Ocean observation system, ocean observation method and program

Abstract

Improve the usability of the marine information database. [Solution] The present invention is an ocean observation system that transmits ocean information, including observation data on ocean conditions obtained using measurement sensors mounted on multiple unmanned boats capable of moving on water, to an external ocean situation awareness system.The ocean observation system is equipped with an external information acquisition unit that acquires first external information from the ocean situation awareness system, related to at least one of ocean information on ocean conditions stored in the ocean situation awareness system and user browsing history of the ocean information; an update request determination unit that determines update request conditions for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the ocean information using the multiple unmanned boats based on the update request conditions; and an information input / output unit that displays and outputs information related to the determined information update plan, or transmits and outputs measurement commands generated based on the information update plan to the multiple unmanned boats.

Description

[Technical Field]

[0001] The present invention relates to an ocean observation system, an ocean observation method, and a program. [Background technology]

[0002] For some time now, efforts have been made to put into practical use Maritime Dependent Awareness (also known as "MDA"), which involves collecting various types of ocean-related information (such as oceanographic conditions, meteorological conditions, maritime information, disaster prevention information, and marine biological information) to create a marine information database and widely sharing it to effectively and efficiently grasp the state of the ocean. For example, in Japan, a service is provided in which a marine situation display system called "Umishiru" aggregates various types of ocean information and displays it overlaid on a map.

[0003] Furthermore, although various types of marine information such as those mentioned above have been collected up until now using ships, aircraft, satellites, and radar installed along the coast, there are limitations on physical resources such as ships and aircraft, as well as the human resources required to operate them. Therefore, in order to improve the convenience of users of marine information databases, it is necessary to strengthen the ability to collect marine information.

[0004] As an example of a means of collecting marine information, Patent Document 1 discloses technology for an ocean observation buoy that can control its course using natural energy, measures the underwater environment using sensors, and transmits the measurement data via satellite communications. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2020-50229 Summary of the Invention [Problem to be solved by the invention]

[0006] Although current marine information databases have the function of collecting marine information from the marine observation buoys described in Patent Document 1, as well as other ships, aircraft, satellites, coastal radars, etc., and constructing marine information databases, there is still room for consideration regarding measures to make more effective use of limited material and human resources, and measures to further improve the convenience of users of marine information databases.

[0007] For example, there was no consideration given to preventing the duplication of oceanographic information that has already been collected in the oceanographic information database or that will be collected in the future. There was also no consideration given to the priority collection of data with high demand so that the oceanographic information in the oceanographic information database can meet the level of user requirements. There was also no consideration given to the cooperation between multiple means of collecting oceanographic information.

[0008] The present invention has been made in consideration of at least one of the above problems, and has as its object to improve the convenience of marine information databases. [Means for solving the problem]

[0009] According to the present invention, there is provided an ocean observation system that transmits ocean information, including observation data on ocean conditions obtained using measurement sensors mounted on multiple unmanned boats capable of moving on water, to an external ocean situation awareness system, and that includes an external information acquisition unit that acquires first external information from the ocean situation awareness system regarding at least one of ocean information on ocean conditions stored in the ocean situation awareness system and user browsing history of the ocean information, an update request determination unit that determines update request conditions for the ocean information based on the acquired first external information, an information update plan determination unit that determines an information update plan for the ocean information using the multiple unmanned boats based on the update request conditions, and an information input / output unit that displays and outputs information regarding the determined information update plan, or transmits and outputs measurement commands generated based on the information update plan to the multiple unmanned boats. [Effects of the Invention]

[0010] According to the present invention, the convenience of the marine information database can be improved. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is an overall configuration diagram of an ocean observation system 1 according to one embodiment of the present invention. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of an unmanned boat system 1000. [Figure 3] FIG. 1 is a diagram showing an example of how ocean conditions are observed by an unmanned boat system 1000 and an external observation system 5000. [Figure 4] FIG. 5 is a diagram illustrating an example of the system configuration of an external observation system 5000. [Figure 5] 10 is a diagram showing an example of a list of ocean conditions measured by the unmanned watercraft system 1000 and the external observation system 5000. FIG. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of an unmanned watercraft 1010. [Figure 7] FIG. 3 is a functional block diagram showing the functional configuration of a data analysis system 3000. [Figure 8] 10 is a diagram showing an example of a data update request condition for oceanographic information determined by a data update request condition determination unit 3150. FIG. [Figure 9] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 10] FIG. 2 is a diagram showing an example of the contents of advance information acquired by the advance information acquisition unit 2120. [Figure 11] FIG. 10 is a diagram showing an example of a sea state measurement operation, which is a first unmanned watercraft operation determined by the unmanned watercraft operation determination unit 2210. [Figure 12] FIG. 10 is a diagram showing an example of an external observation data collection operation, which is a second unmanned watercraft operation determined by the unmanned watercraft operation determination unit 2210. [Figure 13]10 is a diagram showing an example of a correction data acquisition operation, which is a third unmanned watercraft operation determined by the unmanned watercraft operation determination unit 2210. FIG. [Figure 14] FIG. 10 is a diagram showing an example of information update plan proposal information generated by an information update plan proposal information generating part 2230. [Figure 15] FIG. 2 is a flowchart showing the control flow of upper-level processing in the ocean observation system 1. [Figure 16] FIG. 10 is a flowchart showing the analysis process flow of ocean information accumulated in the ocean situation assessment system 7000 by the MDA data analysis unit 3120. [Figure 17] FIG. 10 is a flowchart showing the flow of processing by a data update request condition determination unit 3150 to determine a data update request condition. [Figure 18] 10 is a flowchart showing the flow of a process for determining an information update plan performed by an information acquisition unit 2100 and a data update plan determination unit 2200. FIG. [Figure 19] FIG. 10 is a flowchart showing the flow of the observation data analysis process performed by the observation data analysis unit 3300. [Figure 20] FIG. 10 is a diagram showing an example of a method for determining a data update request condition by an update request determination unit 3100. [Figure 21] FIG. 10 is a diagram showing an example of a method for determining an observation area by the data update plan determination unit 2200. [Figure 22] 10 is a diagram showing an example of an interpretation result of ocean conditions (seawater temperature) based on observation data collected by the unmanned watercraft system 1000. FIG. [Figure 23] FIG. 10 is a diagram showing an example of the estimated results of two-dimensional distribution of ocean conditions (seawater temperature) obtained by interpolating and estimating unmeasured positions. [Figure 24] FIG. 10 is a diagram showing an example of an estimation result of three-dimensional distribution of ocean conditions (seawater temperature). [Figure 25] FIG. 2 is a hardware configuration diagram of an integrated control system 2000 and a data analysis system 3000. [Figure 26] FIG. 10 is a diagram showing an example of the distribution of spatial density or temporal density of marine information of a predetermined data type in a predetermined marine area. [Figure 27] FIG. 10 is a diagram showing an example of the difference between the measured value of seawater temperature at each position of a predetermined data type and nearby data. [Figure 28] FIG. 10 is a diagram showing an example of measured values ​​of seawater temperature at each position of a predetermined data type and their changes over time. [Figure 29] FIG. 10 is a diagram showing an example of how the position of the boundary line of the seawater temperature change moves over time. [Figure 30] FIG. 10 is a diagram showing an example of the arrangement of a plurality of unmanned watercraft 1010 when the spatial density of measurement points is changed. DETAILED DESCRIPTION OF THE INVENTION

[0012] The present invention will be described below with reference to the following embodiments. [Item 1] An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires, from the marine situation awareness system, first external information relating to at least one of marine information relating to marine conditions accumulated in the marine situation awareness system and a user's browsing history of the marine information; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; An ocean observation system comprising an information input / output unit that displays information relating to the determined information update plan, or transmits control commands generated based on the information update plan to a plurality of unmanned boats. [Item 2] In the ocean observation system according to item 1, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that update data for the marine information of a specified data type in a specified space be obtained at a spatial density equal to or greater than the specified density when the spatial density of the marine information of a specified data type in the specified space is equal to or less than the specified density, in an ocean observation system. [Item 3] In the ocean observation system according to item 1 or 2, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that update data for the ocean information of a specified data type during a specified period be obtained at a time density equal to or greater than the specified density when the time density of the ocean information of a specified data type during the specified period is equal to or less than the specified density, in an ocean observation system. [Item 4] In the ocean observation system according to any one of items 1 to 3, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space be acquired at a higher spatial density than the ocean information when the absolute value of the difference between the ocean information of a specified data type in a specified space and spatially neighboring data is greater than or equal to a specified value. [Item 5] In the ocean observation system according to any one of items 1 to 4, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space be obtained at a higher temporal density or spatial density than the ocean information when the difference in time-dependent change, the rate of time-dependent change, or the magnitude of the jerk of time-dependent change of the ocean information of a specified data type in the specified space is greater than or equal to a specified value. [Item 6] In the ocean observation system according to any one of items 1 to 5, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that when the position of a change boundary line where the difference between the ocean information of a specified data type in a specified space and spatially neighboring data is greater than or equal to a specified value moves over time, update data for the ocean information of the specified data type in the position where the change boundary line is predicted to move in the future or in its surrounding area be obtained at a higher spatial or temporal density than the ocean information, in an ocean observation system. [Item 7] In the ocean observation system according to any one of items 1 to 6, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, An ocean observation system in which, when the update request determination unit determines that there is a possibility of data abnormalities such as drift, gain deviation, offset, or zero point learning deviation in the ocean information of a specified data type, the update request condition is to measure correction data for the ocean information of the specified data type in the area where the ocean information was acquired, or calibration data for a measurement sensor in an external observation system that measures the ocean conditions. [Item 8] In the ocean observation system according to any one of items 1 to 7, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that an area in which the ocean conditions related to at least one of wave height, wind speed, or rainfall contained in the ocean information are determined to satisfy a predetermined condition is to be the target area for obtaining update data for the ocean information. [Item 9] In the ocean observation system according to any one of items 1 to 8, The update request determination unit determines, as the update request condition, that the target area for obtaining update data for the marine information is a route area or its surrounding area where the number of vessels other than the unmanned vessel traveling during a specified period in the past, the present, or a specified period in the future is greater than a specified value or is relatively greater than the surrounding area. [Item 10] In the ocean observation system according to any one of items 1 to 9, the external information acquisition unit acquires the user's browsing history of the marine information, The update request determination unit determines, based on the user browsing history, at least one of the area, time period, and data type for which there is a relatively high need to update the marine information, and determines the determined at least one of the area, time period, and data type as the update request condition for obtaining update data for the marine information. [Item 11] In the ocean observation system according to any one of items 1 to 10, The external information acquisition unit further acquires information regarding a request from a user to update the marine information, The update request determination unit determines the update request area, update request time period, or update request data type included in the update request as the update request condition. [Item 12] In the ocean observation system according to any one of items 1 to 11, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The ocean observation system, wherein when the update request determination unit detects the occurrence of a specified event based on the ocean information, including at least one of a specified ocean phenomenon, a specified ocean accident, or other specified abnormal situation, it determines an area including the area where the specified event occurred as the target area for obtaining update data for the ocean information under the update request conditions. [Item 13] In the ocean observation system according to any one of items 1 to 12, an external observation plan acquisition unit that acquires an external observation plan by an external observation system that observes the ocean state; The information update plan determination unit determines the information update plan for the marine information using the plurality of unmanned vessels based on the external observation plan and the update request conditions. [Item 14] In the ocean observation system according to any one of Items 1 to 13, An ocean observation system in which the external observation plan acquired by the external observation plan acquisition unit and the update request conditions determined by the update request determination unit include information regarding the observation data type of the ocean state, the observation area, and the observation schedule. [Item 15] In the ocean observation system according to any one of items 1 to 14, An ocean observation system in which the information update plan determination unit determines an information update plan for observing the ocean conditions under conditions that are not included in the observation conditions of the observation data type, the observation area, and the observation schedule in the external observation plan, and that are included in the observation conditions of the observation data type, the observation area, and the observation schedule in the update request conditions. [Item 16] In the ocean observation system according to any one of items 1 to 15, An ocean observation system, wherein the external observation plan acquired by the external observation plan acquisition unit and the update request conditions determined by the update request determination unit include information regarding a data update schedule for uploading the ocean information to the ocean situation awareness system. [Item 17] In the ocean observation system according to any one of items 1 to 16, When a first data update time in the data update schedule included in the external observation plan is later than a second data update time in the data update schedule included in the update request condition, The information update plan determination unit uses the unmanned vessel to collect the ocean information from the ocean situation awareness system and determines the information update plan for uploading the ocean information to the ocean situation awareness system. [Item 18] 18. The ocean observation system according to any one of Items 1 to 17, When the update request condition determined by the update request determination unit includes measurement of correction data for the observation data, The information update plan determination unit determines the information update plan for correcting the ocean information recorded in the ocean situation awareness system based on the correction data measured using the unmanned boat. [Item 19] 19. The ocean observation system according to any one of items 1 to 18, When the update request condition determined by the update request determination unit includes measurement of calibration data of a measurement sensor of an external observation system that measures the ocean state, The information update plan determination unit determines the information update plan for transmitting the calibration data measured using the unmanned vessel to the external observation system. [Item 20] 19. The ocean observation system according to any one of items 1 to 19, The information input / output unit displays and outputs to a user the information update plan, which includes information regarding the observation data type of the ocean conditions, the observation area, and the observation schedule, and accepts user input information, which includes approval, rejection, or requests for amendment from the user regarding the displayed and output information update plan. [Item 21] In the ocean observation system according to any one of items 1 to 20, When the information input / output unit receives the user input information, The information update plan determination unit determines the information update plan to be used for generating the control command based on the user input information. [Item 22] 22. The ocean observation system according to any one of Items 1 to 21, an observation data analysis unit that analyzes the observation data measured by the plurality of unmanned watercrafts based on the measurement command and generates analysis data; The information input / output unit displays and outputs the analysis data, or transmits the analysis data to the marine situation awareness system. [Item 23] A method for ocean observation that transmits ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, comprising: The computer an external information acquisition step of acquiring, from the marine situation awareness system, first external information relating to at least one of marine information relating to marine conditions accumulated in the marine situation awareness system and a user's browsing history of the marine information; an update request determination step of determining an update request condition for the ocean information based on the acquired first external information; an information update plan determination step of determining an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information output step of displaying and outputting information about the determined information update plan, or transmitting and outputting measurement commands generated based on the information update plan to a plurality of unmanned watercrafts; A method of ocean observation that performs. [Item 24] A program used in an ocean observation method for transmitting ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, On the computer, an external information acquisition command to acquire from the marine situation awareness system first external information relating to at least one of marine information relating to ocean conditions stored in the marine situation awareness system and a user browsing history of the marine information; An update request determination command for determining an update request condition for the ocean information based on the obtained first external information; An information update plan determination command for determining an information update plan for the ocean information using a plurality of unmanned boats based on the update request condition; An information output command for displaying and outputting information regarding the determined information update plan, or for transmitting and outputting measurement commands generated based on the information update plan to a plurality of unmanned boats; A program for causing the above to be executed.

