ships, nuisance acts, etc. in the marine area. In addition, there is an investigation responsible person in the marine research organization-related facilities, and an investigator on the research ship. They cooperate with each other to conduct research on marine organisms, etc. in the marine area. In addition, there is an infrastructure inspection responsible person in the infrastructure inspection organization-related facilities, and an inspector on the inspection ship. They cooperate with each other to inspect the facilities to be inspected. In addition, the cooperation system 5000 may also include a private rescue organization. In addition, there is a person in charge of generating, operating, and managing AIS information in the AIS control center of the external system 6000.

[0022] In addition, the objects 7000 to be monitored and investigated by the control system 1 and the cooperation system 5000 include suspicious ships, divers, marine organisms (such as whales), marine buoys, wind power generation facilities, offshore facilities such as fish traps, etc. The control system 1 can more efficiently implement the monitoring, inspection, or investigation of the object 7000 by communicating and cooperating with the cooperation system 5000 and the external system 6000.

[0023] (A-1-3. Configuration of the unmanned boat 1000) FIG. 4 is a configuration diagram showing an unmanned boat group 1010 composed of unmanned boats 1000. As shown in FIG. 4, the unmanned boat 1000 is composed of one or a plurality of unmanned boat groups 1010 (1010a, 1010b). Each unmanned boat group 1010 includes 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. At the same time, the master unit 1001 has a function of directly or indirectly transmitting the information related to the operation command obtained from the communication satellite 3000 and the information generated by itself to each slave unit 1002. Note that the communication path between the ground-side overall control system 2000 and the unmanned boat group 1010 is not limited to the communication path via the communication satellite 3000 and the master unit 1001. For example, as other communication paths, there are a communication configuration in which the ground base station 4000 and each unmanned boat (master unit and slave unit) are directly wirelessly communicatively connected, and a communication configuration in which another communication satellite (such as a VDES satellite) connected to the ground base station 4000 is directly wirelessly communicatively connected to each unmanned boat (master unit and slave unit). Alternatively, these communication paths may be combined to make the communication path redundant.

[0024] The unmanned boat group 1010a shown in FIG. 4 includes a primary connection slave unit 10021 communicatively connected to the master unit 1001, a secondary connection slave unit 10022 communicatively connected to the primary connection slave unit 10021, and a tertiary connection slave unit 1023 communicatively connected to the secondary connection slave unit 10022. Each slave unit (primary connection slave unit 10021, secondary connection slave unit 10022, tertiary connection slave unit 1023) has a function of relaying the information received from other master units 1001 or slave units 1002 to other master units 1001 and slave units 1002, thereby constituting a communication network among the master unit 1001 and the plurality of slave units 1002.

[0025] FIG. 5 is a conceptual diagram showing a state in which the unmanned boat 1000 deployed on the sea monitors an object 7000 or the like. As shown in FIG. 5, a plurality of unmanned boats (parent boat 1001, child boats 10021, 10022, 10023) are deployed on the sea, and the object 7000 existing within the measurable range can be measured by the measurement sensor 1110 mounted on each unmanned boat 1000. The measurement data of the object 7000 detected by the measurement sensor 1110, the detection determination result, etc. are aggregated to the parent boat 1001 via the wireless communication network between the unmanned boats 1000, transmitted from the parent boat 1001 to the communication satellite 3000, and transmitted to the overall control system 2000 via the ground base station 4000 and the Internet line. Further, 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 parent boat 1001, etc., it is possible to execute a detailed measurement operation on the object 7000 or the like.

[0026] As the configuration of the present embodiment described with reference to FIGS. 1 to 5, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1000, an example of using a non-terrestrial network (Non-Terrestrial Network) using communication satellites 3000 or other communication satellites put into a geosynchronous orbit, a medium Earth orbit (MEO), a low Earth orbit, or other orbits has been described. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aircraft called a HAPS (High Altitude Platform Station) can also be used. In this case, for example, an unmanned aircraft that performs circular flight 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 directly connected by wireless communication between the ground base station 4000 and the unmanned boat 1000 without going 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. Further, as a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat 1000, any of the above-described multiple communication networks (non-terrestrial network using a communication satellite, non-terrestrial network using an unmanned aircraft, communication network directly connected by wireless communication between the ground base station 4000 and the unmanned boat 1000) can be applied. However, the present invention is not limited to this, and it is also possible to combine the above-described multiple communication networks to make the communication path redundant by the multiple communication networks.

[0027] (A-1-4. Configuration of Unmanned Boat 1000) Next, with reference to FIG. 6, the functions implemented on the unmanned boat 1000 and their contents will be described. In the present invention, the unmanned boat is intended to be a moving body capable of navigating 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] 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, but the master unit 1001 and the slave 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, and a recording unit 1600.

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

[0030] The measurement sensor 1110 may include one (monocular) or a plurality of electro-optical sensors (Electro-Optical sensors), optical cameras, infrared sensors (IR sensors), optical sensors such as stereo cameras, which acquire image data on the sea, laser sensors such as LiDAR that acquire point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), and radar sensors that detect millimeter waves and microwaves. The measurement sensor 1110 acquires measurement data of the object 7000 existing within the measurable range on the sea by measuring the periphery of the unmanned boat 1000. Further, each of the above-described sensors can be used as a ranging sensor that measures the distance to the object based on the measurement data.

[0031] In addition to the above-described sensors, the measurement sensor 1110 may include a sound wave sensor (also referred to as a sound wave measurement unit) such as a sonar that uses sound waves such as ultrasonic waves. The sound wave sensor can be used not only in water but also in the air above water. When the sound wave sensor is used in the air, by measuring the sound wave that is generated and reflected back from the object, it can be used as a distance measurement sensor for measuring the distance to the object. When the sound wave sensor is used in water, the sound wave sensor may be either an active sonar that generates a sound wave and measures the sound wave that resonates with an object in the water, or a passive sonar that measures the sound generated from an object in the water. The active sonar can be composed of, for example, a side scan sonar, a multi-beam sonar, or a single-beam sonar. Also, the sound wave sensor may be composed of a USBL transceiver, an acoustic communication modem, or the like.

[0032] In addition, the measurement control unit 1120 operates a sensor attitude change device capable of changing the attitude of the measurement sensor 1110 to control at least one of the attitude angles of the measurement sensor 1110 around three axes with respect to the unmanned boat 1000. Also, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, etc. When the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. When the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Also, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. When the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount.

[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 position (two-dimensional or three-dimensional), moving speed, heading direction, moving direction, acceleration / deceleration speed, turning speed, and other navigation states of the own-ship. The internal state determination unit 1220 determines the remaining energy of the battery or fuel mounted on the own-ship, the movable distance that can be calculated based on the remaining energy, temporary abnormal states (such as temperature anomalies, communication anomalies, etc.) of the devices mounted on the own-ship, and the failure states of the devices. Further, 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 in the unmanned boat group 1010 that performs communication, or the sea current and tidal current (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 determining the position, moving speed, moving direction, and acceleration / deceleration speed of the own-ship by the navigation state determination unit 1210 is not particularly limited. For example, the position, moving speed, and moving direction of the own-ship at the current time can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the own position information includes at least two-dimensional coordinate information (for example, latitude and longitude) in a plan view, and preferably includes three-dimensional coordinate information including altitude information. Further, the acceleration / deceleration speed can be calculated based on the amount of change in time of the determined moving speed.

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

[0036] Next, the navigation unit 1300 is a functional unit that includes a thrust generation unit, an attitude control mechanism, and a navigation control unit, and navigates the mother ship 1001 in an arbitrary direction according to the operation command received via the communication unit 1400. The thrust generation unit is composed of, for example, a propeller, and can generate thrust by driving the propeller using the power of an engine or an electric motor. 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 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., and can control the heading direction (yaw angle) of the unmanned boat 1000 by changing these angles. Also, the attitude angles of the roll angle around the X-axis and the pitch angle around the Y-axis of the hull can be controlled by a center of gravity position change mechanism that changes the position of a weight object in the hull by an actuator.

[0038] In addition, the navigation control unit is a functional unit that controls the navigation operation of the own vehicle by controlling the output from the thrust generation unit and the attitude control mechanism. The navigation control unit has one or more processors such as a programmable processor (for example, a central processing unit (CPU), MPU, or DSP), and includes a processing unit 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 vessel. For example, the control module adjusts the position of the own vessel on the sea surface, the moving speed, the acceleration and deceleration of movement, the heading direction of the bow, the turning speed, and the attitude angles around three axes. That is, the navigation control unit 1330 controls the navigation operation of the own vessel by causing the own vessel to perform operations such as forward movement, backward movement, acceleration, deceleration, 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 unmanned boat group 1010, a communication satellite 3000, and external flying objects 8100, submarines 8200, monitoring boats, and AIS base stations. The inter-unmanned-boat communication unit 1410 includes a communication antenna for inter-unmanned-boat communication and communicates with other unmanned boats 1000 within the unmanned boat group 1010. The satellite communication unit 1420 includes a satellite communication antenna and communicates with the communication satellite 3000. The external communication unit 1430 includes an AIS antenna and a VHF antenna and communicates with external monitoring boats and AIS base stations.

[0041] Next, the determination unit 1500 is a functional unit that makes determinations regarding the object 7000. The determination unit 1500 includes an object detection determination unit 1510. The object detection determination unit 1510 interprets the measurement data acquired by the measurement sensor 1110 and determines the presence or absence of an object, the size of the object, and the like.

[0042] The object detection determination unit 1510 determines whether to perform object analysis by transmitting the measurement data to the integrated control system 2000 based on the interpretation information of the measurement data. For example, even when an object is detected on the water by the object detection determination unit 1510, if the estimated size of the object is smaller than a predetermined value and it is highly likely to be an object other than the monitoring target, or if it is determined that the object does not correspond to an object that the unmanned boat 1000 should avoid a collision with, it can be determined that it is unnecessary to transmit the measurement data to the integrated control system 2000. On the other hand, if the estimated size of the object detected by the object detection determination unit 1510 is larger than a predetermined standard, it is highly likely to be a ship, marine organism, etc. that is the monitoring target, or if it is highly likely to correspond to an object that the unmanned boat 1000 should avoid a collision with, it can be determined that it is necessary to transmit the measurement data to the integrated 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 self-vehicle determined by the self-vehicle state determination unit 1200. Also, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0044] (A-1-5. Configuration of the integrated control system 2000) Next, with reference to FIG. 7, the functions and contents of the integrated control system 2000 will be described. FIG. 7 is a functional block diagram showing the functional configuration of the integrated control system 2000. As shown in FIG. 7, the integrated control system 2000 includes an information import unit 2100, a state determination unit 2200, a formation change determination unit 2300, a communication configuration determination unit 2400, a formation change control unit 2500, a command output unit 2600, a user input reception unit 2700, and an information communication unit 2800.

[0045] (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 an activity area information acquisition unit 2110, an external information acquisition unit 2120, a formation pattern acquisition unit 2130, an external user input information acquisition unit 2140, and a detection information acquisition unit 2150.

[0046] The activity area information acquisition unit 2110 is a functional unit that acquires information regarding the activity area where the unmanned boat group 1010 operates. The activity area is an area where activities such as monitoring, investigation, or inspection are carried out by the unmanned boat group 1010. Information regarding the activity area can include information about the location, area, and shape of the activity area, geographical information within the activity area (such as ocean infrastructure facilities like islands, shoals, levees, and wind power generation facilities, and fishery-related facilities like fish farms and fish traps), the width of the sea area for passage within the activity area, the width between nautical highways for passage, and nautical highway information (location, traffic volume by time zone, passability by time zone), etc. The activity area information acquisition unit 2110 can acquire information regarding the activity area from an external cooperation system 5000 or the user input reception unit 2700 described later.

[0047] The external information acquisition unit 2120 is a functional unit that acquires 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. The navigation information of ships can include not only real-time navigation information of ships but also information regarding the location and traffic volume of nautical highways. Also, navigation information of ships may be acquired from other VHF data exchange systems included in the external system 6000. Further, the external information acquisition unit 2120 may acquire weather information in the ocean area where the unmanned boat 1000 is deployed or its surrounding area from the Meteorological Agency, which is the external system 6000, or a private weather information providing system. Additionally, the external information acquisition unit 2120 may acquire information such as the installation location and communicable area of ground base stations 4000 from the communication infrastructure system, which is the external system 6000.

[0048] The formation pattern acquisition unit 2130 is a functional unit that acquires information regarding the formation pattern of the unmanned boat group 1010. The formation pattern acquisition unit 2130 can acquire information regarding a plurality of formation patterns such as a V-shape, a branching shape, and a series shape, which will be described later. The formation pattern acquisition unit 2130 can acquire information regarding the formation pattern from an external cooperation system 5000 or a user input reception unit 2700, which will be described later.

[0049] The external user input information acquisition unit 2140 is a functional unit that receives intervention command information from the cooperation system 5000 or the like. For example, it can receive intervention command information from the cooperation system 5000 regarding the necessity determination information for formation change, the determined formation information after change, or the necessity determination information for switching the communication network, the determined communication network configuration information after switching, etc., which are sent to the cooperation system 5000 via the information communication unit 2800, which will be described later.

[0050] The detection information acquisition unit 2150 is a functional unit that acquires the determination results determined by the determination units 1500 of a plurality of unmanned boats 1000 and the measurement data measured by the plurality of unmanned boats 1000 via a communication satellite 3000, a HAPS, a ground base station 4000, or the like. The measurement data acquired by the detection information acquisition unit 2150 is measurement data measured by measurement sensors mounted on the unmanned boats 1000, including measurement data measured by one (monocular) or a plurality of electro-optical sensors (Electro-Optical sensors) for acquiring marine image data, optical cameras, infrared sensors (IR sensors), stereo cameras, and other optical sensors, laser sensors such as LiDAR for acquiring point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), radar sensors for detecting millimeter waves and microwaves, and acoustic sensors such as sonars that utilize sound waves such as ultrasonic waves.

[0051] (A-1-5-2. State determination unit 2200) The state determination unit 2200 is a functional unit that determines the analysis of the detected object, the state related to the activity area, the state related to the operation of the drone group, and the state related to the operation history of the drone group based on the detection information obtained by the detection information acquisition unit 2150. The state determination unit 2200 includes a detected object analysis unit 2210, a danger area determination unit 2220, and an unmanned boat state determination unit 2230.

[0052] The detected object analysis unit 2210 is a functional unit that analyzes the detected object for a plurality of determination items based on the detection information obtained by the detection information acquisition unit 2150. Hereinafter, with reference to FIG. 8, the object detection determination by the detected object analysis unit 2210 will be described. FIG. 8 is a diagram showing the determination items by the detected object analysis unit 2210.

[0053] As shown in FIG. 8, the determination items by the detected object analysis unit 2210 can include object feature determination. The determination items of the object features can include the type, shape, size, orientation, etc. of the target object. Here, for the determination of the type of the target object, the type of the detected ship may be determined using the AIS information, ship navigation information, etc. obtained by the external information acquisition unit 2120.

[0054] In addition, the determination items by the detected object analysis unit 2210 can include a monitoring target determination as to whether the detected object corresponds to a monitoring target, and an avoidance necessity determination as to whether the detected object corresponds to an object that should avoid contact with the unmanned boat 1000.

[0055] The monitoring target determination can determine, for example, whether it corresponds to a monitoring target (for example, ships, fleets, suspicious ships, divers, marine organisms (such as whales), marine buoys, wind power generation facilities, seaweed beds, etc., which are sea facilities) from the preset determination conditions of the monitoring target and the type, shape, size, orientation, etc. of the detected object determined by the object feature determination.

[0056] The necessity determination of avoidance can be used to determine whether an object needs to avoid contact based on, for example, the preset determination conditions for the necessity of avoidance and the type, shape, size, orientation, etc. of the detected object determined by the object feature determination. The objects that require avoidance can include, for example, the above-mentioned monitoring targets. Additionally, in addition to the monitoring targets, objects with a size equal to or greater than a predetermined value (such as marine buoys, driftwood, rubble, protruding piers, breakwaters, harbors, land, marine facilities (wind power plants, marine plants, marine runways), etc.) can also be determined as objects that require avoidance.

[0057] Moreover, the determination items by the detection object analysis unit 2210 can include static state determination and dynamic state determination. As the determination items for the static state, the relative distance, azimuth, and position coordinates of the object can be determined. Also, as the determination items for the dynamic state, the moving state / stationary state, moving direction, moving speed, history of the past moving path, future predicted path, etc. can be determined.

[0058] Here, an example of the determination method for the static state will be described. First, the relative distance can be obtained based on the analysis and processing of the image data obtained by one or more optical sensors. Also, the relative distance can be obtained based on the measurement data obtained by acoustic sensors including laser sensors such as LiDAR and ToF sensors (Time of Flight sensors), radar sensors that detect millimeter waves and microwaves, and sonar that uses sound waves such as ultrasonic waves.

[0059] In addition, the azimuth of the object as seen from the unmanned boat 1000 can be determined from the azimuth information of the object detected from the measurement data obtained by an optical sensor, a laser sensor, a radar sensor, or the like. Here, the azimuth information of the object may be calculated as the absolute azimuth in the global coordinate system, or may be calculated as the relative azimuth in a local coordinate system based on, for example, the position and the bow azimuth of the unmanned boat 1000. Further, the position coordinates of the object can be calculated 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 the relative distance described above. 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. Also, the position coordinates may be local position coordinates in a local coordinate system or global position coordinates in a global coordinate system (absolute coordinate system).

[0060] In addition, 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 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 movement path can be determined. Furthermore, based on the determination results such as the past movement history, the current movement direction, and the orientation, the future predicted path can be determined.

[0061] Here, in the determination of the type of detected object by the detected object analysis unit 2210, for example, ships, fleets, suspicious ships, divers, castaways, drifting boats, floating objects, marine buoys, marine organisms (such as whales, dolphins, schools of fish), driftwood, debris, protruding piers, breakwaters, port areas, land, marine facilities (wind power plants, offshore plants, offshore runways), and marine facilities such as fish traps can be determined. In this way, by detecting suspicious ships, divers, etc., nuisance acts at sea can be monitored. Also, by detecting castaways and drifting boats, rescue of castaways can be carried out. Also, by detecting floating objects (such as debris and wood), obstacle information for the safe navigation of ships can be obtained. Also, by detecting marine buoys, the recovery of marine buoys and support for a system for communicating with marine buoys can be carried out. Also, by monitoring marine organisms (such as whales, dolphins, schools of fish), marine surveys can be supported. Also, by detecting marine facilities such as marine facilities (wind power plants, offshore plants, offshore runways) and fish traps, inspections of these facilities can be carried out.

[0062] Next, the area to be avoided determination unit 2220 is a functional unit that determines objects and areas that need to be avoided based on the determination result by the detected object analysis unit 2210 and information on the activity area obtained by the activity area information acquisition unit 2110.

[0063] For example, the area to be avoided determination unit 2220 is based on information on the static state such as the relative distance, position coordinates, and azimuth of the object determined by the detected object analysis unit 2210 to require avoidance, and information on the moving state / stationary state, moving direction, moving speed, and future predicted path of the object to be avoided, and information on the position of the activity area where the unmanned boat group 1010 operates obtained by the activity area information acquisition unit 2110, and can determine information on the moving or stationary objects to be avoided in the activity area of the unmanned boat group.

[0064] As another example, the avoidance area determination unit 2220 can determine information regarding the position of the activity area where the unmanned boat group 1010 operates, which is acquired by the activity area information acquisition unit 2110, geographical information within the activity area (such as underwater shoals, levees, offshore infrastructure facilities like wind power generation facilities, and fishery-related facilities such as fish farms and fishing nets), road information, information on prohibited entry areas, etc. Based on this, it can determine information regarding moving or stationary objects to be avoided and avoidance areas in the activity area of the unmanned boat group. That is, it can determine the positions of objects to be avoided such as underwater shoals and levees, and avoidance areas such as road information and prohibited entry areas.

[0065] Next, the unmanned boat state determination unit 2230 is a functional unit that determines the state of the unmanned boat 1000. The unmanned boat state determination unit 2230 can determine at least one of the states of the speed, acceleration, deceleration, and turning speed of the unmanned boat 1000 based on, for example, the determination information by the own-ship state determination unit 1200 of the unmanned boat 1000. In addition to the above-mentioned states, the unmanned boat state determination unit 2230 can also determine the position (two-dimensional or three-dimensional) of the own-ship of the unmanned boat 1000 detected by the own-ship state determination unit 1200, the bow azimuth, the moving direction, other state quantities related to the navigation state, the remaining energy of the battery or fuel mounted on the own-ship, the movable distance that can be calculated based on the remaining energy, a temporary abnormal state (such as temperature abnormality, communication abnormality, etc.) of the equipment mounted on the own-ship, the failure state of the equipment, the communication state such as the communication strength (dB value, etc.) and communication speed with other unmanned boats 1000 within the unmanned boat group 1010 that performs communication, or state information regarding the unmanned boat 1000 such as the sea current and tide (flow velocity, flow direction), wind speed (wind speed, wind direction), wave height, and weather (rain, snow, cloudy, etc.) around the own-ship.

[0066] In addition to the above-mentioned information, the unmanned boat state determination unit 2230 can also determine the number of aircraft of the master boat 1001 and the slave boats 1002 that make up the unmanned boat group 1010, and the specifications of the communication range of each unmanned boat 1000.

[0067] Next, the unmanned boat operation history determination unit 2240 is a functional unit that determines the state regarding the operation history of the unmanned boat group 1010 or the unmanned boat 1000. The unmanned boat operation history determination unit 2240 can determine, for example, the measurement implementation area measured by the measurement sensor 1110 provided on the unmanned boat 1000, or the measurement implementation time, or the search rate calculated based on the measurement implementation area and the measurement implementation time.

[0068] Here, the search rate is the degree of measurement implementation for each area defined by the measurement implementation area in the two-dimensional plane or three-dimensional space where measurement is performed and the measurement implementation time at each position within the activity area of the unmanned boat group 1010, and can also be calculated as the coverage rate or the monitoring density distribution.

[0069] (A-1-5-3. Formation change determination unit 2300) Next, the formation change determination unit 2300 will be described. The formation change determination unit 2300 is a functional unit that determines whether a formation change of the unmanned boat group 1010 is necessary and the formation after the change according to the determination information by the state determination unit 2200. The formation change determination unit 2300 includes a formation change necessity determination unit 2310, a formation determination unit 2320, and a formation change process determination unit 2330.

[0070] The formation change necessity determination unit 2310 is a functional unit that determines whether a formation change of the unmanned boat group 1010 is necessary according to the determination information by the state determination unit 2200. The formation change necessity determination unit 2310 can determine that a formation change is necessary, for example, when the relative distance between the moving or stationary avoidance objects and avoidance areas in the activity area of the unmanned boat group determined by the avoidance area determination unit 2220 and the unmanned boat group 1010 or the unmanned boat 1000 is closer than a predetermined distance, or when the positional relationship matches the predetermined formation change determination conditions.

[0071] As another example, the formation change necessity determination unit 2310 can determine that a formation change is necessary when it is necessary to perform activities such as monitoring, investigation, and inspection inside a narrow area where the width covered by the avoidance object or avoidance area is narrower than a predetermined distance or the area is smaller than a predetermined area.

[0072] As another example, when it is predicted that the relative distance between the predicted movement path of the moving object or area to be avoided and the unmanned boat group 1010 or the unmanned boat 1000 will be closer than a predetermined distance, or when it is predicted that the relative distance between the immobile object or area to be avoided and the planned movement path of the moving unmanned boat group 1010 or the unmanned boat 1000 will be closer than a predetermined distance, it can be determined that a formation change is necessary.

[0073] The formation determination unit 2320 is a functional unit that determines the changed formation of the unmanned boat group 1010 according to the determination information by the state determination unit 2200. The formation determination unit 2320 can determine the changed formation according to, for example, the relative distance and positional relationship between the moving or immobile object or area to be avoided and the unmanned boat group 1010 or the unmanned boat 1000 in the activity area of the unmanned boat group determined by the area to be avoided determination unit 2220. Note that the formation determination unit 2320 can determine the formation by selecting a specific formation pattern from a plurality of formation patterns acquired by the formation pattern acquisition unit 2130.

[0074] As another example, the formation determination unit 2320 can determine whether a formation change is necessary or determine the changed formation according to the state information regarding the operation of the unmanned boat group 1010 determined by the unmanned boat state determination unit 2230 (at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned boat 1000). As an example, when at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned boat determined by the unmanned boat state determination unit 2230 exceeds a predetermined range, the formation determination unit 2320 can determine a compressed formation in which at least a part of the formation of the unmanned boat group is compressed as the changed formation. In this way, by compressing the group formation when at least any one of the speed, acceleration, deceleration, and turning speed exceeds a predetermined range, the risk that the relative distance between the unmanned boats 1000 is too far apart and the communication is interrupted can be reduced in advance.