[0013] <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0014] [A. Configuration] (A-1. Overall System Configuration) First, the system configuration of an ocean observation system 1 according to an embodiment of the present invention will be described using FIGS. 1 and 2.

[0015] (A-1-1. Outline of System Configuration) FIG. 1 is an overall configuration diagram of an ocean observation system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the ocean observation system 1 includes an unmanned watercraft system 1000, a supervisory control system 2000, and a data analysis system 3000. The supervisory control system 2000 is configured to be able to communicate with the data analysis system 3000 and other systems, and is capable of transmitting and receiving information. The supervisory control system 2000 is also capable of transmitting control commands to the unmanned watercraft system 1000 deployed on the sea via an Internet line, a communication satellite 6100, a terrestrial base station 6200, and the like, and is also capable of receiving operational status and observation data from the unmanned watercraft system 1000. The data analysis system 3000 is also configured to be able to communicate with the unmanned watercraft system 1000, a user terminal 4000, an external observation system 5000, a marine situation assessment system 7000, and the like, and is capable of transmitting and receiving information.

[0016] The unmanned boat system 1000 includes a single or multiple unmanned boats 1010. When the unmanned boat system 1000 is made up of multiple unmanned boats 1010, the multiple unmanned boats 1010 are connected to each other via wireless communication, and can form a communication network. The unmanned boat 1010 can measure various underwater environmental conditions using measurement sensors (optical cameras, acoustic sensors such as sonar, spectroscopic cameras (multispectral cameras, hyperspectral cameras, etc.), salinity concentration measurement sensors, water temperature measurement sensors, anemometers, GNSS signal receivers, hygrometers, etc.) mounted on the boat.

[0017] In addition, the data analysis system 3000 determines the requirements for updating data on ocean information to be uploaded to the ocean situation awareness system 7000 based on information obtained from the ocean situation awareness system 7000, the user terminal 4000, and external observation systems, and transmits the requirements for data update to the overall control system 2000.

[0018] The overall control system 2000 can determine an information update plan and unmanned watercraft control commands for the unmanned watercraft 1010 that constitutes the unmanned watercraft system 1000 based on the data update requirements acquired from the data analysis system 3000, and control the operation of the unmanned watercraft 1010. The generated information update plan proposal information and the like are displayed on the user terminal 4000, the user interface unit 2500 of the overall control system 2000, the user interface unit 3500 of the data analysis system 3000, and the like, and command inputs such as approval, rejection, and changes to the information update plan can be obtained from the user via these.

[0019] Various types of information, including observation data such as ocean conditions acquired by the unmanned watercraft system 1000 and the operating status of the unmanned watercraft system 1000, are transmitted to the overall control system 2000 via a communications satellite 6100, a terrestrial base station 6200, or an Internet line. In addition, the observation data such as ocean conditions acquired by the unmanned watercraft system 1000 is transmitted to the data analysis system 3000 via the overall control system 2000. The data analysis system 3000 analyzes the acquired observation data to generate analyzed data, and transmits the observation data or analyzed data to the maritime situation awareness system 7000.

[0020] The ocean situation awareness system 7000 not only acquires observation data such as ocean conditions and analyzed data acquired by the unmanned submersible system 1000 from the ocean observation system 1, but also has the function of acquiring ocean information such as ocean conditions acquired by observation satellites, floating buoys, moored buoys, unmanned submersibles, manned observation vessels, observation aircraft, etc. from the external observation system 5000. The ocean situation awareness system 7000 also collects ocean conditions and various other ocean-related ocean information from the ocean observation system 1 and the external observation system 5000, composes a database in which the collected information is accumulated, and makes the accumulated ocean information viewable from the user terminal 4000, thereby supporting various ocean-related activities of users such as maritime safety, marine environmental conservation, and economic activity.

[0021] The maritime domain awareness system 7000 includes a system known as MDA (Maritime Domain Awareness), and in Japan, a known maritime situation display system is known as "Umishiru." Furthermore, the maritime domain awareness system 7000 is not limited to these, but may also include a system providing ocean observation data provided by the Japan Oceanographic Data Center, a system providing ocean observation data provided by the Ocean Data Commons project, JAXA G-Portal, which provides data observed by artificial satellites, and other systems such as the Copernicus Marine Service (CMEMS), NOAA ERDDAP (Environmental Research Division's Data Access Program), OBIS (Ocean Biodiversity Information System), Argo Program, and Sea Data Net.

[0022] Here, the marine observation system 1 uses a communication satellite 6100 as an example of a non-terrestrial network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000. The communication satellite 6100 may be, for example, a communication satellite 6100 launched into a geosynchronous orbit, a medium earth orbit (MEO), a low earth orbit, or another orbit, or another communication satellite. The communication network applicable to the present invention is not limited to this, and a non-terrestrial network using an unmanned air vehicle called a High Altitude Platform Station (HAPS) may also be used. In this case, for example, an unmanned air vehicle circling at an altitude of approximately 8 to 50 km may be used.

[0023] Furthermore, the path for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft system 1000 is not limited to paths using the communication satellite 6100, terrestrial base station 6200, or the above-mentioned HAPS, but can also include a method of directly communicating with the unmanned watercraft system 1000 using a dedicated communication antenna installed on the overall control system 2000, a method of connecting the unmanned watercraft system 1000 to the terrestrial base station 6200 or the overall control system 2000 via an ad hoc network that relays wireless communications using multiple unmanned watercraft 1010, or a communication method of connecting the unmanned watercraft system 1000 to an offshore base that can communicate with the overall control system 2000 wirelessly or via a wired connection.

[0024] Furthermore, the terrestrial base station 6200 is not limited to a stationary base station, but may be configured as a mobile base station. Furthermore, any of the above-mentioned multiple communication networks (non-terrestrial network using a communication satellite 6100, non-terrestrial network using an unmanned aerial vehicle, and communication network directly connecting the terrestrial base station 6200 and the unmanned boat system 1000 via wireless communication) can be applied as the communication network for transmitting and receiving information between the overall control system 2000 and the unmanned boat system 1000, but is not limited to this, and it is also possible to combine the above-mentioned multiple communication networks to provide redundant communication paths using multiple communication networks.

[0025] (A-1-2. Configuration of the unmanned boat system 1000) Figure 2 is a diagram showing an example of the configuration of the unmanned watercraft system 1000. As shown in Figure 2, the multiple unmanned watercraft 1010 that make up the unmanned watercraft system 1000 are configured to serve as parent units 1001 that can communicate wirelessly with a communication satellite 6100 or a terrestrial base station 6200, or as child units 1002 that can communicate directly or indirectly with the parent unit 1001. A wireless communication network is established between the multiple child units 1002 and the multiple unmanned watercrafts 1010 that serve as parent units 1001, allowing them to communicate wirelessly with each other. Each unmanned watercraft group (1000a, 1000b) has at least one parent unit 1001 and multiple child units 1002. The master unit 1001 is connected via wireless communication to the communication satellite 6100 or the terrestrial base station 6200, and has the function of aggregating various information collected from multiple slave units 1002 and transmitting it to the communication satellite 6100 or the terrestrial base station 6200, as well as transmitting information related to control commands obtained from the communication satellite 6100 or the terrestrial base station 6200 directly or indirectly to each slave unit 1002. Note that the wireless communication path between the terrestrial-side overall control system 2000 and the unmanned boat system 1000 can be either the communication path via the communication satellite 6100 or the communication path via the terrestrial base station 6200, but is not limited to this and other communication paths can also be used, and these communication paths can also be made redundant to send and receive information.

[0026] 2 includes a primary-connected slave device 1002 that is communicatively connected to a master device 1001, a secondary-connected slave device 1002 that is communicatively connected to the primary-connected slave device 1002, and a tertiary-connected slave device 1002 that is communicatively connected to the secondary-connected slave device 1002. Each slave device (primary-connected slave device 1002, secondary-connected slave device 1002, tertiary-connected slave device 1002) has the function of relaying information received from other master devices 1001 or slave devices 1002 to the other master devices 1001 or slave devices 1002, thereby forming a communication network that can connect to all unmanned crafts 1010 belonging to unmanned craft group a (1000a).

[0027] (A-2. Configuration of the Unmanned Boat System 1000 and the External Observation System 5000) Next, the configurations of the unmanned boat system 1000 and the external observation system 5000 will be described with reference to FIGS.

[0028] (A-2-1. An example of ocean observation using the unmanned boat system 1000 and the external observation system 5000) Fig. 3 is a diagram showing an example of how ocean conditions are observed by unmanned boat system 1000 and external observation system 5000. Fig. 4 is a diagram showing an example of the system configuration of external observation system 5000. The example shown in Fig. 3 shows how ocean conditions are observed by multiple unmanned boats (including parent boat 1001 and child boat 1002) that make up unmanned boat system 1000, and an observation satellite 5100, floating buoy 5200, moored buoy 5300, unmanned submersible 5400, manned observation vessel 5500, and observation aircraft 5600 that make up external observation system 5000.

[0029] The unmanned boat system 1000 comprises a plurality of unmanned boats (master boat 1001, slave boat 1002) deployed on the sea, and ocean conditions are measured directly or remotely by a measurement sensor 1110 mounted on each unmanned boat. The observation data measured by the unmanned boats is transmitted to a terrestrial-based integrated control system 2000 and a data analysis system 3000 via a communication satellite 6100 or a terrestrial base station 6200.

[0030] 4 , the external observation system 5000 is composed of an observation satellite 5100, a floating buoy 5200, a moored buoy 5300, an unmanned submersible 5400, a manned observation vessel 5500, and an observation aircraft 5600. The external observation system 5000 has the function of measuring ocean conditions using measurement sensors mounted on each observation device, such as the observation satellite 5100, and transmitting the observation data to the ocean situation awareness system 7000.

[0031] The observation satellite 5100 may be a geosynchronous orbit satellite, a low earth orbit satellite, a medium earth orbit satellite (MEO), or the like. The observation satellite 5100 performs remote sensing of ocean conditions above or below the sea from high altitudes and transmits the observation data to the maritime situation awareness system 7000 using satellite communications. As an example, the measurement sensors mounted on the observation satellite 5100 may include a spectroscopic camera (such as a multispectral camera or a hyperspectral camera), an optical camera, an infrared sensor, a microwave measurement sensor that measures the radiance temperature and reception time of microwaves emitted from the sea surface, a scatterometer that measures the scattering intensity of electromagnetic waves irradiated onto the sea surface, and a synthetic aperture radar (SAR) that measures the reflected waves of electromagnetic waves irradiated onto the sea surface.

[0032] The floating buoy 5200 is a buoy that floats on the ocean surface and acquires observation data on ocean conditions using a measurement unit mounted on the floating buoy's body or a measurement unit connected to the body via a wired communication line and floating in the ocean. The floating buoy 5200 also has a communication unit mounted on the floating buoy's body that wirelessly communicates with surrounding external devices and has the function of transmitting the measured observation data to the ocean situation awareness system 7000 via the communication unit. The communication unit of the floating buoy 5200 may have a communication function that enables wireless communication within a range of several hundred meters, for example, and may have the function of transmitting, to ships or other vessels that approach within the wireless communication range, the observation data measured by the floating buoy 5200 and recorded in a recording unit within the floating buoy. However, this is not limited to this, and the communication unit of the floating buoy 5200 may also have a satellite communication function that transmits observation data directly to the land-based ocean situation awareness system 7000 via a communication satellite 6100.

[0033] The moored buoy 5300 is a buoy fixed or moored to the seabed, and acquires observation data of ocean conditions using a measurement unit mounted on the main body of the moored buoy or a measurement unit connected to the main body via a wired communication line and floating in the sea. The moored buoy 5300 is also equipped with a communication unit on the main body or measurement unit of the floating buoy that performs acoustic communication with surrounding external devices that can communicate with the moored buoy, and has the function of transmitting the measured observation data to the ocean situation awareness system 7000 via the communication unit. The communication unit of the moored buoy 5300 may have a communication function that enables acoustic communication within a range of, for example, about 100 meters, and may have the function of transmitting, to ships or the like that come within the acoustic communication range, the observation data that the moored buoy 5300 has measured and recorded in a recording unit within the moored buoy 5300.

[0034] Here, the mooring buoy 5300 may be configured to have the function of detaching from the seabed and floating to the surface when it receives a mooring release signal from a ship approaching within the acoustic communication range, so that the mooring buoy 5300 can be recovered by the ship and the observation data recorded in the recording unit within the mooring buoy 5300 can be provided to the ocean situation awareness system 7000.

[0035] The unmanned submersible 5400 is an unmanned submersible that can navigate autonomously or be remotely controlled in the sea, and has the function of acquiring observation data on ocean conditions using a measurement unit installed on the unmanned submersible 5400. The unmanned submersible 5400 is also equipped with a communication unit that performs acoustic communication with surrounding external devices that can communicate with the unmanned submersible 5400, and has the function of transmitting the measured observation data to the ocean situation awareness system 7000 via the communication unit. The communication unit of the unmanned submersible 5400 may have a communication function that enables acoustic communication within a range of, for example, about 100 meters, and may have the function of transmitting, to a ship or the like that has approached within the acoustic communication range, the observation data that the unmanned submersible 5400 has measured and that has been recorded in a recording unit within the unmanned submersible 5400.