[0075] As another example, the formation determination unit 2320 can determine whether a formation change is necessary or determine the formation after the change according to the state regarding the operation history of the unmanned boat group 1010 determined by the unmanned boat operation history determination unit 2240 (such as the measurement execution area, or the measurement execution time, or the search rate calculated from the measurement execution area and the measurement execution time). As an example, when the measurement execution area, or the measurement execution time, or the search rate is lower than a preset target value, the formation determination unit 2320 can determine to expand the formation of the unmanned boat group 1010 to expand the deployment area in order to improve the search rate or the like.

[0076] As another example, when passing through a narrow area while avoiding an object to be avoided or an area to be avoided, the formation determination unit 2320 can determine to change the formation to an elongated formation so as to pass through the narrow area.

[0077] As still another example, when monitoring a ship or the like to be monitored in a sea area such as an entrance or exit of a strait, the formation determination unit 2320 can form a single row or multiple rows of formation extending in the width direction of the strait and perform a monitoring patrol moving in the width direction of the strait, thereby improving the search rate of monitoring at the entrance and exit of the strait. Further, when it is predicted that the speed of a ship or the like to be monitored is fast, the multiple rows of formation can be arranged so that the positions of the unmanned boats 1000 are staggered, and the search rate of monitoring at the entrance and exit of the strait can be further improved.

[0078] The formation change process determination unit 2330 is a functional unit that determines the formation change process when changing the formation of the unmanned boat group 1010 according to the formation after the change determined by the formation determination unit 2320. The formation change process determination unit 2330 can, for example, determine a time-series formation change process for switching the formation from the current formation to the formation after the change.

[0079] (A-1-5-4. Communication Configuration Determination Unit 2400) The communication configuration determination unit 2400 is a functional unit that determines whether or not to change the network configuration of the wireless communication network connecting the plurality of unmanned boats 1000 within the unmanned boat group 1010 and the changed network configuration according to the changed formation determined by the formation determination unit 2320. The communication configuration determination unit 2400 includes a communication switching necessity determination unit 2410, a communication configuration change determination unit 2420, and a communication configuration change process determination unit 2430.

[0080] The communication switching necessity determination unit 2410 is a functional unit that determines whether or not to change the network configuration of the wireless communication network connecting the plurality of unmanned boats 1000 within the unmanned boat group 1010 according to the changed formation determined by the formation determination unit 2320. For example, when it is determined that the relative distance between the unmanned boats 1000 connected by communication in the changed formation determined by the formation determination unit 2320 exceeds the communicable distance grasped in advance, the communication switching necessity determination unit 2410 can determine that a change in the network configuration of the wireless communication network is necessary.

[0081] The communication configuration change determination unit 2420 is a functional unit that determines the changed network configuration of the wireless communication network connecting the plurality of unmanned boats 1000 within the unmanned boat group 1010 according to the changed formation determined by the formation determination unit 2320. For example, the communication configuration change determination unit 2420 determines a network configuration in which each unmanned boat 1000 in the changed formation determined by the formation determination unit 2320 is communicatively connected to at least one other unmanned boat 1000.

[0082] The communication configuration change determination unit 2420 can determine the connection method of the wireless communication network connecting the plurality of unmanned boats 1000 within the unmanned boat group 1010 and the communication network configuration using an external communication relay system such as an aircraft 8100, a submarine 8200, or a marine communication buoy other than the unmanned boat 1000. In addition, the communication configuration change determination unit 2420 can determine the connection path between the unmanned boat group 1010 and the ground base station 4000 not only limited to the connection of the plurality of unmanned boats 1000 within the unmanned boat group 1010, but also from direct communication, communication using the communication satellite 3000, communication using HAPS, communication via a submarine cable, etc.

[0083] The communication configuration change process determination unit 2430 is a functional unit that determines the network configuration change process when changing the network configuration of the unmanned boat group according to the changed network configuration determined by the communication configuration change determination unit 2420. For example, the communication configuration change process determination unit 2430 can determine a time-series communication configuration change process for switching from the current network configuration to the changed network configuration.

[0084] As an example of the communication configuration change process, when the unmanned boat group 1010 has at least a first unmanned boat, a second unmanned boat, and a third unmanned boat, the communication configuration change process determination unit 2430, as a process of changing the communication configuration of switching the unmanned boat connected to the first unmanned boat by the wireless communication network from the second unmanned boat to the third unmanned boat, when both the second unmanned boat and the third unmanned boat are located within the distance range where they can communicate wirelessly with the first unmanned boat, can connect the wireless communication between the first unmanned boat and the third unmanned boat, and then disconnect the wireless communication between the first unmanned boat and the second unmanned boat.

[0085] (A-1-5-5. Formation change control unit 2500) The formation change control unit 2500 is a functional unit that controls the formation change of the unmanned boat group 1010 according to the formation change process determined by the formation change process determination unit 2330, or in addition to this, according to the communication configuration change process determined by the communication configuration change process determination unit 2430. The formation change control unit 2500 includes a formation change execution unit 2510, a formation change interruption determination unit 2520, a formation return execution unit 2530, and a formation return interruption determination unit 2540.

[0086] The formation change execution unit 2510 is a functional unit that executes the formation change of the unmanned boat group 1010 according to the formation change process determined by the formation change process determination unit 2330, or in addition to this, according to the communication configuration change process determined by the communication configuration change process determination unit 2430.

[0087] The formation change interruption determination unit 2520 is a functional unit that determines, as a control command, the interruption of formation change, the return to the formation before the change, or the movement operation of narrowing the distance between unmanned boats according to the communication state in the wireless communication network connecting a plurality of unmanned boats 1000 in the unmanned boat group 1010. For example, when the communication strength (such as dB value) of the wireless communication between the own unmanned boat 1000 and other unmanned boats 1000 connected in the wireless communication network determined by the own boat state determination unit 1200 of the unmanned boat 1000 drops below a predetermined value, or when communication interruption occurs, the formation change interruption determination unit 2520 determines, as a control command, the interruption of formation change, the return to the formation before the change, or the movement operation of narrowing the distance between unmanned boats.

[0088] The formation return execution unit 2530 is a functional unit that executes formation return when it determines that the formation of the unmanned boat group 1010 has been changed to the changed formation determined by the formation change determination unit 2300.

[0089] The formation return interruption determination unit 2540 is a functional unit that determines, as a control command, the interruption of formation return or the movement operation of narrowing the distance between unmanned boats according to the communication state in the wireless communication network connecting a plurality of unmanned boats 1000 in the unmanned boat group 1010.

[0090] (A-1-5-6. Command Output Unit 2600) The command output unit 2600 includes a display unit 2610 and a control command unit 2620. The command output unit 2600 has a function of transmitting and outputting a control command corresponding to the determination content including the necessity of formation change and the changed formation determined by the formation change determination unit 2300 to the unmanned boat group 1010 by the control command unit 2620, or a function of displaying and outputting information regarding the control command from the display unit 2610.

[0091] For example, the control command unit 2620 transmits and outputs to the unmanned boat group 1010 a control command for the necessity of formation change determined by the formation change determination unit 2300 and a control command for changing the formation to the changed formation determined by the formation change determination unit 2300. Also, the display unit 2610 displays and outputs information regarding the determination content such as the necessity of formation change and the changed formation determined by the formation change determination unit 2300.

[0092] In addition, the command output unit 2600 has a function of transmitting and outputting a control command corresponding to the formation change process determined by the formation change process determination unit 2330 or the like to the unmanned boat group 1010 by the control command unit 2620, or is a functional unit that displays and outputs information regarding the control command from the display unit 2610.

[0093] For example, the control command unit 2620 transmits and outputs to the unmanned boat group 1010 a control command for changing the formation by moving the positions of the unmanned boats 1000 in the unmanned boat group 1010 according to the formation change process determined by the formation change process determination unit 2330. Also, the display unit 2610 displays and outputs information regarding, for example, the formation change process determined by the formation change process determination unit 2330 and other determined contents.

[0094] Here, the display unit 2610 can also display and output not only the information on the determination contents by the above-described formation change determination unit 2300 and formation change process determination unit 2330, but also various determination information by the state determination unit 2200. By displaying such information, the user can grasp the state information such as the detected objects, the unmanned boat states, and the unmanned boat operation histories used in the determination processes of the formation change determination unit 2300 and the formation change process determination unit 2330.

[0095] In addition, the display unit 2610 can directly display the actual data of the current or past measurement data measured by the unmanned boat 1000, not limited to the various determination information by the above-described state determination unit 2200.

[0096] In addition, the display unit 2610 may display not only the information on the determination contents by the formation change determination unit 2300 and the formation change process determination unit 2330, but also the recommended information on the formation when a manual intervention command is input.

[0097] In addition, the command output unit 2600 has a function of transmitting and outputting a control command corresponding to the determination content including whether or not to change the network configuration of the wireless communication determined by the communication configuration determination unit 2400 and the network configuration after the change to the unmanned boat group 1010 by the control command unit 2620, or is a functional unit that displays and outputs information regarding the control command from the display unit 2610.

[0098] For example, the control command unit 2620 transmits and outputs to the unmanned boat group 1010 a control command for whether or not to change the wireless communication network configuration determined by the communication configuration determination unit 2400, or a control command for changing the wireless communication connection to the network configuration after the change determined by the communication configuration determination unit 2400. Further, the display unit 2610 displays and outputs information regarding the determination content such as whether or not to change the wireless communication network configuration determined by the communication configuration determination unit 2400 and the network configuration after the change.

[0099] In addition, the command output unit 2600 has a function of transmitting and outputting a control command corresponding to the communication configuration change process determined by the communication configuration change process determination unit 2430 to the unmanned boat group 1010 by the control command unit 2620, or is a functional unit that displays and outputs information regarding the control command from the display unit 2610.

[0100] For example, the control command unit 2620 transmits and outputs to the unmanned boat group 1010 a control command for switching the wireless communication connection within the unmanned boat group 1010 according to the communication configuration change process determined by the communication configuration change process determination unit 2430. Further, the display unit 2610 displays and outputs information regarding the communication configuration change process determined by the communication configuration change process determination unit 2430 and other determination content.

[0101] Here, the display unit 2610 can display not only the information on the determination results by the above-described communication configuration determination unit 2400 and the communication configuration change process determination unit 2430, but also various state information regarding the unmanned boat 1000 determined by the unmanned boat state determination unit 2230. By displaying such information, the user can grasp the information regarding the state of the unmanned boat 1000 used in the determination processes of the communication configuration determination unit 2400 and the communication configuration change process determination unit 2430.

[0102] In addition, when a new object is detected, or when the latest determination results are generated from the formation change determination unit 2300 or the communication configuration determination unit 2400, the display unit 2610 can notify the user. When performing this notification, not limited to display output, the user can be notified by voice, light emission, or vibration.

[0103] Also, when transmitting information regarding the object to the cooperation system 5000 or other external systems by the information communication unit 2920 described later, information such as the contact destination, contact means, and location of the transmission destination may be displayed on the display unit 2610.

[0104] (A-1-5-7. User Input Reception Unit 2700) Next, the user input reception unit 2700 will be described. The user input reception unit 2700 is a functional unit that receives any user input information for or regardless of the various information displayed on the display unit 2610. The user input information can include an intervention control command from the user for the unmanned boat 1000 or the unmanned boat group 1010. Note that the user input reception unit 2700 may be a portable mobile terminal such as a smartphone, a tablet terminal, or a notebook PC. Also, the reception of the user input information can be performed via operation buttons provided on the display screen of the display unit 2610.

[0105] For example, the user input reception unit 2700 can receive an intervention command input for changing the result of the necessity determination of formation change by the formation change necessity determination unit 2310, an intervention command input for re-designating the formation determined by the formation determination unit 2320 to an arbitrary formation, and an intervention command input for changing the formation change process determined by the formation change process determination unit 2330 to an arbitrary process. Similarly, the user input reception unit 2700 can receive an intervention command input for arbitrarily changing various types of information determined by the communication configuration determination unit 2400.

[0106] In addition, when displaying the actual data of the measurement data measured by the unmanned boat 1000 on the display unit 2610, input information regarding display priority information (such as time priority display, detailed image priority display, area designation priority display, etc.) may be received from the user.

[0107] (A-1-5-8. Information and Communication Unit 2800) The information and communication unit 2800 is a functional unit that outputs information similar to the information displayed on the display unit 2610, that is, various state information determined by the state determination unit 2200, the determination content determined by the formation change determination unit 2300, the determination content determined by the communication configuration determination unit 2400, or candidate information of control commands generated according to these determination contents to the cooperation system 5000, the external system 6000, or other external systems.

[0108] In addition, the information and communication unit 2800 can also obtain information similar to the information received by the user input reception unit 2700 from the cooperation system 5000, the external system 6000, or other external systems. That is, the information and communication unit 2800 can receive an intervention command input for arbitrarily changing various types of information determined by the formation change determination unit 2300 and the communication configuration determination unit 2400.

[0109] The functions implemented in the unmanned boat 1000 and the overall control system 2000 described so far with reference to FIGS. 6 and 7 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. 7 (mainly at least any one of the information import unit 2100, the state determination unit 2200, the formation change determination unit 2300, the communication configuration determination unit 2400, and the formation change control unit 2500) can also be implemented in the unmanned boat 1000. In this embodiment, an example is shown in which the function of initially detecting an object based on measurement data is implemented in the determination unit 1500 on the unmanned boat 1000 side. However, the function of this initial detection determination can also be implemented in a distributed manner on both the unmanned boat 1000 side and the overall control system 2000 side, and it is also possible to implement all of the functions of the initial detection determination on the overall control system 2000 side.

[0110] (A-1-6. Hardware Configuration) FIG. 9 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.

[0111] The input device 100 can constitute a user input reception unit 2700 and is a device for a 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.

[0112] 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 2610. Specifically, the output device 200 can be composed of the display unit 2610 with devices such as eyewear, AR, and VR display devices, and can also be a printer or a speaker.

[0113] 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.

[0114] The main memory device 400 is a memory device such as a RAM that temporarily stores various types of information read out, 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.

[0115] 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 2800 described above.

[0116] (A-1-7. Control Flow of Control System 1) Next, the control flow of the entire control system 1 will be described. FIG. 10 is a flowchart showing the processing flow of the control system 1.

[0117] First, the information import unit 2100 acquires prior information from an external system 6000 or the like (step 101). In this step, for example, information regarding the activity area where the unmanned boat 1000 is deployed, the sea route information and navigation information of ships in the activity area and its surrounding areas, information regarding a plurality of formation change patterns of the unmanned boat group 1010, detection information detected by the unmanned boat 1000, etc. are acquired.

[0118] Next, various initial settings such as the initial formation and activity area at the start of the operation of the unmanned boat group 1010 are performed, and the unmanned boat group 1010 is deployed in the monitoring area to start activities such as monitoring (step 102).

[0119] Next, the state determination unit 2200 determines the activity area of the unmanned boat group 1010 and the operation state and operation history state of the unmanned boat group 1010 (step 103).

[0120] Next, the formation change necessity determination unit 2310 determines whether or not a formation change of the unmanned boat group 1010 is necessary (step 104). The detailed processing content of this step will be described later.

[0121] Next, depending on whether or not the formation change necessity determination unit 2310 determines that a formation change of the unmanned boat group 1010 is necessary, the processing step to transition is determined (step 105). If it is determined in this step that a formation change is necessary, the process is transitioned to step 106. On the other hand, if it is determined that a formation change is not necessary, the process returns to the process of step 103.

[0122] Next, the formation determination unit 2320 and the formation change process determination unit 2330 determine the changed formation pattern and its change process (step 106). The detailed processing content of this step will be described later.

[0123] Next, the communication configuration determination unit 2400 determines whether or not a change to the wireless communication network configuration is necessary, the changed wireless communication network configuration, and its change process (step 107). The detailed processing content of this step will be described later.

[0124] Next, the formation change control unit 2500 and the command output unit 2600 execute the formation change of the unmanned boat group 1010 and perform the display output of various information (step 108). The detailed processing content of this step will be described later.

[0125] (A-1-8. Control Sequence in Control System 1) Next, the control sequence between each system in the control system 1 will be described. FIG. 11 is a sequence diagram showing the signal exchange between the systems in the control system 1.

[0126] First, prior information is transmitted from an external system 6000 or the like to the overall control system 2000. Further, the overall control system 2000 performs initial settings such as the formation of the unmanned boat group 1010 based on the prior information, and transmits an activity start command to the parent machine 1001. The parent machine 1001 transmits the received activity start command to the child machine 1002.

[0127] When an object is detected by a determination unit 1500 of any moving body such as the unmanned boat 1000 (for example, the child machine 1002a), the object detection information detected by the child machine 1002a is transmitted to the parent machine 1001. Further, the parent machine 1001 transmits the received object detection information to the overall control system 2000. Here, the object detection information may include measurement data in addition to the determination result by the determination unit 1500.

[0128] Next, the state determination unit 2200 of the overall control system 2000 analyzes the detected object, and the formation change determination unit 2300 determines whether the formation of the unmanned boat group 1010 needs to be changed and the formation pattern to be changed. Further, the overall control system 2000 transmits proposal information for changing the formation to the cooperation system 5000 or the like according to the determined formation pattern.

[0129] The cooperation system 5000 returns approval for the received proposal information for changing the formation pattern or external user input information designating another formation pattern to the overall control system 2000. The overall control system 2000 determines a control command for changing the formation based on the received external user input information, and transmits the determined formation change command to the parent machine 1001. The parent machine 1001 transmits the received formation change command to the child machine 1002.

[0130] (A-1-9. Judgment process for necessity of formation change) Next, the necessity determination process for formation change will be described. FIG. 12 is a flowchart showing an example of the determination process flow for the necessity of formation change by the formation change necessity determination unit 2310. In particular, FIG. 12 shows the detailed process flow of step 104 in the flowchart shown in FIG. 11.

[0131] First, based on the determination result by the avoidance area determination unit 2220, the positions of the moving or stationary avoidance objects and the avoidance area around the unmanned boat group 1010 are grasped (step 201).

[0132] Next, from the position information of the unmanned boat group 1010 or individual unmanned boats 1000 obtained by the determination by the unmanned boat state determination unit 2230 and the position information of the avoidance objects and the avoidance area, the relative distances between the unmanned boat group 1010 or individual unmanned boats 1000 and the avoidance objects and the avoidance area are determined (step 202).

[0133] Next, according to whether the determined relative distance is less than or equal to a predetermined distance, the processing step to transition to is determined (step 203). If it is determined in this step that the relative distance is less than or equal to the predetermined distance, the process is transitioned to step 206. On the other hand, if it is determined that the relative distance is not less than or equal to the predetermined distance, the process is transitioned to step 204.

[0134] Next, if it is determined in step 203 that the relative distance is not less than or equal to the predetermined distance, based on the determination result of the unmanned boat state determination unit 2230, the moving state of the unmanned boat 1000 is grasped (step 204). In this step, at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned boat 1000 is grasped as the moving state of the unmanned boat 1000. Note that the moving state of the unmanned boat 1000 may include not only the current moving state but also the predicted state of the future moving state (speed, acceleration, deceleration, turning speed).

[0135] Next, according to whether the determined movement state of the unmanned boat 1000 is within a predetermined range, a processing step to transition is determined (step 205). Here, the state where the movement state is within a predetermined range means a state where at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned boat 1000 is within a predetermined range. If it is determined in this step that the movement state is within the predetermined range, the process is transitioned to step 207. On the other hand, if it is determined that the movement state is not within the predetermined range, the process is transitioned to step 206.

[0136] Next, when it is determined in step 203 that the relative distance is equal to or less than a predetermined distance, or when it is determined in step 205 that the movement state is not within a predetermined range, it is determined that the formation of the unmanned boat group 1010 needs to be changed (step 206).

[0137] Next, when it is determined in step 205 that the movement state is within a predetermined range, it is determined that the formation of the unmanned boat group 1010 does not need to be changed (step 206).

[0138] (A-1-10. Determination Process of Changed Formation Pattern) Next, the determination process of the changed formation pattern will be described. FIG. 13 is a flowchart showing an example of the determination process flow of the changed formation pattern by the formation change determination unit 2300. In particular, FIG. 13 shows the detailed process flow of step 106 in the flowchart shown in FIG. 11.

[0139] First, the content of the command mission given to the unmanned boat group 1010 is grasped (step 301). The command mission in this step includes the designated information of the activity area acquired by the activity area information acquisition unit 2110, and also the designated information of the activity purpose (such as monitoring of suspicious ships, inspection of offshore infrastructure, investigation of marine organisms, etc.) for the unmanned boat group 1010 acquired by the user input reception unit 2700 and the external user input information acquisition unit 2140 described later.

[0140] Next, based on the determination result of the unmanned boat state determination unit 2230, the movement state of the unmanned boat 1000 is grasped (step 302). In this step, at least one of the speed, acceleration, deceleration, and turning speed of the unmanned boat 1000 is grasped as the movement state of the unmanned boat 1000.

[0141] Next, based on the determination result by the avoidance area determination unit 2220, the positions of the moving or stationary avoidance objects and the avoidance area around the unmanned boat group 1010 are grasped (step 303).

[0142] Next, the formation change determination unit 2320 determines the changed formation pattern (step 304). Specific examples of the formation pattern determined in this step will be described later.

[0143] Next, by determining the process of formation change, the process of formation change is determined according to the determined changed formation pattern (step 305). Specific examples of the formation change process determined in this step will be described later.

[0144] (A-1-11. Determination Process of Wireless Communication Network Configuration) Next, the determination process of the wireless communication network configuration will be described. FIG. 14 is a flowchart showing an example of the determination process flow of the wireless communication network configuration by the communication configuration determination unit 2400. In particular, FIG. 14 shows the detailed process flow of step 107 in the flowchart shown in FIG. 11.

[0145] First, the communication switching necessity determination unit 2410 determines whether switching of the wireless communication network configuration is necessary (step 401).

[0146] Next, according to whether it is determined that a switch in the wireless communication network configuration is necessary, a processing step to transition is determined (step 402). In this step, for example, when it is determined that the relative distance between the unmanned boats 1000 that are communicatively connected in the changed formation determined by the formation determination unit 2320 exceeds the communicable distance that has been grasped in advance, it is possible to determine that a change in the network configuration of the wireless communication network is necessary. If it is determined in this step that a switch in the wireless communication network configuration is necessary, the process is transitioned to step 403. On the other hand, if it is determined that a switch in the wireless communication network configuration is not necessary, the processing of this flowchart is terminated.

[0147] Next, if it is determined in step 402 that a switch in the wireless communication network configuration is necessary, according to whether there are other candidates for the communication configuration in which wireless communication is established, a processing step to transition is determined (step 403). In this step, for example, it is determined whether there are other candidates for the communication configuration that communicatively connects the unmanned boats 1000 whose relative distance is within the communicable distance range that has been grasped in advance. If it is determined in this step that there are other candidates for the communication configuration in which wireless communication is established, the process is transitioned to step 405. On the other hand, if it is determined that there are no other candidates for the communication configuration in which wireless communication is established, the process is transitioned to step 404.

[0148] Next, if it is determined in step 403 that there are no other candidates for the communication configuration in which wireless communication is established, the changed formation pattern and the formation change process of the unmanned boat group 1010 are changed (step 404). After this step is implemented, the process is transitioned to step 401.

[0149] Next, if it is determined in step 403 that there are other candidates for the communication configuration in which wireless communication is established, the communication configuration change determination unit 2420 determines the wireless communication network configuration according to the changed formation pattern (step 405). In this step, for example, according to the changed formation pattern, a communication network configuration is determined in which all the unmanned boats 1000 of the unmanned boat group 1010 can be directly or indirectly connected to the master boat 1001 in the communication network. Furthermore, a communication network configuration in which the communication path is made redundant by connecting the unmanned boats 1000 of the unmanned boat group 1010 to a plurality of other unmanned boats 1000 can also be adopted.

[0150] Next, the communication configuration change process determination unit 2430 determines the switching process of the wireless communication network according to the determined wireless communication network configuration (step 406). In this step, for example, as a communication configuration change process of switching the unmanned boat connected to the first unmanned boat by the wireless communication network from the second unmanned boat to the third unmanned boat so that the communication between the unmanned boats 1000 is not interrupted during the switching of the wireless communication network, when both the second unmanned boat and the third unmanned boat are located within the distance range where they can communicate wirelessly with the first unmanned boat, the wireless communication between the first unmanned boat and the third unmanned boat is connected, and then the wireless communication between the first unmanned boat and the second unmanned boat is disconnected. That is, the communication switching is performed with the first unmanned boat overlapping the communication range of the second and third unmanned boats.

[0151] (A-1-12. Control Process for Formation Change) Next, the control process for formation change will be described. FIG. 15 is a flowchart showing an example of the control process flow for formation change by the formation change control unit 2500. In particular, FIG. 15 shows the detailed process flow of step 108 in the flowchart shown in FIG. 11.