[0036] The manned observation vessel 5500 is a manned vessel equipped with a measurement unit that measures ocean conditions. The manned observation vessel 5500 may be equipped with a communication unit and have a satellite communication function that transmits observation data directly to the land-based ocean state awareness system 7000 via a communication satellite 6100. The method of uploading the observation data to the ocean state awareness system 7000 is not limited to this. The observation data measured by the measurement unit can also be recorded in a recording unit installed on the manned observation vessel 5500, and the recording unit can be physically transported from the sea to land before the observation data is uploaded to the ocean state awareness system 7000.

[0037] The observation aircraft 5600 is an aircraft equipped with a measurement unit that remotely measures ocean conditions above or below the sea from the sky. For example, the observation aircraft 5600 can transmit observation data to the maritime situation awareness system 7000 using satellite communication. As an example, the measurement sensors equipped on the observation aircraft 5600 include a spectroscopic camera (such as a multispectral camera or a hyperspectral camera), an optical camera, an infrared sensor, a microwave measurement sensor that measures the radiance temperature and reception time of microwaves emitted from the sea surface, a scatterometer that measures the scattering intensity of electromagnetic waves irradiated onto the sea surface, and a synthetic aperture radar (SAR) that measures the reflected waves of electromagnetic waves irradiated onto the sea surface.

[0038] Furthermore, the method of uploading the observation data from the observation aircraft 5600 to the ocean situation awareness system 7000 is not limited to this. The observation data measured by the measurement unit can also be recorded in a recording unit installed on the observation aircraft 5600, and the recording unit can be physically transported from the sky to land, after which the observation data can be uploaded to the ocean situation awareness system 7000.

[0039] Here, remote sensing using measurement sensors mounted on observation satellites 5100 or observation aircraft 5600 can measure, for example, chlorophyll concentration, salinity concentration, sea surface temperature, sea surface wind, sea surface altitude / wave height, sea surface current speed, and sea ice extent.

[0040] When determining chlorophyll concentration (i.e., phytoplankton concentration) using remote sensing, the chlorophyll concentration (i.e., phytoplankton concentration) can be determined, for example, by measuring multiple wavelength components of light emitted from the sea surface using a spectroscopic camera.

[0041] Furthermore, when determining the salinity concentration of the sea surface by remote sensing, the salinity concentration of seawater can be determined, for example, by measuring the radiance temperature of microwaves using a microwave measurement sensor.

[0042] Furthermore, when determining sea surface temperature using remote sensing, the physical temperature of the sea surface can be calculated, for example, by measuring the microwave radiance temperature using a microwave measurement sensor or by measuring the infrared radiation intensity using an infrared sensor.

[0043] Furthermore, when determining wind conditions on the sea surface using remote sensing, by measuring the scattering strength of electromagnetic waves irradiated onto the sea surface with a scatterometer, it is possible to determine wind conditions on the sea surface by utilizing the property that the roughness of the sea surface (waves) is proportional to microwave scattering, and the stronger the wind speed, the rougher the sea surface becomes and the stronger the scattering becomes.In addition, wind direction can be determined by observing the same sea surface area from multiple directions.

[0044] In addition, when determining sea surface current speeds using remote sensing, high-resolution microwave images can be measured using synthetic aperture radar (SAR), and the sea surface roughness can be analyzed from the microwave images to estimate sea surface current speeds.

[0045] Furthermore, when determining sea surface height and wave height using remote sensing, the round-trip time from when the microwave is emitted from the measurement sensor until it is reflected off the sea surface and returns can be determined based on the reception time of the microwave measured by the microwave measurement sensor, and the relative distance between the measurement sensor and the sea surface can be calculated from this round-trip time, thereby determining sea surface height and wave height.

[0046] Furthermore, when determining the extent of sea ice by remote sensing, the extent of sea ice can be determined based on observation data measured by a microwave radiometer.

[0047] (A-2-2. Examples of ocean conditions measured) FIG. 5 shows an example of a list of ocean conditions measured by the unmanned watercraft system 1000 and the external observation system 5000. In FIG.

[0048] The ocean conditions measured by the unmanned boat system 1000 and the external observation system 5000 can include various state quantities, and in the example shown in Figure 5, these include, for example, physical oceanographic data, chemical-related data, biological and living body-related data, disaster and environmental data, and equipment and observation log data.

[0049] Physical oceanographic data includes data on the physical state of seawater and the ocean, such as seawater temperature, seawater salinity, underwater pressure, ocean currents (current speed and direction), tide levels, waves (wave height, period, and direction), seawater density, vertical mixing coefficient (a coefficient that represents the degree of vertical diffusion of matter and heat in the ocean), turbulence intensity (local turbulence energy density), fronts (places where water masses of different densities, temperatures, salinities, etc. meet), upwelling zones (places where deep, cold, nutrient-rich water rises to the surface), and plankton plumes (a phenomenon in which phytoplankton proliferate in large numbers, causing the water surface to appear as a mass of a particular color).

[0050] Chemical data include dissolved oxygen concentration, pH (or alkalinity), nutrient concentrations (nitrate, phosphate, silica), dissolved inorganic carbon concentration, methane and carbon monoxide concentrations, trace metal concentrations, and vertical fluxes of seawater.

[0051] Biological and ecological data include ocean chlorophyll concentration, turbidity (or transparency), photosynthetically active radiation, red tide and harmful algal blooms, biodiversity, zooplankton abundance, bioacoustic data, and marine mammal occurrence records.

[0052] Disaster and environmental data includes tsunami measurement data, drifting object detection information, oil spill diffusion status, ocean pCO2 (acidification index), eDNA data, and plastic particle concentration.

[0053] In addition, the ocean information provided to the ocean situation assessment system 7000 from the unmanned boat system 1000 and the external observation system 5000 is not limited to the information shown in Figure 5, but may also include information on the GNSS logs, battery status, and other operating history of the unmanned boat system 1000, unmanned submersible 5400, manned observation vessel 5500, and observation aircraft 5600.

[0054] (A-2-3. Functional configuration of the unmanned boat 1010) Next, the functions and contents implemented in the unmanned watercraft 1010 will be described with reference to Figure 6. In the present invention, an unmanned watercraft is a mobile body (including a mobile buoy) that can navigate on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body that can move using a thrust generating unit that uses power obtained from solar panels, wind power generation, wave oscillation power generation, an internal combustion engine, etc., or power stored in a battery.

[0055] Fig. 6 is a functional block diagram showing the functional configuration of the unmanned watercraft 1010. Although Fig. 6 illustrates the functional block diagram of the unmanned watercraft 1010, whether the unmanned watercraft 1010 is used as the parent unit 1001 or the child unit 1002, the functions implemented in the unmanned watercraft 1010 can be similar to those shown in Fig. 6. The unmanned watercraft 1010 includes a measurement unit 1100, a vessel status determination unit 1200, a navigation unit 1300, a communication unit 1400, a data processing unit 1500, a recording unit 1600, and a power supply unit 1700.

[0056] The measurement unit 1100 is a functional unit that measures various state quantities, including the ocean state around the vessel, using a measurement sensor 1110 and acquires the measured data. The measurement unit 1100 includes the measurement sensor 1110 and a measurement control unit 1120.

[0057] For example, the measurement sensor 1110 can be composed of a spectroscopic camera (such as a multispectral camera or hyperspectral camera) that measures multiple wavelength components of light emitted from the sea surface, an optical camera, an infrared sensor, a CTD measurement device (Conductivity, Temperature, Depth) that measures the electrical conductivity, temperature, and pressure of seawater, a chemical analysis sensor that analyzes collected seawater to detect dissolved oxygen concentration, pH (or alkalinity), nutrient concentration (nitrate, phosphate, silica), dissolved inorganic carbon concentration, methane and carbon monoxide concentration, trace metal concentration, vertical flux, etc., a temperature sensor that measures seawater temperature, a wind condition sensor that measures wind speed or direction at sea, a GNSS positioning signal receiving device that receives GNSS positioning signals, etc. In addition, the measurement sensor 1110 is not limited to the above, but may also include sensors that detect seawater density, vertical mixing coefficient, ocean pCO2 (acidification index), eDNA data, plastic particle concentration, ocean chlorophyll concentration, turbidity (or transparency), photosynthetically active radiation, red tide / harmful algae occurrence status, biodiversity, and zooplankton amount.

[0058] Furthermore, the measurement sensor 1110 is not limited to measurements on the sea surface or ocean surface, and may have a mechanism for measuring depth in the sea using a measurement sensor 1110 suspended from the hull, for example.

[0059] Here, observation data of multiple wavelength components of light emitted from the ocean surface obtained by a spectroscopic camera (multispectral camera, hyperspectral camera, etc.) can be used to determine chlorophyll concentration (i.e., phytoplankton concentration) by analyzing the ratio of blue wavelength components to green wavelength components.In addition, observation data of multiple wavelength components can be used to determine chlorophyll concentration (i.e., phytoplankton concentration) by using NDCI (Normalized Chlorophyll Index) to analyze the ratio of the difference and sum of the red wavelength component (665 nm) and the red edge wavelength component (708 nm).

[0060] In addition, optical image data of the ocean surface obtained by spectroscopic cameras or optical cameras can be used to determine the concentration of marine phytoplankton (mainly chlorophyll-a) by analyzing the brightness of fluorescence at a specific wavelength around 685 nm, which is caused by the chlorophyll emission phenomenon, using techniques such as FLH (Fluorescence Line Height).

[0061] In addition, the observation data of seawater electrical conductivity, water temperature, and pressure measured by the CTD measurement device can be used to calculate the salinity of seawater using the internationally standardized salinity scale PSS-78 (Practical Salinity Scale 1978).

[0062] The GNSS positioning signals acquired by the GNSS positioning signal receiving device can be used to calculate the global coordinates of the unmanned vessel in the vertical direction (Z direction), and can be used to determine the tide level and waves (wave height and period).The GNSS positioning signals acquired by the GNSS positioning signal receiving device can also be used to calculate the global coordinates of the unmanned vessel in the horizontal plane (X, Y plane), and by analyzing the time changes in the global coordinates when the thrust generating unit 1310 of the unmanned vessel is stopped, they can be used to determine the direction and speed of ocean or tidal currents, the direction of waves, etc. at the position of the unmanned vessel.

[0063] In addition to the various sensors described above, the measurement sensor 1110 may also include laser sensors such as LiDAR that acquire point cloud data, optical ranging sensors such as ToF sensors (Time of Flight sensors), and sonic sensors including sonar that uses sound waves such as ultrasound.

[0064] The measurement control unit 1120 can control at least one of the attitude angles of the measurement sensor 1110 around three axes relative to the unmanned watercraft 1010 by operating a sensor attitude changing device that can change the attitude of the measurement sensor 1110. The measurement control unit 1120 can also control measurement operations such as the measurement frequency and measurement timing of the measurement sensor 1110. For example, if the measurement sensor is a spectroscopic camera or an optical camera, the measurement control unit 1120 can adjust the frame rate and shutter speed of the spectroscopic camera or optical camera. If the measurement sensor is a spectroscopic camera, the measurement control unit 1120 can change the multiple wavelength components acquired by the spectroscopic camera. If the measurement sensor is a spectroscopic camera or optical camera, the measurement control unit 1120 can change the zoom amount and resolution of the spectroscopic camera or optical camera to any control amount. The measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor 1110 to any control amount. The measurement control unit 1120 can also control the measurement timing and measurement frequency of the measurement sensor 1110.

[0065] Next, the unmanned watercraft state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state and internal and external states of the unmanned watercraft 1010. The navigation state determination unit 1210 determines the position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state of the unmanned watercraft. The internal state determination unit 1220 determines the SOC (State of Charge) of a power storage device such as a battery mounted on the unmanned watercraft, the possible travel distance that can be calculated from the SOC, temporary abnormal states of equipment mounted on the unmanned watercraft (temperature abnormality, communication abnormality, etc.), and equipment failure states. In addition, the external condition determination unit 1230 determines communication conditions such as communication strength (dB value, etc.), communication speed, and communication delay in wireless communication with other unmanned boats 1010 within the unmanned boat system 1000, or wireless communication with the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200, or wireless communication with an external observation system 5000 (observation satellite 5100, floating buoy 5200, moored buoy 5300, unmanned submersible 5400, manned observation vessel 5500, observation aircraft 5600, etc.), or the wave height and weather (rain, snow, cloudy, etc.) around the unmanned boat.

[0066] The method by which the navigation state determination unit 1210 determines the position, moving speed, moving direction, and acceleration / deceleration of the aircraft itself is not particularly limited. For example, the current position, moving speed, and moving direction of the aircraft itself can be determined using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. Here, the aircraft's own position information includes three-dimensional coordinate information (latitude, longitude, and height). Furthermore, the acceleration / deceleration can be calculated based on the amount of change over time in the determined moving speed.

[0067] The method for measuring the aircraft's heading is to determine the aircraft's heading at the current time using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the seabed shape. The heading includes an attitude angle (orientation) in a planar view around at least the Z axis, and preferably may be attitude information around three axes: the X axis, the Y axis, and the Z axis. The turning speed can be calculated based on the amount of change over time in the determined heading information.

[0068] Next, the navigation unit 1300 includes a thrust generating unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the aircraft in any direction according to operational commands received via the communication unit 1400 (described later). The thrust generating unit 1310 can be any means capable of generating thrust, and as an example, can be configured with a propeller driven by the power of an engine or an electric motor. The thrust generating unit 1310 can also be configured with a sail that generates thrust by receiving wind, or with a wave glider that generates thrust by receiving wave power.

[0069] The attitude control mechanism 1320 is composed of a rudder mounted on the airframe, a propeller attitude change mechanism that can change the attitude angle of the propeller (mainly the yaw angle around the Z axis), etc., and can control the nose direction (yaw angle) of the aircraft by changing these angles. In addition, a center of gravity position change mechanism that changes the position of a heavy object inside the aircraft using an actuator can also control the attitude angles of the aircraft, such as the roll angle around the X axis and the pitch angle around the Y axis.

[0070] The navigation control unit 1330 is a functional unit that controls the thrust generation unit 1310 and the attitude control mechanism 1320 to control the navigation operation of the aircraft. The navigation control unit 1330 has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP), and is equipped with a processing unit that can access a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0071] The processing unit includes a control module configured to control the navigation status of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, movement speed, movement acceleration / deceleration, heading, turning speed, and attitude angle around three axes. That is, the navigation control unit 1330 controls the navigation operation of the aircraft by causing the aircraft to perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0072] Next, the communication unit 1400 is equipped with an unmanned vessel-to-unmanned vessel communication unit 1410, an overall control communication unit 1420, and an external device communication unit 1430, and is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000, the overall control system 2000, and the external observation system 5000. The unmanned vessel-to-unmanned vessel communication unit 1410 is equipped with a communication antenna used for a wireless communication network on the sea, and communicates with other unmanned vessels 1010 within the unmanned vessel system 1000.

[0073] The overall control communication unit 1420 also includes a satellite communication antenna capable of communicating with the communication satellite 6100 or a communication antenna capable of communicating with the terrestrial base station 6200, and can transmit, via the communication satellite 6100 or the terrestrial base station 6200, observation data measured by the measurement unit 1100, analysis data generated by the data processing unit 1500, various status information determined by the host vehicle status determination unit 1200, various record information recorded in the recording unit 1600, and the like to the overall control system 2000. The overall control communication unit 1420 can also receive control commands for the unmanned boat system 1000 from the overall control system 2000.

[0074] The external device communication unit 1430 also includes a communication antenna used for communication with the observation satellite 5100, floating buoy 5200, moored buoy 5300, unmanned submersible 5400, manned observation vessel 5500, and observation aircraft 5600 that constitute the external observation system 5000. In addition to the above-mentioned communication units, the communication unit may also include an AIS antenna and a VHF antenna, and may be equipped with a communication unit that communicates with external surveillance vessels and AIS base stations.

[0075] Next, the data processing unit 1500 is a functional unit that performs data processing such as primary processing and data compression of the observation data acquired by the measurement sensor 1110. The data processing unit 1500 can perform primary processing, such as data analysis of the raw measurement data (observation data) acquired by the measurement sensor 1110 and generating transmission data to be wirelessly transmitted from the unmanned watercraft system 1000 to the overall control system 2000. In addition, the data processing unit 1500 can perform data compression processing to compress the raw measurement data (observation data) and generate transmission data so as to reduce the transmission load when wirelessly transmitting the transmission data from the unmanned watercraft system 1000 to the overall control system 2000. Furthermore, the data processing unit 1500 can determine the ocean state by analyzing the observation data and transmit the determination result to the overall control system 2000.

[0076] Next, the recording unit 1600 includes a measurement data recording unit 1610 and a host device status recording unit 1620. The measurement data recording unit 1610 records the observation data measured by the measurement unit 1100 and the transmission data processed by the data processing unit 1500. The host device status recording unit 1620 records various status information related to the host device determined by the host device status determination unit 1200.

[0077] Next, the power supply unit 1700 is a functional unit that supplies power to each functional unit of the unmanned watercraft 1010. The power supply unit 1700 includes a power storage device 1710, a power generation device 1720, and a power control unit 1730. The power storage device 1710 can be configured as a battery or other device with a power storage function. The power generation device 1720 can be configured as a solar panel that generates power using sunlight or a wave power generation device that generates power using wave power. The power control unit 1730 is a functional unit that controls the charging and discharging operation of the power storage device 1710 and also controls the power generation operation of the power generation device 1720.

[0078] (A-3. Overview of Data Analysis System 3000) Next, an overview of the data analysis system 3000 will be described using Fig. 7. Fig. 7 is a functional block diagram showing the functional configuration of the data analysis system 3000. The data analysis system 3000 includes an update request determination unit 3100, an observation data management unit 3200, an observation data analysis unit 3300, an MDA interface unit 3400, and a user interface unit 3500.

[0079] (A-3-1.Update request determination unit 3100) The update request determination unit 3100 is a functional unit that determines update request conditions for observation data to be uploaded to the marine situation awareness system 7000, based on information acquired via the MDA interface unit 3400 and user interface unit 3500 (described later). The update request determination unit 3100 includes an update request determination unit 3110, an MDA data analysis unit 3120, a marine anomaly detection unit 3130, an external observation plan acquisition unit 3140, and a data update request condition determination unit 3150.

[0080] The update request determination unit 3110 is a functional unit that determines a request to update ocean information based on the user's ocean information viewing history obtained from the ocean situation awareness system 7000 via the MDA request acquisition unit 3420 described below, and information regarding the user's request to update ocean information.

[0081] The user browsing history of ocean information acquired by the update desire determination unit 3110 is historical information of a large number of users browsing ocean information stored in the ocean situation assessment system 7000 via the user terminal 4000, and includes the area, time period, data type, etc. of the viewed ocean information. Furthermore, based on the user browsing history as described above, the update desire determination unit 3110 can determine that ocean information (area, time period, data type) that is viewed relatively frequently by users is ocean information (area, time period, data type) that users have a relatively high need for updating.

[0082] The MDA data analysis unit 3120 is a functional unit that performs data analysis of ocean information acquired from the ocean situation awareness system 7000 via the MDA data acquisition unit 3410, which will be described later.

[0083] Based on the acquired marine information, the MDA data analysis unit 3120 can determine the spatial density of marine information in a specified space for each specified data type, or the temporal density of marine information in a specified period for each specified data type.

[0084] Furthermore, the MDA data analysis unit 3120 can analyze the absolute value of the difference between spatially neighboring data of ocean information in a predetermined space for each predetermined data type based on the acquired ocean information. Also, the MDA data analysis unit 3120 can analyze the difference in time-varying ocean information in a predetermined space for each predetermined data type, the speed of time-varying ocean information (calculated by time-differentiating the difference in time-varying ocean information), or the magnitude of the jerk of time-varying ocean information (calculated by time-differentiating the difference in time-varying ocean information) based on the acquired ocean information.

[0085] Furthermore, the MDA data analysis unit 3120 may have a function for detecting a change boundary line where the difference between the oceanographic information in a specified space for each specified data type is equal to or greater than a specified value and spatially adjacent data based on the acquired oceanographic information. If the position of the detected change boundary line moves over time, the function may determine the position or surrounding area where the change boundary line is predicted to move in the future. Here, the change boundary line includes a line connecting the positions where changes occur when an area where a specified data type changes by more than a specified value per unit time expands beyond a specified size or shrinks below a specified size. As an example, the change boundary line includes a line surrounding the outer edge of an area where the seawater temperature (specified data type) changes by +1°C when the area in an ocean area where the seawater temperature (specified data type) is 10°C expands from 100 square meters to 500 square meters within one hour.

[0086] Furthermore, the MDA data analysis unit 3120 may have a function to determine, based on the acquired ocean information, whether or not there is a possibility of data abnormalities in the ocean information for each specified data type, such as drift (a state in which the value of measurement data that should be a constant value changes gradually), gain deviation (a state in which the amplification factor of measurement data is off), or zero point offset (a state in which the value of measurement data is off by a certain amount).

[0087] Furthermore, the MDA data analysis unit 3120 may have a function to determine whether the ocean conditions related to at least one of wave height, wind speed, and rainfall amount included in the acquired ocean information satisfy a predetermined condition, based on the acquired ocean information. Here, the predetermined condition may be, for example, that the fluctuation range per unit time of wave height, wind speed, or rainfall amount in a rough sea state is equal to or greater than a predetermined value, or that these values ​​are equal to or greater than a predetermined value or range, or that the state in which these values ​​are equal to or greater than a predetermined value or range continues for a predetermined time or longer. As an example, the predetermined condition may be a wave height of 2 m or more and a wind speed of 20 m / s or more, or a wave height of 5 m or more and a wind speed of 5 m / s or more.

[0088] Furthermore, the MDA data analysis unit 3120 may have the function of determining, based on the ship navigation information contained in the ocean information, route areas or surrounding areas where the number of ships other than unmanned boats traveling during a specified period in the past, the present, or a specified period in the future is greater than a specified value or is relatively greater than the surrounding areas.

[0089] The marine anomaly detection unit 3130 is a functional unit that detects the occurrence of specified events, including at least one of specified marine phenomena (occurrence of underwater fronts, occurrence of upwelling zones, occurrence of plankton plumes, red tides, tsunamis, undersea earthquakes, undersea eruptions, etc.), specified marine accidents (ship collisions, ship fires, groundings, oil or CO2 leaks, etc.), and other specified abnormal situations (detection of shipwrecked persons or ships in distress, detection of illegal ships or suspicious ships, etc.), based on marine information acquired from the marine situation awareness system 7000 via the MDA data acquisition unit 3410 described below.

[0090] The marine anomaly detection unit 3130 can detect predetermined marine phenomena (such as tsunami occurrence and wave abnormalities), predetermined marine accidents (such as oil spills due to ship accidents), and other predetermined abnormal situations (such as abnormal changes in marine carbon dioxide concentration, abnormal changes in biological distribution, and abnormal increases in plastic particle concentration) based on disaster and environment-related data such as tsunami measurement data, drifting object detection information, oil spill diffusion status, underwater pCO2 (acidification index), eDNA data, and plastic particle concentration, as shown in Figure 5, which are acquired via the MDA data acquisition unit 3410.

[0091] The external observation plan acquisition unit 3140 is a functional unit that externally acquires information on an observation plan for ocean conditions by the external observation system 5000. Here, the observation plan for ocean conditions acquired by the external observation plan acquisition unit 3140 includes, for example, information on the type of observation data for ocean conditions, the observation area, and the observation schedule.

[0092] The data update request condition determination unit 3150 is a functional unit that determines the data update request conditions for ocean information based on information acquired through the MDA data acquisition unit 3410, MDA request acquisition unit 3420, and external observation plan acquisition unit 3140 described below, and the judgment results by the update request determination unit 3110 and MDA data analysis unit 3120.

[0093] The ocean situation assessment system 7000 aims to accumulate ocean information on ocean conditions collected by the ocean observation system 1, the external observation system 5000, etc., and to enable a large number of users to use the ocean information for various purposes, but in many cases does not meet the user's requirements. Therefore, the data update request condition determination unit 3150 determines data update request conditions including various conditions for updating data on ocean conditions.

[0094] Fig. 8 is a diagram showing an example of data update request conditions for ocean information determined by the data update request condition determination unit 3150. As shown in Fig. 8, the data update request conditions include the type of observation data for ocean conditions, the observation area, the observation schedule, the measurement method, etc.

[0095] The observation data types include various types of observation data that indicate ocean conditions such as seawater temperature and salinity concentration as shown in Figure 5, the observation area includes the area to be observed, which is specified as a two-dimensional planar area on the sea surface or a three-dimensional spatial area underwater, and the observation schedule includes the measurement date and time and measurement frequency when measurements are taken by the measurement sensor 1110 of the unmanned boat 1010, or the update date and update frequency when updated data is uploaded to the ocean condition awareness system 7000 and made viewable by users.

[0096] For example, when the spatial density of marine information of a predetermined data type in a predetermined space determined by the MDA data analysis unit 3120 is equal to or lower than a predetermined density, the data update request condition determination unit 3150 can determine, as an update request condition, that update data of marine information of a predetermined data type in the predetermined space be acquired at a spatial density equal to or higher than the predetermined density. Here, FIG. 26 is a diagram showing an example of the distribution of spatial density or temporal density of marine information of a predetermined data type in a predetermined marine area. For an area as shown in FIG. 26 where the spatial density of acquisition locations of marine information accumulated in the marine situation awareness system 7000 is equal to or lower than a predetermined density (e.g., 1 location / square kilometer or less), the data update request condition determination unit 3150 determines, as an update request condition, that update data be acquired at a spatial density higher than the predetermined density (e.g., 1 location / square kilometer).

[0097] Furthermore, for example, when the time density of ocean information of a predetermined data type for a predetermined period determined by the MDA data analysis unit 3120 is equal to or lower than a predetermined density, the data update request condition determination unit 3150 can determine as an update request condition that update data of the predetermined data type for the predetermined period be acquired at a time density equal to or higher than the predetermined density. Here, for an area where the time density of the number of times ocean information accumulated in the marine situation awareness system 7000 is acquired is equal to or lower than a predetermined density (for example, once per day or less), as shown in Figure 26, the data update request condition determination unit 3150 determines as an update request condition that update data be acquired at a time density higher than the predetermined density (for example, once per day).

[0098] Furthermore, the data update request condition determination unit 3150 can determine, as an update request condition, that update data of ocean information of a predetermined data type in a predetermined space be acquired at a higher spatial density than ocean information previously collected in the predetermined space or ocean information in the surrounding area of ​​the predetermined space, for example, when the absolute value of the difference between spatially neighboring data of ocean information of a predetermined data type in the predetermined space determined by the MDA data analysis unit 3120 is equal to or greater than a predetermined value. Here, Figure 27 is a diagram showing an example of the difference between the measured value of seawater temperature at each position of a predetermined data type and neighboring data. As shown in Figure 27, when the absolute value of the difference from the sea water temperature at a spatially nearby location is greater than or equal to a predetermined value (e.g., Δ2°C or Δ3°C), the data update request condition determination unit 3150 determines the update request conditions so that update data for the area where the absolute value of the difference is greater than or equal to Δ2°C or Δ3°C can be obtained at a higher spatial density (e.g., 2 locations / square kilometer) than the spatial density of locations where past ocean information accumulated in the ocean situation awareness system 7000 was obtained (e.g., 1 location / square kilometer) or the spatial density of locations where update data was obtained in surrounding areas outside the area (e.g., 1 location / square kilometer).

[0099] In addition, if the absolute value of the difference between marine information of a specified data type in a specified space and spatially neighboring data determined by the MDA data analysis unit 3120 is less than a specified value, it can be determined as an update request condition that update data of marine information of a specified data type in the specified space is not requested, or that update data of marine information of a specified data type in the specified space is obtained at a spatial density lower than or equal to that of marine information previously collected in the specified space or marine information in the surrounding area of ​​the specified space.