[0152] First, the formation change execution unit 2510 starts the change of the formation and the wireless communication network configuration of the unmanned boat group 1010 (step 501).

[0153] Next, the communication state of the unmanned boat 1000 determined by the unmanned boat state determination unit 2230 is grasped (step 502). For example, the communication intensity (such as dB value) with other unmanned boats 1000 in the unmanned boat group 1010 that performs communication is grasped.

[0154] Next, according to whether the grasped communication intensity has dropped below a predetermined value, the processing step to transition to is determined (step 503). In this step, if it is determined that the communication intensity has dropped below the predetermined value, the process is transitioned to step 504. On the other hand, if it is determined that the communication intensity has not dropped below the predetermined value, the process is transitioned to step 505.

[0155] Next, if it is determined in step 503 that the communication intensity has dropped below the predetermined value, the formation change interruption determination unit 2520 interrupts the formation change, etc. (step 504). In this step, instead of interrupting the formation change, it is also possible to perform an operation of returning to the formation before the change or an operation of moving to narrow the distance between the unmanned boats.

[0156] Next, if it is determined in step 503 that the communication intensity has not dropped below the predetermined value, the processing step to transition to is determined according to whether the formation change operation has been completed (step 505). In this step, if it is determined that the formation change operation has been completed, the process is transitioned to step 506. On the other hand, if it is determined that the formation change operation has not been completed, the process returns to step 502.

[0157] Next, based on the determination result by the area to be avoided determination unit 2220, the relative distances from the objects to be avoided and the areas to be avoided around the unmanned boat group 1010 are grasped (step 506).

[0158] Next, it is determined whether formation return is necessary according to the relative distance from the object to be avoided or the area to be avoided (step 507). In this step, for example, in the case of a formation change to an avoidance formation for the purpose of avoiding an object to be avoided or an area to be avoided, it can be determined that formation return is performed when the relative distance from the object to be avoided or the area to be avoided is separated by a predetermined distance or more. Further, in the case of performing a formation change that compresses the formation due to the speed of the unmanned boat or the like exceeding a predetermined range, it can be determined that formation return is performed when the speed of the unmanned boat 1000 or the like drops within the predetermined range.

[0159] Next, it is determined which processing step to transition to according to whether it is determined that formation return is to be performed (step 508). In this step, if it is determined that formation return is to be performed, the process is transitioned to step 509, while if it is determined that formation return is not to be performed, the process returns to step 506.

[0160] Next, if it is determined in step 508 that formation return is to be performed, the formation return execution unit 2530 starts the formation return operation (step 509).

[0161] Next, it is determined which processing step to transition to according to whether the grasped communication intensity has decreased below a predetermined value (step 510). In this step, if it is determined that the communication intensity has decreased below the predetermined value, the process is transitioned to step 511, while if it is determined that the communication intensity has not decreased below the predetermined value, the processing of this flowchart is terminated.

[0162] Next, if it is determined in step 510 that the communication intensity has decreased below the predetermined value, the formation return interruption determination unit 2540 interrupts the formation return or the like (step 504). In this step, instead of interrupting the formation return, a movement operation for narrowing the distance between the unmanned boats may be performed.

[0163] (A-1-13. Formation Pattern of Unmanned Boat Group 1010) Below, a plurality of formation patterns of the unmanned boat group 1010 determined by the formation determination unit 2320 will be described.

[0164] (A-1-13-1. Branch Structure Formation) FIG. 16 is a diagram showing an example of a branch connection formation, which is an example of the formation pattern of the unmanned boat group 1010. In the example shown in FIG. 16, a branch connection formation composed of one parent boat 1001 and twelve child boats 1002 connected by a wireless communication network to each other is shown. Here, the parent boat 1001 is a vessel that serves as a hub of the wireless communication network connecting a plurality of unmanned boats 1000 within the unmanned boat group. In the branch connection formation shown in FIG. 16, the communication path branches into a plurality of paths from the parent boat 1001, and each child boat 1002 is connected by a wireless communication network.

[0165] As an example, when the formation determination unit 2320 acquires measurement data in the activity area of the unmanned boat group 1010 by the measurement sensor 1110 of the unmanned boat 1000, particularly when improving the search rate or the like by more efficiently acquiring measurement data in a wide activity area, the branch connection formation shown in FIG. 16 can be determined as the formation of the unmanned boat group 1010.

[0166] (A-1-13-2. Formation during Movement such as Slightly V-shaped Formation) Hereinafter, with reference to FIGS. 17 to 19, the formation during movement when the unmanned boat group 1010 moves will be described. FIG. 17 is a diagram showing an example of a slightly V-shaped formation, which is an example of the formation pattern of the unmanned boat group 1010.

[0167] As shown in FIG. 17, the slightly V-shaped formation is a formation that can move more efficiently when the unmanned boat group 1010 moves as a group, and is a formation in which the parent boat 1001 and the child boats 1002 are arranged in a slightly V-shape with the moving direction of the unmanned boat group 1010 as the apex. As an example, when the formation determination unit 2320 moves the unmanned boat group 1010 as a group, this slightly V-shaped formation can be determined as the changed formation. The formation determination unit 2320 determines, for example, when moving the unmanned boat group 1010 as a group, particularly when moving the unmanned boat group 1010 at a speed equal to or higher than a predetermined value or for a time equal to or longer than a predetermined time, that the effect of changing to the slightly V-shaped formation can be obtained, and determines to change to the slightly V-shaped formation.

[0168] Note that the master device 1001 can be placed at the vertex position of the V shape. In this way, by placing the master device at the vertex position of the V shape, the master device can be placed near the center of the communication network within the formation, so that measurement data and other information can be aggregated more quickly from each slave device 1002 of the unmanned boat group 1010.

[0169] Also, the angle (angle α) of the vertex of the V shape can be appropriately determined according to the moving speed of the unmanned boat group 101. As an example, when the moving speed of the unmanned boat group 101 is relatively fast, the angle α can be set to a relatively small angle, and when the moving speed of the unmanned boat group 101 is relatively slow, the angle α can be set to a relatively large angle.

[0170] In addition to the formation shown in Fig. 17, there are also variations of multiple formation patterns for the approximate V-shaped formation. Fig. 18 is a diagram showing other multiple examples of the approximate V-shaped formation of the unmanned boat group 1010.

[0171] Fig. 18a shows an example of a formation in which a series configuration composed of a plurality of unmanned boats 1000 is added in a row inside the V of the approximate V-shaped formation. The added row in this figure is connected to the master device 1001 by wireless communication. Next, Fig. 18b shows an example of a formation in which a series configuration composed of a plurality of unmanned boats 1000 is added in two rows inside the V of the approximate V-shaped formation. The added row in this figure is connected to the master device 1001 by wireless communication. Figs. 18a and 18b show examples of formations in which one row or two rows of series configurations connected to the master device 1001 are added inside the V of the approximate V-shaped formation, but the number of series configurations to be added may be three or more.

[0172] Next, FIG. 18c shows another example of a formation in which four rows of a series configuration are added inside the V of a substantially V-shaped formation. The four rows of the series configuration added to the formation shown in FIG. 18c are connected to the slave unit 1002 instead of the master unit 1001. Further, FIG. 18d shows an example of a formation in which five rows of a series configuration are added inside the V of a substantially V-shaped formation. Among the five rows of the series configuration added in FIG. 18d, one row is connected to the master unit 1001, and the other four rows are connected to the slave unit 1002. The number of rows of the series configuration added inside the substantially V-shaped formation is not limited to the four rows and five rows shown in FIGS. 18c and 18d, and may be four rows or more.

[0173] Next, FIG. 18e shows an example of a formation in which three unmanned boats 1000 are arranged inside the V of a substantially V-shaped formation. The three unmanned boats 1000 added to the formation shown in FIG. 18e are connected to a plurality of other slave units 1002 via a wireless communication path, and even if one wireless communication path is cut off, they can communicate with the master unit 1001 indirectly via other wireless communication paths. Thus, a formation and a communication network configuration are provided in which the wireless communication paths are redundant.

[0174] FIG. 18f shows an example of a formation in which eight unmanned boats 1000 are arranged inside the V of a substantially V-shaped formation. The eight unmanned boats 1000 added to the formation shown in FIG. 18f are connected to a plurality of other slave units 1002 via a wireless communication path, and even if one wireless communication path is cut off, they can communicate with the master unit 1001 indirectly via other wireless communication paths. Thus, a formation and a communication network configuration are provided in which the wireless communication paths are redundant.

[0175] As shown in FIGS. 18e and 18f, a part of the plurality of unmanned boats 1000 constituting the unmanned boat group 1010 is arranged in the inner area of the substantially V-shape, and the unmanned boats 1000 arranged in the inner area are connected to a plurality of other unmanned boats 1000 via a wireless communication network. By this formation, the communication path is made redundant, and even if a communication interruption occurs in a part of the communication paths, the operation of the unmanned boat group 1010 can be continued. Therefore, in particular, when the moving speed of the unmanned boat group 1010 is higher than a predetermined value, it is desirable to make the communication network a redundant connection as shown in FIGS. 18e and 18f.

[0176] In FIGS. 17 and 18 described above, a substantially V-shaped formation was described as the formation during movement when the unmanned boat group 1010 moves, but a formation other than the substantially V-shaped formation can also be used as the formation during movement. FIG. 19 is a diagram showing an example of a substantially rectangular formation, which is an example of the formation pattern of the unmanned boat group 1010. In the substantially rectangular formation shown in FIG. 19, when the unmanned boat group 1010 is moved as a group, it is a formation that can move more efficiently, and it is a substantially rectangular formation with the traveling direction in which the unmanned boat group 1010 moves as the longitudinal direction. As an example, when the unmanned boat group 1010 is moved as a group, the formation determination unit 2320 can determine this substantially rectangular formation as the formation after the change.

[0177] In addition, the master aircraft 1001 and a plurality of slave aircraft 1002 are arranged at positions in front of the traveling direction of the substantially rectangular formation, and other slave aircraft 1002 are arranged on the rear side from the master aircraft 1001 and the slave aircraft 1002. Further, the length of the width of the rectangular unmanned boat group 1010 with respect to the traveling direction can be appropriately determined according to the moving speed of the unmanned boat group 101. As an example, when the moving speed of the unmanned boat group 101 is relatively fast, the length of the width can be made relatively short, and when the moving speed of the unmanned boat group 101 is relatively slow, the length of the width can be made relatively long.

[0178] For the substantially rectangular formation, a plurality of variations are conceivable for the wireless communication network configuration. FIG. 19a shows a formation and a wireless communication network configuration in which three rows of series configurations in which a plurality of unmanned boats 1000 are connected in series by wireless communication are arranged along the traveling direction of the unmanned boat group 1010. Next, FIG. 19b shows a formation and a communication network configuration in which a plurality of unmanned boats 1000 constituting the substantially rectangular formation are connected to other plurality of slave aircraft 1002 by wireless communication paths, and even if one wireless communication path is cut off, they can communicate with the master aircraft 1001 indirectly through other wireless communication paths, so that the wireless communication paths are redundant. Therefore, particularly when the moving speed of the unmanned boat group 1010 is faster than a predetermined value, it is desirable to make the communication network a redundant connection as shown in FIG. 19b.

[0179] (A-1-13-3. Formation for obstacle avoidance) The avoidance formation when the unmanned boat group 1010 avoids an object to be avoided such as an obstacle or an avoidance area such as a fairway will be described below with reference to FIGS. 20 to 23. FIG. 20 is a diagram showing two examples of an avoidance formation which is an example of the formation pattern of the unmanned boat group 1010.

[0180] The avoidance formation shown in FIG. 20 is an avoidance formation determined as the formation after change by the formation change determination unit 2300 when an object to be avoided or an avoidance area is detected in front of the traveling direction of the unmanned boat group 1010, or when an object to be avoided or an avoidance area approaching the unmanned boat group 1010 is detected, and is an avoidance formation for avoiding the object to be avoided and the avoidance area.

[0181] FIG. 20a is a diagram showing a separation avoidance formation which is an example of an avoidance formation. The separation avoidance formation shown in FIG. 20a is a formation in which at least a part of the group formation is separated so that the relative distance between some of the unmanned boats in the unmanned boat group 1010 and some other unmanned boats is increased, and by separating the formation, it becomes possible to avoid an object to be avoided such as a ship and an avoidance area.