[0100] Furthermore, the data update request condition determination unit 3150 can determine, as an update request condition, that update data of ocean information of a predetermined data type in a predetermined space be acquired at a higher temporal density or spatial density than ocean information previously collected in the predetermined space or ocean information in the surrounding area of ​​the predetermined space, for example, when the magnitude of the difference in time-dependent change, the rate of time-dependent change, or the absolute value of the jerk of time-dependent change of ocean information of a predetermined data type in the predetermined space determined by the MDA data analysis unit 3120 is equal to or greater than a predetermined value. Here, Figure 28 is a diagram showing an example of measured values ​​of seawater temperature at each position of a predetermined data type and their change over time. As shown in Figure 28, when the absolute value of the difference in the change in sea water temperature over time at each measurement location (for example, the difference from the sea water temperature measurement value 24 hours ago) is greater than or equal to a predetermined value (for example, 1.0°C or 2.0°C), the data update request condition determination unit 3150 determines the update request conditions so that update data for the area where the absolute value of the difference in the change over time is greater than or equal to the predetermined value (for example, 1.0°C or 2.0°C) can be acquired at a higher spatial density (for example, 2 locations / square kilometer) or temporal density (for example, 1 time / day) than the spatial density (for example, 1 location / square kilometer) or temporal density (for example, 1 time / day) of the locations where past ocean information accumulated in the ocean situation awareness system 7000 is acquired, or the spatial density (for example, 1 location / square kilometer) or temporal density (for example, 1 time / day) of the locations where update data is acquired in surrounding areas outside the area.

[0101] In addition, if the difference in time-dependent changes in ocean information of a specified data type in a specified space, the rate of change over time, or the magnitude of the jerk of time-dependent changes determined by the MDA data analysis unit 3120 is less than a specified value, it is possible to determine as an update request condition that update data for ocean information of a specified data type in the specified space is not requested, or that update data for ocean information of a specified data type in the specified space be obtained at a temporal density or spatial density that is lower or equal to that of ocean information previously collected in the specified space or ocean information in the surrounding area of ​​the specified space.

[0102] Furthermore, for example, if the position of the change boundary line detected by the MDA data analysis unit 3120 moves over time, the data update request condition determination unit 3150 can determine, as an update request condition, that update data for ocean information of a predetermined data type in the position where the change boundary line is predicted to move in the future or in its surrounding area be acquired at a higher spatial or temporal density than ocean information previously collected in the predetermined space or ocean information in the surrounding area of ​​the predetermined space. Here, FIG. 29 is a diagram showing an example of how the position of the seawater temperature change boundary line moves over time. As shown in FIG. 29, the data update request condition determination unit 3150 determines whether the change boundary line has moved based on the position of the change boundary line 24 hours ago and the current position of the change boundary line detected by the MDA data analysis unit 3120. If the position of the change boundary line has moved, it predicts the position of the change boundary line 24 hours later (future time). Furthermore, the data update request condition determination unit 3150 determines the update request conditions so that update data for the predicted movement position of the change boundary line 24 hours later (future time) or its surrounding area can be obtained at a higher spatial density (e.g., 2 locations / square kilometer) or temporal density (e.g., 1 time / day) than the spatial density (e.g., 1 location / square kilometer) or temporal density (e.g., 1 time / day) of the locations where past ocean information accumulated in the ocean situation awareness system 7000 is obtained, or the spatial density (e.g., 1 location / square kilometer) or temporal density (e.g., 1 time / day) of the locations where update data is obtained in surrounding areas outside the area.

[0103] In addition, for example, when the MDA data analysis unit 3120 determines that there is a possibility of data abnormalities such as drift, gain deviation, or zero point offset in ocean information of a specified data type, the data update request condition determination unit 3150 can determine as an update request condition that correction data for ocean information of a specified data type be measured in the area where the ocean information was acquired, or calibration data for a measurement sensor in an external observation system 5000 that measures ocean conditions.

[0104] In addition, the data update request condition determination unit 3150 can determine, for example, as an update request condition, that an area in which the MDA data analysis unit 3120 has determined that the ocean conditions related to at least one of wave height, wind speed, or rainfall contained in the ocean information satisfy predetermined conditions will be the target area for obtaining update data for the ocean information.

[0105] In addition, the data update request condition determination unit 3150 can determine, as an update request condition, that the target areas for obtaining updated data for marine information are route areas or their surrounding areas where the number of vessels other than unmanned boats traveling during a specified period in the past, the present, or a specified period in the future, as determined by the MDA data analysis unit 3120, is greater than a specified value or is relatively greater than the surrounding areas.

[0106] In addition, the data update request condition determination unit 3150 can determine, for example, at least one of the area, time period, and data type that the update desire determination unit 3110 has determined to have a relatively high need for updating marine information from users as the update request condition for obtaining updated data for marine information.

[0107] Furthermore, the data update request condition determining unit 3150 can determine, for example, the update request area, the update request time period, or the update request data type included in the update request determined by the update request determining unit 3110 as the update request condition.

[0108] In addition, for example, when the update request determination unit 3110 detects the occurrence of a specified event based on marine information, including at least one of a specified marine phenomenon, a specified marine accident, or other specified abnormal situation, the data update request condition determination unit 3150 can determine an area including the area where the specified event occurred as the target area for obtaining update data for marine information under the update request conditions.

[0109] Furthermore, the method of determining the data update request condition by the data update request condition determiner 3150 can be determined based on preset weighting information in addition to the above-mentioned methods. In this case, for example, a high weighting coefficient can be assigned to a route area where there is a lot of navigation of other vessels other than the unmanned vessel, or an area where wave heights and wind conditions are large enough to affect the navigation of the unmanned vessel, so that the area is more likely to be determined as a target area for data updating. Furthermore, when the user's update needs change due to the season, events, etc., the criteria for setting the weighting coefficient can be changed according to the season or event.

[0110] As described above, the update request conditions determined by the update request determination unit 3100 and the information on the observation plan for ocean conditions acquired by the external observation plan acquisition unit 3140 are each transmitted to the overall control system 2000 .

[0111] (A-3-2. Observation Data Management Unit 3200) The observation data management unit 3200 is a functional unit that manages observation data acquired from the unmanned boat system 1000 via the overall control system 2000. The observation data management unit 3200 includes an observation data acquisition unit 3210 and an observation data accumulation unit 3220.

[0112] The observation data acquisition unit 3210 is a functional unit that acquires observation data measured by the unmanned boat system 1000 from the observation data transmission unit 2430 of the overall control system 2000.

[0113] The observation data storage unit 3220 is a functional unit that records the observation data acquired by the observation data acquisition unit 3210 .

[0114] (A-3-3. Observation Data Analysis Unit 3300) The observation data analysis unit 3300 is a functional unit that performs data analysis of observation data relating to various ocean conditions measured by the multiple unmanned vessels 1010 to calculate ocean information indicating ocean conditions, and generates display data to be displayed and output from the ocean situation awareness system 7000, etc. The observation data analysis unit 3300 includes a data analysis processing unit 3310 and a display data generation unit 3320.

[0115] The data analysis processing unit 3310 is a functional unit that performs data analysis of observation data regarding various ocean conditions measured by multiple unmanned boats 1010 based on measurement commands generated by the data collection operation control unit 2300 of the overall control system 2000 described later, and interprets at least one of the ocean conditions listed in Figure 5.

[0116] In addition to calculating the ocean conditions described above, the data analysis processing unit 3310 may also have a function of performing a process of thinning out abnormal values ​​determined to be abnormal in the observation data measured by the unmanned watercraft 1010. In this process, a fluctuation range that can vary for each data type of observation data is set in advance, and observation data that deviates from that fluctuation range can be determined to be an abnormal value.

[0117] In addition to calculating the ocean conditions described above, the data analysis processing unit 3310 may also have the function of detecting unreliable observation data measured by the unmanned vessel 1010 that may contain abnormalities such as drift (a condition in which the value of the measurement data, which should be a constant value, changes gradually), gain deviation (a condition in which the amplification factor of the measurement data is off, and the amplification factor of the measurement data conversion value relative to the sensor detection voltage, i.e., the slope of the conversion line, is off), offset (a condition in which the measurement data value is off by a certain amount, and the slope of the conversion line is normal, but the measurement data conversion line or curve itself relative to the sensor detection voltage is off by a certain width in the X or Y axis direction), or zero point learning deviation (a condition in which the value learned for calibration is off by a certain amount, for example, a condition in which the speed sensor was supposed to have learned at a state of 0 m / s, but a state of 1 m / s is mistakenly recognized as 0 m / s), and performing thinning processing or composition processing on this unreliable observation data.

[0118] The display data generation unit 3320 is a functional unit that uses ocean information indicating ocean conditions calculated by the data analysis processing unit 3310 to generate display data to be displayed and output from the ocean situation assessment system 7000 and the like.

[0119] The display data generation unit 3320 can generate, for example, a distribution map of ocean conditions in a wide ocean area, a GIS (Geographic Information System) integrated map that integrates various types of ocean information with location information on a map, an AIS integrated map that integrates various types of ocean information and AIS (Automatic Identification System) information on a map based on location information, statistical data on the frequency of occurrence of specified conditions determined based on ocean information, and a timeline diagram that shows changes in ocean conditions over time as display data.

[0120] The display data generation unit 3320 may have the function of generating integrated information as display data that integrates ocean information calculated by the data analysis processing unit 3310 based on observation data measured by multiple unmanned vessels 1010 and ocean information acquired from the ocean situation awareness system 7000 by the MDA data acquisition unit 3410.

[0121] The display data generation unit 3320 may also have a function to perform a data volume compression process on the display data so as to reduce the processing load of the transmission process and display process when transmitting the display data to the maritime situation awareness system 7000 via the MDA interface unit 3400 (described later) or when displaying the display data in the maritime situation awareness system 7000. The display data generation unit 3320 may also have a function to process the display data into a data standard required for transmitting the display data to the maritime situation awareness system 7000.

[0122] Furthermore, the display data generation unit 3320 is not limited to analyzing the observation data generated by the data analysis processing unit 3310 to generate analysis data, but can also use observation data collected by the unmanned boat system as display data.

[0123] (A-3-4. MDA interface unit 3400) The MDA interface unit 3400 has a function of inputting and outputting information between the maritime situation awareness system 7000 and the data analysis system 3000. The MDA interface unit 3400 includes an MDA data acquisition unit 3410, an MDA request acquisition unit 3420, an information update plan proposal unit 3430, an information update plan revision request acquisition unit 3440, and a display data output unit 3450.

[0124] The MDA data acquisition unit 3410 is a functional unit that acquires, from the marine situation awareness system 7000, marine information relating to marine conditions accumulated in the marine situation awareness system 7000.

[0125] The MDA request acquisition unit 3420 is a functional unit that acquires from the marine situation awareness system 7000 user browsing history in which a large number of users have viewed marine information stored in the marine situation awareness system 7000 via the user terminal 4000, or information regarding users' requests for updating marine information.

[0126] The information update plan proposal unit 3430 is a functional unit that transmits the information update plan proposal information generated by the information update plan proposal information generation unit 2250 (described later) to the marine situation monitoring system 7000.

[0127] The information update plan correction request acquisition unit 3440 is a functional unit that receives, from the marine situation awareness system 7000, information on an information update plan correction request acquired from the user in response to the information update plan proposal information transmitted to the marine situation awareness system 7000 by the information update plan proposal unit 3430. Here, the information on the information update plan correction request includes user input information such as the user's approval, rejection, or correction request for the information update plan proposal information.

[0128] The display data output unit 3450 is a functional unit that transmits the display data generated by the display data generation unit 3320 to the marine situation assessment system 7000. The display data transmitted by the display data output unit 3450 includes marine information including either observation data on marine conditions collected by the unmanned boat system or analysis data obtained by analyzing the observation data.

[0129] (A-3-5. User interface unit 3500) The user interface unit 3500 is a functional unit that inputs and outputs information to and from the user who operates the data analysis system 3000. The user interface unit 3500 includes a display unit 3510 and a user update request acquisition unit 3520.

[0130] The display unit 3510 is a functional unit that displays the display data generated by the display data generation unit 3320 to the user of the data analysis system 3000. The display data displayed on the display unit 3510 includes the above-mentioned ocean state distribution map, GIS integrated map, AIS integrated map, statistical data on the occurrence frequency of specified states, timeline diagrams, etc.

[0131] The display unit 3510 has a function of displaying not only the display data of the marine information but also the proposed information and the decided information of the information update plan generated by the data update plan determination unit 2200, which will be described later. Here, the proposed information and the decided information of the information update plan displayed and output on the display unit 3510 include information on the observation data type of the marine conditions, the observation area, and the observation schedule.

[0132] Here, the information regarding the observation schedule is not limited to the observation data acquisition schedule, but may also include a viewable schedule that enables updated data to be viewed on the display unit 3510 or the ocean situation assessment system 7000. Furthermore, the information regarding the observation data type may include type information of the observation data collected by the unmanned vessel before data analysis, and type information of the post-analysis data (ocean conditions) after data analysis of the observation data.

[0133] The user update request acquisition unit 3520 is a functional unit that acquires user input information such as the user's approval, rejection, or correction request for the proposed information of the information update plan displayed on the display unit 3510.

[0134] (A-4. Overview of Integrated Control System 2000) Next, an overview of the overall control system 2000 will be described using Fig. 9. Fig. 9 is a functional block diagram showing the functional configuration of the overall control system 2000. The overall control system 2000 includes an information acquisition unit 2100, a data update plan determination unit 2200, a data collection operation control unit 2300, an information output unit 2400, and a user interface unit 2500.

[0135] (A-4-1. Information acquisition department 2100) The information acquisition unit 2100 is a functional unit that acquires various types of information required for processing by each functional unit of the integrated control system 2000 from the user input acceptance unit 2520 (described later), the data analysis system 3000, the user terminal 4000, the external observation system 5000, and the marine situation assessment system 7000. The information acquisition unit 2100 includes a data update request condition acquisition unit 2110, a prior information acquisition unit 2120, an observation data acquisition unit 2130, and an external observation plan acquisition unit 2140.

[0136] The data update request condition acquisition unit 2110 is a functional unit that acquires the data update request conditions for the oceanographic information generated by the data update request condition determination unit 3150 described above.

[0137] The prior information acquisition unit 2120 is a functional unit that acquires various types of information used to generate oceanographic information measurement commands by the unmanned watercraft system 1000. Fig. 10 is a diagram showing an example of the content of the prior information acquired by the prior information acquisition unit 2120. As shown in Fig. 10, the prior information acquired by the prior information acquisition unit 2120 includes information related to the unmanned watercraft system, information related to an external observation system, surrounding information, and past investigation history information.

[0138] First, the unmanned watercraft system-related information includes information about the unmanned watercraft system 1000, such as information about the system configuration, onboard measurement sensors, and aircraft performance. The system configuration includes information such as the total number of unmanned watercraft 1010 belonging to the unmanned watercraft system 1000, and the number of parent and child watercraft. The onboard measurement sensors are type information about the measurement sensors 1110 mounted on the unmanned watercraft 1010. The aircraft performance is information about various performance aspects of the unmanned watercraft 1010, such as the navigation performance of the navigation unit 1300 of the unmanned watercraft 1010, the communication performance of the communication unit 1400, the measurement performance of the measurement unit 1100, the power storage performance and power generation performance of the power supply unit 1700, etc.

[0139] Next, the external observation system related information includes information about the external observation system 5000, such as the system configuration, onboard measurement sensors, and measurement performance of the external observation system 5000. The system configuration includes information such as the type, number, and location of each system belonging to the external observation system 5000 as shown in Figure 4. Furthermore, the onboard measurement sensors include information on the type of measurement sensors mounted on each system belonging to the external observation system 5000 shown in Figure 4. Furthermore, the measurement performance includes the area that can be measured by each of the above-mentioned systems, the data transmission capacity of the measured observation data, etc.

[0140] Next, the surrounding area information includes geographic information and ship navigation information for the marine area where the unmanned watercraft system 1000 is deployed and the surrounding area. The past observation history information includes history information such as measurement locations and measurement times where measurements were taken by the unmanned watercraft system 1000 in the past.

[0141] The observation data acquisition unit 2130 is a functional unit that acquires observation data collected by the unmanned boat system 1000.

[0142] The external observation plan acquisition unit 2140 is a functional unit that acquires observation plan information on ocean conditions by the external observation system 5000 from the external observation plan acquisition unit 3140 of the data analysis system 3000 .

[0143] (A-4-2. Data Update Plan Determination Unit 2200) The data update plan determination unit 2200 is a functional unit that determines an information update plan for marine information using multiple unmanned boats 1010, based on the data update request conditions acquired by the data update request condition acquisition unit 2110. The data update plan determination unit 2200 includes an unmanned boat operation determination unit 2210, an unmanned boat deployment route determination unit 2220, an information update plan proposal information generation unit 2230, and an information update plan modification unit 2240.

[0144] The unmanned vessel operation determination unit 2210 is a functional unit that determines, based on the data update request conditions, the operation of the unmanned vessel included in the information update plan for ocean information using multiple unmanned vessels 1010. For example, the unmanned vessel operation determination unit 2210 can determine an information update plan for ocean information using multiple unmanned vessels 1010 based on the external observation plan by the external observation system 5000 acquired by the external observation plan acquisition unit 2140, the data update request conditions, and advance information such as that shown in Figure 10 acquired by the advance information acquisition unit 2120.

[0145] The unmanned vessel operations determined by the unmanned vessel operation determination unit 2210 include an ocean state measurement operation that measures ocean states using the measurement sensor 1110 mounted on the unmanned vessel 1010, an external observation data collection operation that collects observation data measured by the external observation system 5000 using the unmanned vessel 1010, and a correction data acquisition operation that acquires correction data for the observation data measured by the external observation system 5000.

[0146] 11 to 13, multiple types of unmanned watercraft operations determined by the unmanned watercraft operation determination unit 2210 as described above will be described. FIG. 11 is a diagram showing an example of an ocean state measurement operation, which is a first unmanned watercraft operation determined by the unmanned watercraft operation determination unit 2210. The example shown in FIG. 11 shows how an ocean state measurement operation is performed to measure ocean states on or under the sea using a measurement sensor 1110 mounted on an unmanned watercraft 1010. Observation data measured by unmanned watercraft (slave) 1002a and other unmanned watercraft (slave) 10002b during the ocean state measurement operation is collected in the master unit 1001 and transmitted to the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200.

[0147] Next, Fig. 12 shows an example of an external observation data collection operation, which is a second unmanned vessel operation determined by the unmanned vessel operation determination unit 2210. The example shown in Fig. 12 shows how the external device communication unit 1430 installed in the unmanned vessel 1010 collects observation data measured by various systems constituting the external observation system 5000. Fig. 12 particularly shows an example in which the unmanned vessel (slave) 1002a collects observation data from a floating buoy 5200 and a moored buoy 5300 using the external device communication unit 1430, and another unmanned vessel (slave) 1002b collects observation data from an unmanned submersible vessel 5400 using the external device communication unit 1430, and the collected observation data is aggregated in the master vessel 1001 and transmitted to the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200.

[0148] 12 is typically collected by a vessel or the like that approaches within a communication range of about several hundred meters, and transmitted to the ocean situation awareness system 7000. Therefore, if the frequency of ocean data collection by a vessel or the like is low, the frequency of updates to the data uploaded to the ocean situation awareness system 7000 will also be low. Therefore, by having the unmanned vessel 1010 collect the observation data, the frequency of updates to the data uploaded to the ocean situation awareness system 7000 can be improved.

[0149] Next, Fig. 13 is a diagram showing an example of a correction data acquisition operation, which is a third unmanned vessel operation determined by the unmanned vessel operation determination unit 2210. The example shown in Fig. 13 shows how the correction data acquisition operation is performed, in which correction data for observation data measured by the external observation system 5000 is acquired by the measurement sensor 1110 mounted on the unmanned vessel 1010. Fig. 13 shows an example in which the unmanned vessel (slave) 1002a and another unmanned vessel (slave) 10002b collect the measured correction data in the master vessel 1001 and transmit it to the overall control system 2000 via the communication satellite 6100 or the terrestrial base station 6200.

[0150] 13 also shows how, in addition to the correction data collection operation, unmanned vessel (slave) 1002a and other unmanned vessels (slave) 10002b measure calibration data used to calibrate the measurement sensors mounted on each system of external observation system 5000. In Fig. 13, unmanned vessel (slave) 1002a and other unmanned vessels (slave) 10002b transmit the measured calibration data to floating buoy 5200, moored buoy 5300, and unmanned submersible vessel 5400.

[0151] The unmanned vessel operation determination unit 2210 compares the information on the observation data type, observation area, observation schedule (including the next observation data measurement date and time, observation data measurement frequency (measurement time density), ocean state measurement schedule, and data update schedule for uploading marine information to the ocean situation awareness system 7000), and spatial density of measurement points included in the external observation plan and the data update request conditions, and can determine an information update plan for observing ocean conditions under conditions that are not included in the observation conditions of the observation data type, observation area, and observation schedule in the external observation plan, but are included in the observation conditions of the observation data type, observation area, and observation schedule, and spatial density of measurement points in the data update request conditions. In other words, it is possible to determine an information update plan that allows observation to be performed under observation conditions that are not included in the observation plan by the external observation system 5000, out of the observation conditions included in the data update request conditions.

[0152] In this way, among the observation conditions included in the data update request conditions, an information update plan for conducting observations under observation conditions that do not include an observation plan by an external observation system 5000 can be an information update plan for measuring ocean conditions on and under the sea using multiple unmanned vessels 1010, as shown in Figure 11.

[0153] In addition, the unmanned vessel operation determination unit 2210 compares the information on the observation data type, observation area, and observation schedule (including the ocean state measurement schedule and the data update schedule for uploading marine information to the marine situation awareness system 7000) contained in the external observation plan with the information on the data update request conditions, and if the first data update time in the data update schedule contained in the external observation plan is later than the second data update time in the data update schedule contained in the data update request conditions, it can determine an information update plan to use the unmanned vessel 1010 to collect marine information from the external observation system 5000 and upload the marine information to the marine situation awareness system 7000, as shown in Figure 12.

[0154] 13, the unmanned vessel operation determination unit 2210 can determine an information update plan for correcting the ocean information recorded in the ocean situation awareness system 7000 based on the correction data measured using the unmanned vessel 1010. Here, the timing of the measurement operation for measuring the correction data included in the information update plan may be after the data update request condition including the measurement request for the correction data is generated, but is not limited to this, and it is also possible to create an information update plan that uses as correction data observation data that has already been measured by the unmanned vessel 1010 before the data update request condition is generated.

[0155] 13, the data update plan determination unit 2200 can determine an information update plan for transmitting calibration data measured using the unmanned watercraft 1010 to the external observation system 5000. Here, the timing of the measurement operation for measuring the calibration data included in the information update plan may be after the data update request conditions including the measurement request for the calibration data are generated, but is not limited to this, and it is also possible to create an information update plan that uses, as calibration data, observation data that has already been measured by the unmanned watercraft 1010 before the data update request conditions are generated.

[0156] Furthermore, the unmanned watercraft operation determination unit 2210 can determine the measurement interval time and measurement period for measuring ocean conditions by the unmanned watercraft based on the information specifying the time density of update data specified by the data update request conditions.

[0157] The unmanned watercraft operation determination unit 2210 can also determine, as an information update plan, a pre-deployment of multiple unmanned watercraft as standby bases in coastal areas, nearby sea areas, or on nearby ships near the observation area specified by the data update request conditions. In this case, the unmanned watercraft deployment path determination unit 2220 can plan the deployment locations of the standby bases and the number of watercraft based on the observation schedule, data collection method, etc. specified by the data update request conditions in addition to the observation area.

[0158] Furthermore, because the states of fronts, upwelling regions, plankton plumes, and the like change in a short period of time, if the observation data type included in the data update request conditions is a front, upwelling region, plankton plume, or the like, it is desirable for the unmanned watercraft operation determination unit 2210 to determine an information update plan so that multiple unmanned watercrafts 1010 immediately move to the observation area and begin observation. In this case, as described above, by pre-positioning multiple unmanned watercrafts in nearby coastal areas, etc., they can arrive at the observation area more quickly, making it possible to more reliably observe fronts, upwelling regions, plankton plumes, and the like, whose states change in a short period of time.

[0159] The unmanned boat placement route determination unit 2220 is a functional unit that determines the placement and movement routes of multiple unmanned boats 1010 based on the information update plan determined by the unmanned boat operation determination unit 2210 and advance information such as that shown in Figure 10 acquired by the advance information acquisition unit 2120.

[0160] The unmanned craft placement path determination unit 2220 can determine the placement and movement paths of multiple unmanned crafts 1010 for which data updates can be performed in accordance with the information update plan, based on, for example, the observation data type, observation area, and observation schedule included in the information update plan determined by the unmanned craft operation determination unit 2210, and the unmanned craft system-related information and surrounding information included in the advance information. Note that the information on the placements and movement paths of the multiple unmanned crafts 1010 determined here is also included in the information update plan.

[0161] For example, the unmanned watercraft placement path determination unit 2220 can determine the placement and relative distance of unmanned watercraft based on the spatial density specification information of the update data specified by the data update request conditions. It can also determine feasible placement, movement paths, and movement schedules for multiple unmanned watercraft based on the current placement of the multiple unmanned watercraft, the number of watercraft, and the possible travel distance and possible travel speed estimated based on the remaining battery power.

[0162] In addition, the unmanned vessel deployment route determination unit 2220 calculates the time required for each unmanned vessel 1010 to move, take measurements, collect data from the external observation system 5000, process data at the edge by the data processing unit 1500, and transmit the observation data to the overall control system 2000 based on information regarding the system configuration and aircraft performance of the unmanned vessel system 1000 contained in the advance information, as well as the current location of multiple unmanned vessels, the number of vessels, the travelable distance and travelable speed estimated based on the remaining battery power, etc., and it is desirable to generate an information update plan (observation schedule including operation start time and operation end time) that takes these required times into consideration and satisfies the data update schedule for uploading the update data specified by the data update requirement conditions to the ocean situation awareness system 7000.

[0163] Furthermore, if the time density of the update data specified by the data update request conditions (i.e., the measurement interval) is shorter than a predetermined value, the unmanned watercraft placement path determination unit 2220 determines that each unmanned watercraft is to be placed in a moored state at each measurement position of the update data. On the other hand, if the time density of the update data specified by the data update request conditions (i.e., the measurement interval) is longer than a predetermined value, the unmanned watercraft 1010 can be moved to multiple measurement positions during the measurement interval, and therefore the number, placement, movement path, and movement schedule of multiple unmanned watercrafts can be determined so that the unmanned watercrafts 1010 are moved between the multiple measurement positions during the measurement interval using fewer unmanned watercrafts 1010 than the number of measurement positions.

[0164] Furthermore, when the information update plan determined by the unmanned vessel operation determination unit 2210 is an operation for retrieving observation data from an external observation system 5000 as shown in Figure 12, the unmanned vessel placement route determination unit 2220 can determine the number, placement, movement route, and movement schedule of multiple unmanned vessels so that they can move into the communication range of the external observation system 5000 (such as a floating buoy 5200, a moored buoy 5300, or an unmanned submersible 5400) in accordance with the data update schedule for uploading marine information to the ocean situation awareness system 7000, and retrieve observation data from the external observation system 5000.

[0165] Furthermore, if the observation area specified by the data update request conditions is a predetermined distance or more away from the current deployment position of the unmanned watercraft 1010 and there is little time until the observation start time, it is desirable for the unmanned watercraft deployment path determination unit 2220 to generate an information update plan that causes multiple unmanned watercrafts to rush to the observation area and deploy them in a predetermined location in advance. In this case, an unmanned watercraft 1010 with low battery power may be towed by another unmanned watercraft 1010 to rush to the observation area.

[0166] Furthermore, if the observation area specified by the data update request conditions is farther than a predetermined distance from the current deployment position of the unmanned watercraft 1010 and there is little time until the observation start time, the unmanned watercraft deployment path determination unit 2220 deploys multiple unmanned watercraft as standby bases in coastal areas near the specified observation area, in nearby sea areas, or on nearby ships. In this case, the unmanned watercraft deployment path determination unit 2220 can plan the deployment locations of the standby bases and the number of watercraft based on the desired point or desired time in the observation area. The need to utilize the standby watercraft deployed in advance may also be determined based on the data update frequency and measurement time.