[0182] FIG. 20b is a diagram showing a compression avoidance formation which is an example of an avoidance formation. The compression avoidance formation shown in FIG. 20b is a formation in which at least a part of the group formation is compressed so that the formation width of the unmanned boat group 1010 as seen from at least one direction becomes narrower, and by compressing the formation, it becomes possible to avoid an object to be avoided such as a ship and an avoidance area.

[0183] FIG. 21 is a diagram showing a state in which a moving object to be avoided is avoided by changing the formation of the unmanned boat group 1010 to a separation avoidance formation. FIG. 21 shows the states of the unmanned boat group 1010 and the ship at the time t1 when it is detected that a ship is approaching the unmanned boat group 1010 as a moving object to be avoided, and at the time t2 when the formation is changed to a separation avoidance formation to avoid the ship.

[0184] At time t1, when the relative distance between the approaching ship and the unmanned boat group 1010 becomes equal to or less than a predetermined value based on the determination result of the avoidance area determination unit 2220, the formation change necessity determination unit 2310 determines that a formation change is necessary. Further, the formation determination unit 2320 grasps information on the avoidance object such as the position, size, and speed of the approaching ship based on the determination result of the avoidance area determination unit 2220, and grasps the arrangement state of the plurality of unmanned boats 1000 in the unmanned boat group 1010 based on the determination result by the unmanned boat state determination unit 2230, thereby setting the separation avoidance formation as the formation after the change. Furthermore, the formation determination unit 2320 determines the location and direction of separation of the formation. Here, the formation determination unit 2320 can determine the separation position of the unmanned boat group 1010 based on the position of the straight line or curve of the predicted path of the moving avoidance object, and determine the separation avoidance formation after the change so that the separated formation moves in a direction substantially perpendicular to the predicted path.

[0185] At time t2, the formation change control unit 2500 changes the formation to the determined separation avoidance formation to avoid the approaching ship.

[0186] FIG. 22 is a diagram showing a state in which an immovable avoidance object is avoided by changing the formation of the unmanned boat group 1010 to a separation avoidance formation. FIG. 22 particularly shows the state of the unmanned boat group 1010 and the ship at time t1 when it is detected that a wave dissipating block or the like, as an immovable avoidance object, is approaching the moving unmanned boat group 1010, and at time t2 when the formation is changed to the separation avoidance formation to avoid the wave dissipating block or the like.

[0187] At time t1, based on the determination result of the avoidance area determination unit 2220, the formation change necessity determination unit 2310 determines that a formation change is necessary when the relative distance between the stationary avoidance object (such as a wave-dissipating block) around the unmanned boat group 1010 moving and the unmanned boat group 1010 becomes equal to or less than a predetermined value. Furthermore, based on the determination result of the avoidance area determination unit 2220, the formation determination unit 2320 grasps information on the avoidance object such as the position and size of the approaching wave-dissipating block or the like, and based on the determination result by the unmanned boat state determination unit 2230, by grasping the speed at which the unmanned boat group 1010 approaches the wave-dissipating block or the like and the arrangement state of the plurality of unmanned boats 1000 in the unmanned boat group 1010, sets the separation avoidance formation as the formation after the change, and further determines the location and direction of separating the formation. Here, the formation determination unit 2320 can determine the separation position of the unmanned boat group 1010 based on the straight line or curve of the planned route of the unmanned boat group 1010, and determine the separation avoidance formation after the change so that the separated formation moves in a direction substantially perpendicular to the planned route.

[0188] At time t2, the formation change control unit 2500 changes the formation to the determined separation avoidance formation to avoid the stationary avoidance object such as the approaching wave-dissipating block. In FIG. 22, a wave-dissipating block is shown as an example of the stationary avoidance object, but in addition to this, breakwaters, shoals, land, offshore power generation facilities, water structures such as sea runways, fish cages, sea buoys, etc. can also have their formations changed to the same separation avoidance formation as the stationary avoidance object. Also, it is applicable not only to stationary avoidance objects but also when avoiding a stationary avoidance area such as a shipping lane.

[0189] FIG. 23 is a diagram showing a state in which an avoidance object moving is avoided by changing the formation of the unmanned boat group 1010 to a compression avoidance formation. FIG. 23 particularly shows the state of the unmanned boat group 1010 and the ship at time t1 when it is detected that a ship is approaching the unmanned boat group 1010 as the moving avoidance object, and at time t2 when the formation is changed to the compression avoidance formation to avoid the ship.

[0190] At time t1, when the relative distance between the approaching ship and the unmanned boat group 1010 becomes equal to or less than a predetermined value based on the determination result of the avoidance required area determination unit 2220, the formation change necessity determination unit 2310 determines that a formation change is necessary. Further, the formation determination unit 2320 grasps information on the object to be avoided such as the position, size, and speed of the approaching ship based on the determination result of the avoidance required area determination unit 2220, and grasps the arrangement state of the plurality of unmanned boats 1000 in the unmanned boat group 1010 based on the determination result by the unmanned boat state determination unit 2230, thereby setting the compressed avoidance formation as the formation after the change. Furthermore, the formation determination unit 2320 determines the location and direction of compression of the formation. Here, the formation determination unit 2320 can determine the compression location of the unmanned boat group 1010 based on the position of the straight line or curve of the predicted path of the moving object to be avoided, and determine the compressed avoidance formation after the change so that the formation is compressed and moved in a direction substantially perpendicular to the predicted path.

[0191] At time t2, the formation change control unit 2500 changes the formation to the determined compressed avoidance formation to avoid the approaching ship.

[0192] (A-1-13-4. Formation during activities in a narrow area) Hereinafter, with reference to FIGS. 24 to 26, the formation when the unmanned boat group 1010 conducts activities in a narrow area will be described. FIG. 24 is a diagram showing an example of the formation for narrow areas in the formation pattern of the unmanned boat group 1010. In particular, FIG. 24 shows the formation for narrow areas determined by the formation determination unit 2320 when the unmanned boat group 1010 is deployed in a narrow area where the area width or area area avoiding immovable objects to be avoided and areas requiring avoidance is smaller than a predetermined value, and activities such as monitoring, inspection, and investigation are carried out.

[0193] In the example shown in FIG. 24, when the narrow area (such as inside the bay) inside the immovable objects to be avoided such as the port quay and the breakwater is used as the activity area, a plurality of unmanned boats constituting at least a part of the unmanned boat group 1010 are arranged in a line so as to enter the narrow area, showing the state of the unmanned boat group 1010 performing activities such as monitoring, inspection, and investigation even in the narrow area. In this way, in the narrow area, by deforming all or part of the unmanned boat group 1010 into an elongated shape in a line, it becomes possible to operate even in the complex narrow area. Note that the communication connection of the part with the elongated line shape for the narrow area formation may be a series connection configuration that communicates with other adjacent unmanned boats 1000 as shown in FIG. 24, but it is not necessarily a series connection with an adjacent unmanned boat, and it can be a communication network configuration that communicates with any other unmanned boat within the communicable range.

[0194] FIG. 25 is a diagram showing another example of the formation pattern for narrow areas in the formation pattern of the unmanned boat group 1010. In particular, FIG. 25 shows the formation pattern for narrow areas determined by the formation determination unit 2320 when the unmanned boat group 1010 is deployed in a narrow area where the width or area of the area avoiding immovable objects to be avoided and areas to be avoided is smaller than a predetermined value and passes through the narrow area.

[0195] In the example shown in FIG. 25, when passing through the narrow area between immovable objects to be avoided such as the port quay and the breakwater, a plurality of unmanned boats constituting at least a part of the unmanned boat group 1010 are arranged in a line so as to enter the narrow area, showing the state of the formation change of the unmanned boat group 1010 at times t1, t2, and t3 when the unmanned boat group 1010 passes through the narrow area.

[0196] At time t1, it shows a state where a plurality of unmanned boats 1000 in front of the traveling direction of the unmanned boat group 1010 form a line and enter a narrow area. At time t2, it shows a state where a part in front of the traveling direction of the unmanned boat group 1010 has completed passing through the narrow area, and other unmanned boats 1000 including the mother ship 1001 are passing through or before passing through the narrow area. At time t2, the formation change control unit 2500 makes the unmanned boat 1000 that has completed passing through the narrow area wait in the area near or at the exit of the narrow area. At time t3, it shows a state where all the unmanned boats 1000 in the unmanned boat group 1010 have completed passing through the narrow area. At time t3, the unmanned boat group 1010 starts to move from the area near the exit of the narrow area together with a plurality of unmanned boats 1000 that were waiting in the area near or at the exit of the narrow area.

[0197] As shown in FIG. 25, when passing through a narrow area, by deforming all or a part of the unmanned boat group 1010 into an elongated shape in a line, it becomes possible to pass through the narrow area. Note that the communication connection of the part with the elongated line shape of the formation for narrow areas may be a series connection configuration that communicates with other adjacent unmanned boats 1000 as shown in FIG. 25, but it is not necessarily a series connection with adjacent unmanned boats, and it can be a communication network configuration that communicates with any other unmanned boat within the communicable range.

[0198] FIG. 26 is a diagram showing another example of the formation for narrow areas in the formation pattern of the unmanned boat group 1010. In particular, FIG. 26 shows the first narrow area formation determined by the formation determination unit 2320 when the unmanned boat group 1010 is deployed in a narrow area where the width or area of the area avoiding a fixed object to be avoided (coast) or an area to be avoided (congested highway) is narrower than a predetermined value and passes through the narrow area.

[0199] In the example shown in FIG. 26, when passing through the narrow area inside the gulf coast and the overcrowded highway area, at least some of the unmanned boats constituting the unmanned boat group 1010 enter the narrow area, and the unmanned boats that have entered the narrow area pass through the narrow area in a formation maintaining a relative distance range in which they can communicate wirelessly with at least two or more other unmanned boats. The state of the formation change of the unmanned boat group 1010 at times t1, t2, and t3 is shown.

[0200] At time t1, it shows a state where some of the unmanned boats 1000b in front of the advancing direction of the unmanned boat group 1010 enter the narrow area in a formation maintaining a relative distance that can communicate with two or more other unmanned boats. At this time, as shown in FIG. 26, the unmanned boat 1000 in front of the advancing direction may be connected to two or more other unmanned boats within the communicable range by a wireless communication network.

[0201] Also, at time t2, it shows a state where some of the unmanned boats 1000b in front of the advancing direction of the unmanned boat group 1010 have completed passing through the narrow area and moved to a direct communication range with the ground base station 4000 provided near the exit of the narrow area. Here, the formation change control unit 2500 can move the unmanned boat 1000b to the communicable area based on the information on the installation position and communicable area of the ground base station 4000 acquired by the external information acquisition unit 2120. In this case, the unmanned boat 1000b that has moved to the direct communication range with the ground base station 4000 is assigned the function as a master boat 1001 that relays the communication between the ground-side communication network and the unmanned boat group 1010.

[0202] Also, at time t3, it shows a state where almost all of the unmanned boats 1000 in the unmanned boat group 1010 have completed passing through the narrow area. At time t3, the unmanned boat group 1010 merges with a plurality of unmanned boats 1000 that were waiting in the area near the exit of the narrow area or in the vicinity thereof and the unmanned boats 1000 that have completed passing through the narrow area, and starts moving the unmanned boat group 1010 from the area near the exit of the narrow area.

[0203] As shown in FIG. 26, the formation of the unmanned boat group 1010 when passing through a narrow area does not necessarily have to be a single-file formation, and it may be a zigzag arrangement, a grid arrangement, or other arrangements such as a diamond shape or a hexagonal shape as shown in FIG. 26. Also, the wireless communication network configuration of the unmanned boat group 1010 when passing through a narrow area is a redundant network configuration in which communication connections are made with a plurality of other unmanned boats within the communication range, so that even if some communication connections are interrupted, communication connections with all the unmanned boats 1000 within the unmanned boat group 1010 can be maintained.

[0204] Also, when there is an area where direct communication with the ground base station 4000 is possible, at least one unmanned boat 1000 is moved to that area to relay communication between the ground base station 4000 and the other unmanned boats 1000 in the unmanned boat group 1010, making it possible to redundant the communication between the unmanned boat group 1010 and the ground-side network.

[0205] In FIGS. 24 to 26 described above, an example of changing the formation to a narrow-area formation when the unmanned boat group 1010 is operating in a narrow area has been described. However, when the width of the narrow area is not much narrower than the width of the branch-structure formation, which is the basic shape of the unmanned boat group 1010, it may be changed to a formation with the width compressed while maintaining the branch-structure formation, and the narrow area may be entered or passed through.