[0167] In addition, if the observation area specified by the data update request conditions is more than a predetermined distance away from the current deployment position of the unmanned boat 1010 and there is sufficient time until the observation start time, an information update plan can be generated that involves traveling to the observation area while performing recovery charging using a power generation device 1720 such as a solar panel.

[0168] Furthermore, if the observation period specified by the data update request conditions is longer than a predetermined time, regular maintenance of the unmanned vessel 1010 will be required, and long-term, high-frequency measurements may result in the remaining charge of a storage device 1710 such as a battery becoming insufficient and requiring a replacement.Therefore, the unmanned vessel deployment route determination unit 2220 can, for example, determine a replacement schedule in which all of the unmanned vessels in the unmanned vessel system 1000 are replaced with replacement unmanned vessels 1010 at once.

[0169] In addition, if the observation area specified by the data update request conditions is large and the distance traveled by the unmanned vessel 1010 during the observation period is long, the unmanned vessel placement route determination unit 2220 can, for example, determine a replacement schedule in which an unmanned vessel 1010 with a low remaining charge in a storage device 1710 such as a battery is gradually replaced with a replacement unmanned vessel 1010.

[0170] The information update plan proposal information generation unit 2230 is a functional unit that generates proposal information of an information update plan to be proposed to a user, based on the information update plan determined by the unmanned boat operation determination unit 2210 and the unmanned boat deployment path determination unit 2220. In addition, the proposal information of the information update plan generated by the information update plan proposal information generation unit 2230 is transmitted to the data analysis system 3000 by a data collection plan proposal information transmission unit 2410 (described later), or is displayed and output to a user of the overall control system 2000 via the user interface unit 2500.

[0171] Here, the proposed information of the information update plan generated by the information update plan proposal information generating unit 2230 will be described with reference to Fig. 14. Fig. 14 is a diagram showing an example of the proposed information of the information update plan generated by the information update plan proposal information generating unit 2230. As shown in Fig. 14, the proposed information of the information update plan includes the data type of the ocean information to be updated, the target area, the data collection method (measurement by unmanned boat, collection of observation data from an external observation system, etc.), the observation schedule (next observation data measurement date and time, measurement frequency of the observation data (measurement time density), next data update completion date and time of the observation data or analysis data, data update frequency, etc.), and the spatial density of the measurement points. The target area is displayed in map format so that the user can identify the area.

[0172] In addition, the information update plan proposal information generation unit 2230 has the function of updating the proposal information for the information update plan at any time in response to updates to input information such as ocean information accumulated in the ocean situation awareness system 7000, observation plans of the external observation system 5000, and advance information.

[0173] The information update plan change unit 2240 has a function of finalizing the information update plan based on input information when receiving input information such as approval, rejection, or change from the user regarding the proposed information of the information update plan. Here, the finalized information update plan is used to generate a control command for the unmanned watercraft system 1000 in the data collection operation control unit 2300, which will be described later.

[0174] (A-4-3. Data collection operation control unit 2300) The data collection operation control unit 2300 has a function of generating control commands for the unmanned watercraft system 1000 based on the information update plan confirmed by the information update plan modification unit 2240. The control commands generated here are transmitted to the unmanned watercraft system 1000 by the unmanned watercraft control command transmission unit 2420, which will be described later. Here, an example of a change in the arrangement of the multiple unmanned watercrafts 1010 when the spatial density of measurement points included in the information update plan is changed to a higher value will be described using FIG. 30. FIG. 30 is a diagram showing an example of the arrangement of the multiple unmanned watercrafts 1010 when the spatial density of measurement points is changed. In particular, the upper diagram of FIG. 30 shows an example of the arrangement of the multiple unmanned watercrafts when the spatial density of measurement points is relatively low in an area where the degree of spatial change in ocean conditions, such as seawater temperature, is determined to be greater than a predetermined value. On the other hand, the lower diagram of FIG. 30 shows an example of the arrangement of the multiple unmanned watercrafts when the spatial density of measurement points in that area is increased. As can be seen from Figure 30, the deployment density of unmanned vehicles in the area is higher in the lower diagram than in the upper diagram. In this way, by increasing the deployment density of a large number of unmanned vehicles, the spatial density of measurement points for observation data can be adjusted.

[0175] The data collection operation control unit 2300 can perform pre-deployment, which deploys multiple unmanned watercraft as standby bases in coastal areas near the specified observation area, nearby sea areas, or on nearby ships. In addition, the unmanned watercraft deployment route determination unit 2220 can plan the deployment locations of the standby bases and the number of watercraft based on the oceanographic information data type, target area, observation schedule, data collection method, and the deployment and movement routes of the multiple unmanned watercraft 1010 included in the confirmed information update plan. The need to utilize the pre-deployed standby watercraft may be determined based on the data update frequency and measurement time. By having such a pre-deployment function, data collection can be more reliably executed in accordance with the information update plan.

[0176] (A-4-4. Information output unit 2400) The information output unit 2400 is a functional unit that transmits and outputs various information from the overall control system 2000 to the unmanned boat system 1000, the data analysis system 3000, etc. The information output unit 2400 includes a data collection plan proposal information transmission unit 2410, an unmanned boat control command transmission unit 2420, and an observation data transmission unit 2430.

[0177] The data collection plan proposal information transmission unit 2410 is a functional unit that transmits and outputs the information update plan proposal information generated by the information update plan proposal information generation unit 2230 to the data analysis system 3000 .

[0178] The unmanned watercraft control command transmission unit 2420 is a functional unit that transmits to the unmanned watercraft system 1000 a control command for the unmanned watercraft system 1000 that has been generated by the data collection operation control unit 2300 .

[0179] The observation data transmission unit 2430 is a functional unit that transmits the observation data acquired by the observation data acquisition unit 2130 to the data analysis system 3000.

[0180] (A-4-5. User interface unit 2500) The user interface unit 2500 is a functional unit that inputs and outputs information to and from a user who operates the overall control system 2000. The user interface unit 2500 includes a display unit 2510 and a user input receiving unit 2520.

[0181] The display unit 2510 is a functional unit that displays and outputs information related to the information acquired by the information acquisition unit 2100, the information generated by the data update plan determination unit 2200, and the control command generated by the data collection operation control unit 2300.

[0182] The display unit 2510 can display and output, for example, proposed information and determined information of the information update plan as shown in Fig. 14 generated by the data update plan determination unit 2200. Here, the proposed information and determined information of the information update plan displayed and output on the display unit 2510 includes information on the observation data type of ocean conditions, the observation area, and the observation schedule.

[0183] Here, the information regarding the observation schedule is not limited to the observation data acquisition schedule, but may also include a viewable schedule that enables updated data to be viewed on the display unit 2510 or the ocean situation assessment system 7000. Furthermore, the information regarding the observation data type may include type information of the observation data collected by the unmanned vessel before data analysis, and type information of the post-analysis data (ocean conditions) after data analysis of the observation data.

[0184] The user input accepting unit 2520 is a functional unit that acquires user input information such as user approval, rejection, or correction request for the proposed information of the information update plan displayed on the display unit 2510. The user input accepting unit 2520 may also have a function of acquiring user input information such as user approval, rejection, or correction request for the control command generated by the data collection operation control unit 2300.

[0185] (A-5. Processing flow of Ocean Observation System 1) Next, the control flow executed by the ocean observation system 1 will be described with reference to FIGS.

[0186] (A-5-1. Upper processing flow by Ocean Observation System 1) 15 is a flowchart showing the control flow of upper-level processing of the ocean observation system 1. In this flowchart, steps 101 to 103 and steps 106 and 107 are executed by the data analysis system 3000, and steps 104 to 105 are executed by the overall control system 2000.

[0187] First, the MDA interface unit 3400 of the data analysis system 3000 acquires requests for updating oceanographic information and oceanographic information accumulated in the oceanographic situation monitoring system 7000 (step 101).

[0188] Next, the MDA data analysis unit 3120 of the data analysis system 3000 analyzes the ocean information accumulated in the ocean situation awareness system 7000 (step 102). The detailed processing of this step will be described later.

[0189] Next, the data update request condition determination unit 3150 of the data analysis system 3000 determines the data update request condition (step 103). The detailed processing content of this step will be described later.

[0190] Next, the data update plan determination unit 2200 of the overall control system 2000 generates an information update plan (step 104). The detailed processing content of this step will be described later.

[0191] Next, the data collection operation control unit 2300 of the overall control system 2000 generates a control command for the unmanned watercraft system 1000, thereby executing the data collection operation (step 105).

[0192] Next, the observation data analysis unit 3300 of the data analysis system 3000 analyzes the observation data collected by the unmanned watercraft system 1000 (step 106). The detailed processing of this step will be described later.

[0193] Next, the display data output unit 3450 and the display unit 3510 of the data analysis system 3000 transmit the ocean information, which is the analysis data, to the ocean situation assessment system 7000 or display it to the user (step 107).

[0194] (A-5-2. Analysis and processing flow of accumulated oceanographic information) 16 is a flowchart showing the flow of analysis processing by the MDA data analysis unit 3120 of ocean information accumulated in the ocean situation awareness system 7000. In particular, FIG. 16 shows detailed processing of step 102 in the flowchart of FIG.

[0195] First, the MDA data analysis unit 3120 determines whether data measurement is insufficient (step 201). In this step, for example, the oceanographic information accumulated in the ocean situation awareness system 7000 is analyzed, and if the spatial density of oceanographic information of a predetermined data type in a predetermined space (i.e., the density of locations where oceanographic information is recorded in a predetermined space) is equal to or lower than a predetermined density, it is determined that the spatial density is insufficient. Note that it can also be determined that the spatial density is insufficient if there is no oceanographic information in the predetermined space.

[0196] In step 201, the ocean information accumulated in the ocean situation awareness system 7000 is analyzed, and if the time density of ocean information of a predetermined data type in a predetermined period (i.e., the number of recorded data of ocean information in a predetermined period) is equal to or less than a predetermined density, it is determined that the time density is insufficient. Note that if there is no ocean information in a predetermined period, it can also be determined that the time density is insufficient.

[0197] Next, the MDA data analysis unit 3120 determines whether data responsiveness is insufficient (step 202). In this step, for example, the ocean information accumulated in the ocean situation awareness system 7000 is analyzed, and if the magnitude of the difference in time-varying ocean information in a predetermined space for each predetermined data type, the speed of time-varying ocean information (calculated by time differentiation of the difference in time-varying ocean information), or the jerk of time-varying ocean information (calculated by time differentiation of the difference in time-varying ocean information) is equal to or greater than a predetermined value, it can be determined that data responsiveness is insufficient.

[0198] Next, the marine anomaly detection unit 3130 determines whether the data reliability is insufficient (step 203). In this step, for example, the marine information accumulated in the marine situation awareness system 7000 is analyzed to determine whether or not there is a possibility of data anomaly such as drift, gain deviation, offset, or zero point learning deviation in the marine information of a predetermined data type.

[0199] (A-5-3. Data update request condition determination process flow) 17 is a flowchart showing the flow of the process of determining a data update request condition by the data update request condition determination unit 3150. In particular, FIG. 17 shows detailed processing of step 103 in the flowchart of FIG.

[0200] First, the update request determination unit 3110 analyzes and determines whether there is a request to update the ocean information (step 301). In this step, the request to update the ocean information is determined based on, for example, the user's browsing history of the ocean information in the ocean situation assessment system 7000 and information related to the user's request to update the ocean information.

[0201] Next, the marine anomaly detection unit 3130 detects whether or not a marine anomaly has occurred (step 302). In this step, for example, based on the marine information acquired from the marine situation awareness system 7000, the occurrence of a predetermined event is detected, including at least one of a predetermined marine phenomenon (occurrence of an underwater front, occurrence of an upwelling region, occurrence of a plankton plume, red tide, tsunami, undersea earthquake, undersea eruption, etc.), a predetermined marine accident (ship collision, ship fire, grounding, oil or CO2 leak accident, etc.), and other predetermined abnormal situations (detection of a person or ship in distress, detection of an illegal ship or suspicious ship, etc.).

[0202] Next, the data update request conditions are determined by the data update request condition determination unit 3150 (step 303). In this step, the data update request conditions are determined, for example, based on the results of the processing in steps 201 to 203 and the determinations in steps 301 and 302, including the type of observation data for ocean conditions, the observation area, the observation schedule, the measurement method, and the like.

[0203] (A-5-4. Information Update Plan Decision Process Flow) 18 is a flowchart showing the flow of the information update plan determination process by the information acquisition unit 2100 and the data update plan determination unit 2200. In particular, Fig. 18 shows detailed processing of step 104 in the flowchart of Fig. 15.

[0204] First, the data update request condition is acquired by the data update request condition acquisition unit 2110 (step 401). In this step, for example, a data update request condition such as that shown in FIG.

[0205] Next, the prior information acquisition unit 2120 acquires prior information (step 402). In this step, for example, prior information as shown in FIG.

[0206] Next, the external observation plan acquisition unit 2140 acquires information about the observation plan of the external observation system 5000 (step 403).

[0207] Next, the unmanned watercraft operation determination unit 2210 determines the operation of the unmanned watercraft included in the information update plan for the marine information (step 404).

[0208] Next, the unmanned watercraft operation determination unit 2210 determines the data collection schedule included in the information update plan for the marine information (step 405).

[0209] Next, the unmanned craft deployment route determination unit 2220 determines the deployment and movement routes of the multiple unmanned crafts included in the information update plan for the marine information (step 406).

[0210] Next, the information update plan proposal information generating unit 2230 proposes the generated information update plan proposal information to the user (step 407). In this step, for example, the data collection plan proposal information transmitting unit 2410 transmits the proposal information to the data analysis system 3000, and the proposal information is displayed and output to the user via the user update request obtaining unit 3520, or the proposal information is displayed and output to the user via the user interface unit 2500.

[0211] Next, the user update request acquiring unit 3520 or the user input accepting unit 2520 accepts user input information for the displayed proposed information of the information update plan (step 408). In this step, for example, user input information such as user approval, rejection, or correction request for the proposed information of the information update plan can be acquired. In addition, in this step, if an input of rejection of the proposed information or a request for correction is accepted from the user, the process is transitioned to step 409, and on the other hand, if approval of the proposed information or input is not accepted from the user within a predetermined time, the process is transitioned to step 410.