[0206] Also, when the width of the narrow area is even narrower and it is difficult to enter or pass through the narrow area with a formation in which the branch-structure shape is compressed, it may be entered or passed through the narrow area by the substantially V-shaped formation described above. Also, when the width of the narrow area is even narrower and it is difficult to enter or pass through by the substantially V-shaped formation, it can be entered or passed through the narrow area by the narrow-area formation shown in FIGS. 24 to 26.

[0207] Note that the narrow area described above is not only an area that avoids immovable objects to be avoided and areas to be avoided, but also, when crossing a fairway area where ships are densely navigating, etc., depending on the distance between multiple ships in navigation based on AIS information, etc., it may be a narrow area defined with multiple moving ships as objects to be avoided. Also in this case, as described above, it is possible to determine whether or not to change the formation of the unmanned boat group 1010 and the formation to be changed according to the comparison between the width of the narrow area and the width of the branched formation which is the basic shape of the unmanned boat group 1010.

[0208] (A-1-13-5. Serial formation for communication) Hereinafter, with reference to FIG. 27, in the case where there is a communicable area where the unmanned boat group 1010 can perform wireless communication with an external communication network such as the ground side, the serial formation for communication when communicating with the communication network will be described. FIG. 27 is a diagram showing an example of the serial formation for communication in the formation pattern of the unmanned boat group 1010.

[0209] In particular, FIG. 27 shows a case where a ground base station 4000 connectable to the ground-side communication network is installed on land and there is a communicable area where direct wireless communication with the ground base station 4000 is possible. In this case, the formation change determination unit 2300 arranges at least some of the unmanned boats 1000a of the unmanned boat group 1010 in the communicable area, and the unmanned boats 1000a and the other unmanned boats 1000 of the unmanned boat group 1010 are determined as the formation after changing to a serial formation connected in series by a wireless communication network. Also, the formation change control unit 2500 can move the unmanned boat 1000a to the communicable area based on the installation position of the ground base station 4000 and the information on the communicable area acquired by the external information acquisition unit 2120.

[0210] In the example shown in FIG. 27, the unmanned boat 1000a located in the communicable area is connected to the master unit 1001 through a wireless communication network configuration in which a plurality of unmanned boats 1000 are connected in series. In this way, by forming a formation in which a part of the unmanned boat group 1010 is extended by a serial connection network, some of the unmanned boats 1000a can be arranged in a communicable area where they can directly communicate with the ground base station 4000, and a communication path with the ground base station 4000 can be constructed. Therefore, it is possible to maintain the communication path when communication with the communication satellite 3000 etc. is not possible, and to make the communication path redundant by using it in combination with communication via the communication satellite 3000 etc.

[0211] (A-1-13-6. Wireless communication network using the aircraft 8100 and the submarine 8200) Hereinafter, an example of configuring a wireless communication network in cooperation with not only the unmanned boat 1000 but also the aircraft 8100 and the submarine 8200 will be described with reference to FIG. 28. FIG. 28 is a diagram showing an example of a wireless communication network using the aircraft 8100 and the submarine 8200.

[0212] In the example shown in FIG. 28, when each unmanned boat 1000 in the unmanned boat group 1010 cannot maintain wireless communication only through the wireless communication network between the unmanned boats 1000, etc., an example of connecting each unmanned boat 1000 in the unmanned boat group 1010 to the communication network by relaying wireless communication in cooperation with the aircraft 8100 or the submarine 8200 is shown.

[0213] For example, when it is not possible to directly perform wireless communication due to an obstacle between the unmanned boat 1000a and the master unit 1001 or a long relative distance between the unmanned boat 1000a and the master unit 1001, and there is an aircraft 8100 capable of communication relaying, communication relaying is performed by the aircraft 8100 to establish a communication connection between the unmanned boat 1000a and the master unit 1001. Also, when it is not possible to directly perform wireless communication due to a long relative distance between the unmanned boat 1000b and the unmanned boat 1000c or other sea state conditions, and there is a submarine 8200 capable of communication relaying, communication relaying is performed by the submarine 8200 to establish a communication connection between the unmanned boat 1000b and the unmanned boat 1000c.

[0214] In this way, the wireless communication network within the unmanned boat group 1010 can also be partially constructed by using communication relays by other moving objects such as the flying object 8100 and the submarine 8200 to form the network.

[0215] (A-1-13-7. Formation change when moving to the activity area) The following uses FIG. 29 to show the state of the formation change of the unmanned boat group 1010 at times t1, t2, and t3 from when the unmanned boat group 1010 is released along the coast or the like until it is moved from the release point to the activity area of the unmanned boat group 1010 and starts activities in the activity area. FIG. 29 is a diagram showing an example of the formation change when the unmanned boat group 1010 is moved to the activity area.

[0216] At time t1, a plurality of unmanned boats 1000 constituting the unmanned boat group 1010 are released along the coast or the like. At time t1, the released unmanned boats 1000 establish communication connections with other unmanned boats 1000. Also, the released unmanned boats 1000 wait in the vicinity of the release point until the release of the unmanned boats 1000 in the unmanned boat group 1010 is completed. In order for the released unmanned boats 1000 to be able to communicate with the overall control system 2000 immediately, it is desirable to release the unmanned boat 1000 responsible for the function of the master boat 1001 first or in the first half of the unmanned boat group 1010 to establish a communication connection with the overall control system 2000 and construct a wireless communication network within the unmanned boat group 1010.

[0217] Next, at time t2, the released unmanned boat group 1010 is moved together in a compressed formation state where the relative distance between the unmanned boats 1000 is relatively close. In this way, when moving the unmanned boat group 1010 to the activity area, by moving in a narrow formation instead of a wide formation, the possibility of interference with moving or stationary obstacles can be reduced, and an extra formation change operation for obstacle avoidance can be avoided.

[0218] Next, at time t3, after the unmanned boat group 1010 has completed moving to the activity area, the formation is changed to a formation with a wider deployment range than the narrow formation during movement. Note that the timing of changing the formation from the narrow formation during movement to the wide formation in the activity area is not limited to after the completion of the movement to the activity area, and the formation may be widened during movement.

[0219] As described above, when moving the unmanned boat group 1010 from an area such as the release point to the activity area, the formation change decision unit 2300 determines that the formation is a narrow formation during the movement to the activity area, and the formation after moving to the activity area is a formation with a wider deployment range than the formation during movement, thereby preventing unnecessary formation changes during movement.

[0220] (A-1-13-8. Formation change process during formation expansion) Hereinafter, a plurality of variations of the formation change process in the case of performing formation expansion will be described with reference to FIGS. 30 and 31. FIG. 30 is a diagram showing an example of the state of formation change when the formation change control unit 2500 performs formation expansion. In particular, in FIG. 30, when expanding the formation from a formation with a high arrangement density of the unmanned boats 1000 to a formation with a low arrangement density, the states at times t1, t2, and t2 in the formation expansion operation of preferentially increasing the distance between the unmanned boats 1000 from a position close to the master machine 1001 are shown.

[0221] At time t1, the formation of the unmanned boat group 1010 is a branched structure formation before the start of formation change. Next, at time t2, a movement operation is performed to increase the relative distance between the unmanned boats 1000 preferentially from a position close to the master machine 1001, which is the hub of the wireless communication network connecting the plurality of unmanned boats in the unmanned boat group 1010. Next, at time t3, a movement operation is performed to increase the relative distance between the unmanned boats 1000 at a position far from the master machine 1001.

[0222] FIG. 31 is a diagram showing another example of the state of formation change when the formation is expanded by the formation change control unit 2500. In particular, in FIG. 31, when expanding the formation from a formation with a high arrangement density of the unmanned boats 1000 to a formation with a low arrangement density, the states at each of the times t1, t2, and t2 in the formation expansion operation of preferentially increasing the distance between the unmanned boats 1000 from a position far from the mother ship 1001 are shown.

[0223] At time t1, the formation of the unmanned boat group 1010 is a branched structure formation before the start of formation change. Next, at time t2, a movement operation is performed to preferentially increase the relative distance between the unmanned boats 1000 from a position far from the mother ship 1001, which is the hub of the wireless communication network connecting a plurality of unmanned boats within the unmanned boat group 1010. Next, at time t3, a movement operation is performed to increase the relative distance between the unmanned boats 1000 at a position close to the mother ship 1001.

[0224] In the above-described embodiment, the control system 1 using the unmanned boat group 1010 composed of a plurality of unmanned boats 1000 operating on the sea or water has been described. However, the present invention is not limited to ships such as the unmanned boat 1000, and can be applied to any unmanned aircraft such as an unmanned aerial vehicle capable of moving in the air, an unmanned submarine capable of moving in the sea, an unmanned vehicle capable of moving on land, or a group of unmanned aircraft having a plurality of unmanned aircraft.

[0225] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included in the present invention.

[0226] [A-2. Effects of the Present Embodiment] According to the above-described embodiments, the formation of a drone group including a plurality of drones or the communication network configuration within the drone group can be changed more appropriately. As an example, based on the state regarding the object or area to be avoided in the activity area of the drone group, or the state regarding the operation including the speed, acceleration, deceleration, turning speed, etc. of the drone group, or the state such as the search rate regarding the operation history of the drone group, by changing the group formation or the communication network configuration within the drone group, it becomes possible to change to a formation and network configuration suitable for the environment of the activity area, the state of the drone group, and the state of the operation history.

Explanation of Signs

[0227] 1…Control System (System) 100…Input Device 200…Output Device 300…Processing Device 400…Main Memory Device 500…Auxiliary Storage Device 600…Communication Device 700…Bus 1000…Unmanned Boat 1001…Master Drone 1002…Slave Drone 10021…Primary Connected Slave Drone 10022…Secondary Connected Slave Drone 10023…Tertiary Connected Slave Drone 1010…Unmanned Boat Group 1100…Measurement Unit 1110…Measurement Sensor 1120…Measurement Control Unit 1200…Self - Aircraft State Judgment Unit 1210…Navigation State Judgment Unit 1220…Internal State Judgment Unit 1230…External State Judgment Unit 1300…Navigation Unit 1400…Communication Unit 1410…Inter - Unmanned - Boat Communication Unit 1420…Satellite Communication Unit 1430…External Communication Unit 1500…Judgment Unit 1510…Object Detection Judgment Unit 1600…Recording Unit 1610…Measurement Data Recording Unit 1620…Self - Aircraft State Recording Unit 1630…Judgment Information Recording Unit 2000…Overall Control System 2100…Information Import Unit 2110…Activity Area Information Acquisition Unit 2120…External information acquisition unit 2130…Formation pattern acquisition unit 2140…External user input information acquisition unit 2150…Detection information acquisition unit 2200…State determination unit 2210…Detected object analysis unit 2220…Area to be avoided determination unit 2230…Unmanned boat state determination unit 2240…Unmanned boat operation history determination unit 2300…Formation change decision unit 2310…Necessity of formation change decision unit 2320…Formation decision unit 2330…Formation change process decision unit 2400…Communication configuration decision unit 2410…Necessity of communication switching determination unit 2420…Communication configuration change decision unit 2430…Communication configuration change process decision unit 2500…Formation change control unit 2510…Formation change execution unit 2520…Formation change interruption determination unit 2530…Formation return execution unit 2540…Formation return interruption determination unit 2600…Command output unit 2610…Display unit 2620…Control command unit 2700…User input reception unit 2800…Information communication unit 3000…Communication satellite 4000…Ground base station 5000…Cooperative system 6000…External system 7000…Object 8100…Flying object 8200…Submarine

Claims

**Claim 1**: An unmanned boat group having a plurality of unmanned boats sailing on the sea, a state determination unit that determines a state regarding the activity area of the unmanned boat group, or a state regarding the operation of the unmanned boat group, or a state regarding the operation history of the unmanned boat group, a formation change determination unit that determines a changed formation of the unmanned boat group according to the determination information by the state determination unit, a communication configuration determination unit that changes the network configuration of a wireless communication network connecting a plurality of the unmanned boats in the unmanned boat group when it is determined that the relative distance between the communication-connected unmanned boats exceeds the communication possible distance according to the changed formation determined by the formation change determination unit, a command output unit that transmits and outputs a control command corresponding to the changed formation determined by the formation change determination unit and the changed network configuration determined by the communication configuration determination unit to the unmanned boat group, or displays and outputs information regarding the control command from a display unit, a control system. **Claim 2** In the control system according to claim 1, the formation change determination unit determines a formation change process when changing the formation of the unmanned boat group according to the determined changed formation, and the command output unit transmits and outputs the control command corresponding to the formation change process to the unmanned boat group, or displays and outputs information regarding the control command from the display unit, a control system. **Claim 3** In the control system according to claim 1, the communication configuration determination unit determines a network configuration change process when changing the network configuration of the unmanned boat group according to the determined changed network configuration, and the command output unit transmits and outputs the control command corresponding to the network configuration change process to the unmanned boat group, or displays and outputs information regarding the control command from the display unit, a control system. **Claim 4** In the control system according to claim 1, the state regarding the activity area of the unmanned boat group determined by the state determination unit includes information on moving or stationary avoidance objects or avoidance areas in the activity area of the unmanned boat group, a control system. **Claim 5** In the control system according to claim 4, the formation change determination unit determines whether formation change is necessary or determines the changed formation according to the relative distance or positional relationship between the avoidance object or the avoidance area and the unmanned boat group or the unmanned boat in the activity area determined by the state determination unit, a control system. **Claim 6** In the control system according to claim 1, The state regarding the operation of the unmanned boat group determined by the state determination unit includes at least one of the states of the speed, acceleration, deceleration, and turning speed of the unmanned boat, a control system.

7. In the control system according to claim 6, The formation change determination unit determines whether formation change is necessary or determines the formation after change according to the state regarding the operation of the unmanned boat group determined by the state determination unit, a control system.

8. An unmanned boat group having a plurality of unmanned boats navigating on the sea, and searching for an object in a marine area by measurement sensors provided on the unmanned boats, A state determination unit that determines the state regarding the operation history of the unmanned boat group, A formation change determination unit that determines at least one of whether formation change is necessary and the formation after change of the unmanned boat group according to the determination information by the state determination unit, A command output unit that transmits and outputs a control command corresponding to the determination content by the formation change determination unit to the unmanned boat group, or displays and outputs information regarding the control command from a display unit, and The state regarding the operation history of the unmanned boat group determined by the state determination unit includes the measurement implementation area measured by the measurement sensor, or the measurement implementation time, or the search rate regarding the degree of measurement implementation calculated by the measurement implementation area and the measurement implementation time, When the search rate is lower than a preset target value, expanding the formation to widen the deployment area of the unmanned boat group, a control system.

9. In the control system according to claim 8, The formation change determination unit determines whether formation change is necessary or determines the formation after change according to the state regarding the operation history of the unmanned boat group determined by the state determination unit, a control system.

10. In the control system according to claim 4, When deploying the unmanned boat group in a narrow area where the area width or area area avoiding the object to be avoided or the area to be avoided is narrower than a predetermined value, The formation change determination unit determines, as the formation after change, a formation for narrow areas in which a plurality of the unmanned boats constituting at least a part of the unmanned boat group are arranged in a line within the narrow area, a control system.

11. In the control system according to claim 4, When deploying the unmanned boat group in a narrow area where the area width or area area avoiding the object to be avoided or the area to be avoided is narrower than a predetermined value, The formation change decision unit is a control system that determines, as a changed formation, a first narrow passage formation in which a first unmanned boat constituting at least a part of the unmanned boat group maintains a relative distance range within which wireless communication is possible with at least two or more other second unmanned boats.

12. In the control system according to claim 11, the first narrow passage formation is a formation in which a wireless communication network is connected between the first unmanned boat that maintains the relative distance range within which wireless communication is possible and at least two or more of the second unmanned boats, a control system.

13. In the control system according to claim 1, when there is a communicable area capable of wireless communication with an external communication network, the formation change decision unit determines, as a changed formation, a serial communication formation in which at least a part of the first unmanned boats of at least a part of the unmanned boat group arranged in the communicable area and at least a part of the other second unmanned boats of the unmanned boat group are connected in series by a wireless communication network, a control system.

14. In the control system according to claim 4, when the state determination unit detects the object to be avoided or the area to be avoided in front of the traveling direction of the unmanned boat group, or when the state determination unit detects the object to be avoided or the area to be avoided approaching the unmanned boat group, the formation change decision unit determines, as a changed formation, an avoidance formation that avoids the object to be avoided or the area to be avoided, a control system.

15. In the control system according to claim 14, the avoidance formation is a separation avoidance formation that separates at least a part of the group formation so that the relative distance between at least a part of the unmanned boats of the unmanned boat group and at least a part of the other unmanned boats increases, a control system.

16. In the control system according to claim 14, the avoidance formation is a compression avoidance formation in which at least a part of the group formation of the unmanned boat group is compressed so that the formation width when viewed from at least one direction becomes narrower, a control system.

17. In the control system according to claim 6, when at least any one of the speed, acceleration, deceleration, and turning speed of the unmanned boat determined by the state determination unit exceeds a predetermined range, the formation change decision unit determines, as a changed formation, a compression formation in which at least a part of the group formation of the unmanned boat group is compressed, a control system.

18. In the control system according to claim 1, when moving the unmanned boat group, The formation change determination unit determines a substantially V-shaped formation with the moving direction of the unmanned boat group as the apex as the formation after the change, the control system.

19. In the control system according to claim 18, The substantially V-shaped formation is a formation in which some of the unmanned boats in the unmanned boat group are arranged in the inner area of the substantially V-shaped area, and the unmanned boats are connected to other multiple unmanned boats by a wireless communication network, the control system.

20. An unmanned boat group having a plurality of unmanned boats sailing on the sea, A state determination unit that determines a state related to the activity area of the unmanned boat group, or a state related to the operation of the unmanned boat group, or a state related to the operation history of the unmanned boat group, A formation change determination unit that determines at least one of the necessity of changing the formation of the unmanned boat group and the formation after the change according to the determination information by the state determination unit, A command output unit that transmits and outputs a control command corresponding to the determination content by the formation change determination unit to the unmanned boat group, or displays and outputs information related to the control command from a display unit, When moving the unmanned boat group from the release position where the unmanned boat group is released to the activity area, The formation change determination unit determines the formation during the movement from the release position to the activity area as the first formation, and determines the formation after moving to the activity area as the second formation with a wider deployment range than the first formation, the control system.

21. In the control system according to claim 1, When acquiring measurement data by the measurement sensor of the unmanned boat, The formation change determination unit determines, as the formation after the change, the master boat that becomes the hub of the wireless communication network connecting a plurality of the unmanned boats in the unmanned boat group and a branched connection formation in which the communication paths of the wireless communication network branch from the master boat, the control system.

22. In the control system according to claim 2, A control system including a formation change control unit that controls the formation change of the unmanned boat group according to the formation change process.

23. An unmanned boat group having a plurality of unmanned boats sailing on the sea, A state determination unit that determines a state related to the activity area of the unmanned boat group, or a state related to the operation of the unmanned boat group, or a state related to the operation history of the unmanned boat group, A formation change determination unit that determines the formation after the change according to the determination information by the state determination unit, and determines a formation change process when changing the formation of the unmanned boat group according to the determined formation after the change. A formation change control unit that controls the formation change of the unmanned boat group according to the formation change process; A command output unit that transmits and outputs a control command according to the determination content by the formation change determination unit and a control command according to the formation change process to the unmanned boat group, or displays and outputs information related to the control command from a display unit; The formation change control unit is a control system that performs a movement operation to interrupt the formation change or return to the formation before the change according to the communication state in a wireless communication network connecting a plurality of the unmanned boats in the unmanned boat group.

24. An unmanned boat group having a plurality of unmanned boats navigating on the sea, A state determination unit that determines a state related to the activity area of the unmanned boat group, a state related to the operation of the unmanned boat group, or a state related to the operation history of the unmanned boat group; A formation change determination unit that determines a formation after change according to the determination information by the state determination unit and determines a formation change process when changing the formation of the unmanned boat group according to the determined formation after change; A formation change control unit that controls the formation change of the unmanned boat group according to the formation change process; A command output unit that transmits and outputs a control command according to the determination content by the formation change determination unit and a control command according to the formation change process to the unmanned boat group, or displays and outputs information related to the control command from a display unit; The unmanned boat group has a first unmanned boat, a second unmanned boat, and a third unmanned boat. When switching the unmanned boat connected to the first unmanned boat by a wireless communication network from the second unmanned boat to the third unmanned boat, The formation change control unit performs connection of wireless communication between the first unmanned boat and the third unmanned boat and disconnection of wireless communication between the first unmanned boat and the second unmanned boat when both the second unmanned boat and the third unmanned boat are located within a distance range where wireless communication with the first unmanned boat is possible.

25. An unmanned boat group having a plurality of unmanned boats navigating on the sea, A state determination unit that determines a state related to the activity area of the unmanned boat group, a state related to the operation of the unmanned boat group, or a state related to the operation history of the unmanned boat group; A formation change determination unit that determines a formation after change according to the determination information by the state determination unit and determines a formation change process when changing the formation of the unmanned boat group according to the determined formation after change; A formation change control unit that controls the formation change of the unmanned boat group according to the formation change process; A command output unit that transmits and outputs a control command according to the determination content by the formation change determination unit and a control command according to the formation change process to the unmanned boat group, or outputs information regarding the control command from a display unit; When changing the formation of the unmanned boat group from a first formation to a second formation with a lower arrangement density of the unmanned boats than the first formation, The formation change control unit is a control system that preferentially performs a movement operation of increasing the relative distance between a plurality of unmanned boats from a position close to the master boat of the unmanned boats that becomes a hub of a wireless communication network connecting the plurality of unmanned boats in the unmanned boat group.

26. An unmanned boat group having a plurality of unmanned boats sailing on the sea, A state determination unit that determines a state regarding the activity area of the unmanned boat group, a state regarding the operation of the unmanned boat group, or a state regarding the operation history of the unmanned boat group; A formation change determination unit that determines a changed formation according to the determination information by the state determination unit and determines a formation change process when changing the formation of the unmanned boat group according to the determined changed formation; A formation change control unit that controls the formation change of the unmanned boat group according to the formation change process; A command output unit that transmits and outputs a control command according to the determination content by the formation change determination unit and a control command according to the formation change process to the unmanned boat group, or outputs information regarding the control command from a display unit; When changing the formation of the unmanned boat group from a first formation to a second formation with a lower arrangement density of the unmanned boats than the first formation, The formation change control unit is a control system that preferentially performs a movement operation of increasing the relative distance between a plurality of unmanned boats from a position far from the master boat of the unmanned boats that becomes a hub of a wireless communication network connecting the plurality of unmanned boats in the unmanned boat group.

27. In the control system according to claim 22, The state regarding the activity area of the unmanned boat group determined by the state determination unit includes information on moving or stationary avoidance objects or avoidance areas in the activity area of the unmanned boat group. When the unmanned boat group passes through a narrow area narrower than a predetermined width or a predetermined area avoiding the avoidance object or the avoidance area, and a part of the first unmanned boats in the unmanned boat group has completed passing through the narrow area, and the other part of the second unmanned boats in the unmanned boat group is passing through or before passing through the narrow area, The formation change control unit is a control system that performs an operation of making the first unmanned boat that has completed passing through the narrow area wait at the exit of the narrow area or in the peripheral area of the exit.

28. A control method for a system including a group of unmanned boats having a plurality of unmanned boats navigating on the sea, wherein a computer performs a state determination step of determining a state related to the activity area of the group of unmanned boats, or a state related to the operation of the group of unmanned boats, or a state related to the operation history of the group of unmanned boats; a formation change determination step of determining a changed formation of the group of unmanned boats according to the determination information obtained in the state determination step; a communication configuration determination step of changing the network configuration of a wireless communication network that connects a plurality of the unmanned boats in the group of unmanned boats when it is determined that the relative distance between the communication-connected unmanned boats exceeds the communication possible distance according to the changed formation determined in the formation change determination step; a command output step of transmitting and outputting a control command corresponding to the changed formation determined in the formation change determination step and the changed network configuration determined in the communication configuration determination step to the group of unmanned boats, or displaying and outputting information related to the control command from a display unit; A control method for executing the above steps.

29. A program applicable to a system including a group of unmanned boats having a plurality of unmanned boats, wherein the computer executes a state determination command for determining a state related to the activity area of the group of unmanned boats, or a state related to the operation of the group of unmanned boats, or a state related to the operation history of the group of unmanned boats; a formation change determination command for determining a changed formation of the group of unmanned boats according to the determination information obtained in the state determination command; a communication configuration determination command for changing the network configuration of a wireless communication network that connects a plurality of the unmanned boats in the group of unmanned boats when it is determined that the relative distance between the communication-connected unmanned boats exceeds the communication possible distance according to the changed formation determined in the formation change determination command; a command output command for transmitting and outputting a control command corresponding to the changed formation determined in the formation change determination command and the changed network configuration determined in the communication configuration determination command to the group of unmanned boats, or displaying and outputting information related to the control command from a display unit; A program for causing the above steps to be executed.

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