[0212] Next, in step 409, if the user has input a request to reject or modify the proposed information, the information update plan modification unit 2240 modifies the information update plan (step 409).

[0213] Next, the information update plan change unit 2240 finalizes the information update plan (step 410).

[0214] (A-5-5. Observation data analysis processing flow) 19 is a flowchart showing the flow of the observation data analysis process by the observation data analysis unit 3300. In particular, FIG. 19 shows detailed processing of step 106 in the flowchart of FIG.

[0215] First, the observation data management unit 3200 acquires and records the observation data collected by the unmanned watercraft 1010 (step 501).

[0216] Next, the data analysis processing unit 3310 detects unreliable observation data measured by the unmanned craft 1010 that may contain data abnormalities such as drift, gain deviation, or zero point offset, and performs thinning and restructuring processes on this unreliable observation data (step 502).

[0217] Next, the data analysis processing unit 3310 analyzes the observation data and interprets the ocean state (step 503). In this step, for example, at least one of the ocean states listed in FIG.

[0218] Next, the display data generating unit 3320 uses the ocean information interpreted by the data analysis processing unit 3310 to generate display data to be displayed and output from the ocean situation assessment system 7000 or the like (step 504).

[0219] (A-6. Processing Method by the Update Request Judgment Unit 3100 and the Data Update Plan Decision Unit 2200) Next, a description will be given of a processing method by the update request determination unit 3100 and the data update plan determination unit 2200. Fig. 20 is a diagram showing an example of a method of determining a data update request condition by the update request determination unit 3100. Fig. 21 is a diagram showing an example of a method of determining an observation area by the data update plan determination unit 2200.

[0220] (A-6-1. Processing Method by Update Request Determination Unit 3100) The example shown in Fig. 20 illustrates a method for determining an area for which a data update for each data type is requested by the update request determination unit 3100 as a data update request condition. In Fig. 20, Area 1 is determined as the requested area for acquiring sea water temperature data as a data type. The data collection method for Area 1 is, for example, increasing the spatial density of data collection (increasing the spatial density of data collection relative to the data collection density of past ocean information in Area 1 or the data collection density of ocean information in areas surrounding Area 1). Area 1 is determined as the requested area because, for example, the degree of spatial change in sea water temperature (such as the absolute value of the difference in sea water temperature observed at nearby locations) is greater than a predetermined value.

[0221] 20, area 2 is determined as the requested area from which seawater temperature data is acquired as a data type. The data collection method for area 2 is, for example, increasing the time density of data collection (increasing the time density of data collection relative to the time density of data collection of past ocean information in area 2 or the time density of data collection of ocean information in areas surrounding area 2). Area 2 is determined as the requested area because, for example, the degree of change over time in wave height (the difference in the change over time of wave height, the speed of change over time, or the jerk of the change over time, etc.) is greater than or equal to a predetermined value.

[0222] 20, Area 3 is determined as the required area for acquiring salinity data as a data type. The data collection method for Area 3 is, for example, increasing the temporal and spatial density of data collection (increasing the temporal and spatial density of data collection relative to the past data collection density of oceanographic information in Area 3 or the data collection density of oceanographic information in the surrounding areas of Area 2). The reason Area 3 is determined as the required area is, for example, because it includes the predicted movement position of the salinity change boundary line (which can be predicted from the movement history of the salinity change boundary line).

[0223] (A-6-2. Processing Method by the Data Update Plan Determination Unit 2200) In the example shown in Figure 21, the data update plan determination unit 2200 determines the observation area by determining the observation area in the information update plan for each data type based on the data update request conditions and the observation plan by the external observation system 5000.

[0224] 21 shows a situation in which, of the three areas (area 1, area 2, and area 3) included in the data update request conditions, area 3 is included in the area scheduled for observation by manned observation vessel 5500 of external observation system 5000. In such a case, to avoid overlapping measurements by unmanned watercraft system 1000 and manned observation vessel 5500 and obtaining similar observation data, the observation of salinity concentration for area 3 is excluded from the information update plan for unmanned watercraft system 1000, and observation of seawater temperature in area 1 and observation of wave height in area 2 are determined as the information update plan for unmanned watercraft system 1000.

[0225] (A-7. Method for determining distribution of ocean conditions by the observation data analysis unit 3300) Next, a method for determining the distribution of ocean conditions (seawater temperature) by analyzing observation data collected by the unmanned boat system 1000 based on the information update plan in area 1 using the observation data analysis unit 3300 will be explained using Figures 22 to 24.

[0226] (A-7-1. Interpretation of ocean conditions) FIG. 22 is a diagram showing an example of the results of interpretation of ocean conditions (seawater temperature) based on observation data collected by the unmanned watercraft system 1000.

[0227] As shown in Fig. 22, a plurality of unmanned crafts 1010 are deployed in area 1, and each unmanned craft 1010 measures seawater temperature. Furthermore, the observation data analysis unit 3300 interprets the seawater temperature at the position of each unmanned craft 1010 as ocean conditions based on the seawater temperature observation data measured by each unmanned craft 1010 and the position information of each unmanned craft 1010. In the example shown in Fig. 22, the interpretation information of seawater temperature at each position defined in a mesh pattern is shown by the shades of the mesh color; for example, mesh positions with high seawater temperatures are shown in dark colors, and mesh positions with low seawater temperatures are shown in light colors.

[0228] In this way, by deploying a large number of unmanned boats 1010 in an observation area of ​​ocean conditions (such as Area 1), the observation data analysis unit 3300 can estimate ocean conditions such as seawater temperature at each location where the unmanned boats 1010 are deployed, based on the observation data measured by each unmanned boat 1010.

[0229] (A-7-2. Estimating two-dimensional distribution of ocean conditions by interpolating unmeasured locations) FIG. 23 is a diagram showing an example of the estimation result of the two-dimensional distribution of ocean conditions (seawater temperature) obtained by interpolating and estimating unmeasured positions.

[0230] In the example shown in Figure 23, the observation data analysis unit 3300, based on the results of interpreting the sea water temperature at the position of each unmanned vessel 1010 shown in Figure 22, performs a complementary estimate of the sea water temperature at unmeasured positions where observation data has not been collected by the unmanned vessel 1010, and integrates the results of interpreting the sea water temperature at the position of each unmanned vessel 1010 with the complementary estimate of the sea water temperature at unmeasured positions to estimate the two-dimensional distribution of sea water temperature throughout Area 1, which is the observation area.

[0231] For example, based on the determination results of the sea water temperature at the position of each unmanned boat 1010 shown in Fig. 22, if the determination results of the sea water temperature at the positions of adjacent unmanned boats 1010 are all low values, the observation data analysis unit 3300 can estimate that the sea water temperature at unmeasured positions between the unmanned boats 1010 is also similarly low, and conversely, if the determination results of the sea water temperature at the positions of adjacent unmanned boats 1010 are all high values, the observation data analysis unit 3300 can estimate that the sea water temperature at unmeasured positions between the unmanned boats 1010 is also similarly high. Furthermore, if there is a large difference in the values ​​of the determination results of the sea water temperature at the positions of adjacent unmanned boats 1010, the observation data analysis unit 3300 can estimate the sea water temperature at each unmeasured position between the unmanned boats 1010 so that the sea water temperature at the unmeasured positions between the unmanned boats 1010 changes gradually from one unmanned boat position to the other.

[0232] In this way, a large number of unmanned boats 1010 are deployed in Area 1, which is an observation area for ocean conditions, and observation data measured by each unmanned boat 1010 is collected.Ocean conditions such as seawater temperature at each location where multiple unmanned boats 1010 are deployed are determined, and based on the determination results, seawater temperatures at unmeasured locations where no observation data has been obtained are supplementarily estimated, thereby making it possible to estimate the two-dimensional distribution of seawater temperatures throughout Area 1, which is the observation area.

[0233] (A-7-3. Estimation of three-dimensional distribution of ocean conditions) While Fig. 23 above shows a two-dimensional distribution of ocean conditions (sea water temperature), the distribution information of sea water temperature determined by the observation data analysis unit 3300 is not limited to a two-dimensional distribution but can also be generated as a three-dimensional distribution. Fig. 24 is a diagram showing an example of an estimation result of a three-dimensional distribution of ocean conditions (sea water temperature). In particular, Fig. 24 shows the three-dimensional distribution of sea water temperature in the underwater three-dimensional space from the sea surface in the depth direction.

[0234] The unmanned vessel 1010 measures the seawater temperature at a depth using a hanging temperature sensor mounted on the vessel, or collects observation data of the seawater temperature at a depth from a floating buoy 5200, a moored buoy 5300, or an unmanned submersible 5400 that can measure the seawater temperature in the ocean, and the observation data analysis unit 3300 can collect the observation data necessary to determine the three-dimensional distribution of the seawater temperature.

[0235] The observation data analysis unit 3300 can determine the two-dimensional distribution of seawater temperature on a two-dimensional plane at each depth position based on the observation data of seawater temperature at each depth position using the complementary estimation method of seawater temperature at unmeasured positions explained in Fig. 22. Furthermore, by integrating the two-dimensional distribution of seawater temperature on a two-dimensional plane at each depth position, it is possible to determine the three-dimensional distribution of seawater temperature in a three-dimensional underwater area.

[0236] (A-8. Hardware Configuration) 25 is a hardware configuration diagram of an overall control system 2000 and a data analysis system 3000. Here, the overall control system 2000 and the data analysis system 3000 in the present invention are information processing devices such as a server device or a PC. As shown in the figure, the overall control system 2000 and the data analysis system 3000 have an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0237] The input device 100 can constitute a user input receiving unit 2520 and a user update request acquiring unit 3520, and is a device that allows a user to input information and instructions to the integrated control system 2000 and the data analysis system 3000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0238] The output device 200 is a device that outputs various information generated by the integrated control system 2000, and can constitute the display unit 2510 or the display unit 3510. Specifically, the output device 200 can constitute the display unit 2510 or the display unit 3510 using eyewear, AR, or VR display devices, or can also be a printer or a speaker.

[0239] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing arithmetic processing.

[0240] The main memory device 400 is a memory device including RAM and ROM that reads and writes temporarily to memory elements at any address during processing, without requiring any waiting time depending on the access pattern. For example, RAM is temporarily written to and read from during programs, application programs, and various other processes executed by the processing device 300. ROM is a non-volatile memory that does not lose recorded information even if the device loses power. The auxiliary memory device 500 is a non-volatile memory device capable of storing digital information, such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory.

[0241] The communication device 600 is a device that performs wireless or wired information communication with the outside, and can constitute the information output unit 2400 and the MDA interface unit 3400 .

[0242] The above-described embodiment is merely an example to facilitate understanding of the present invention and is not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention naturally includes equivalents. For example, some of the functions of the overall control system 2000 and the data analysis system 3000 can be implemented in one or more unmanned watercraft 1010. As an example, the functions of the observation data analysis unit 3300 for data analysis processing and display data generation processing can be installed in the data processing unit 1500 of the unmanned watercraft 1010.

[0243] [A-2. Effects of this embodiment] According to the above-described embodiment, the convenience of the ocean information database can be improved by using multiple unmanned vessels 1010. As an example, by determining the update requirements for ocean information based on information obtained from the ocean situation awareness system 7000 and determining an information update plan for ocean information using multiple unmanned vessels, it becomes possible to make more effective use of limited physical or human resources, or to prioritize the collection of data with high demand so as to meet the user's requirements, thereby improving the convenience of the ocean information database. [Explanation of symbols]

[0244] 1. Ocean Observation System (System) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000...Unmanned boat system 1001...Base unit 1002...Sub unit 1010...Unmanned boat 1100...Measuring unit 1110...Measuring sensor 1120...Measurement control unit 1200...Own aircraft state determination unit 1210...Navigation state determination unit 1220: Internal state determination unit 1230: External state determination unit 1300...Navigation section 1310...Thrust generation section 1320: Attitude control mechanism 1330: Navigation control unit 1400...Communication unit 1410...Unmanned vehicle communication unit 1420...General control communication unit 1430...External device communication unit 1500...Data processing unit 1600...Recording section 1610...Measurement data recording section 1620...Own aircraft status recording section 1700...power supply unit 1710...electricity storage device 1720...power generating device 1730...power control unit 2000...Comprehensive control system 2100: Information acquisition unit 2110: Data update request condition acquisition unit 2120: Advance information acquisition unit 2130: Observation data acquisition unit 2140…External Observation Plan Acquisition Department 2200...Data update plan determination unit 2210...Unmanned vessel operation determination unit 2220...Unmanned boat deployment route determination unit 2230...Information update plan proposal information generation unit 2240…Information Update Plan Change Department 2300...Data collection operation control unit 2400: Information output unit 2410: Data collection plan proposal information transmission unit 2420: Unmanned boat control command transmitter 2430: Observation data transmitter 2500...User interface section 2510...Display section 2520...User input reception unit 3000...Data analysis system 3100...Update request determination unit 3110...Update request determination unit 3120: MDA Data Analysis Department 3130: Marine Anomaly Detection Department 3140: External observation plan acquisition unit 3150: Data update request condition determination unit 3200: Observation data management unit 3210: Observation data acquisition unit 3220: Observation data storage unit 3300: Observation data analysis unit 3310: Data analysis processing unit 3320...Display data generation unit 3400...MDA interface unit 3410...MDA data acquisition unit 3420: MDA Request Acquisition Department 3430: Information Update Plan Proposal Department 3440... Information update plan correction request acquisition unit 3450... Display data output unit 3500...User interface section 3510...Display section 3520...User update request acquisition unit 4000...User terminal 5000...External observation system 5100...Observation satellite 5200...Floating buoy 5300...Mooring buoy 5400...Unmanned submersible 5500...Manned observation vessel 5600…Observation aircraft 6100: Communications satellite 6200: Ground base station 7000...Maritime Situational Awareness System

Claims

1. An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires, from the marine situation awareness system, first external information related to at least one of the marine information related to marine conditions accumulated in the marine situation awareness system and a user's browsing history of the marine information; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using an unmanned vessel group including the plurality of unmanned vessels based on the update request conditions; an information input / output unit that displays information about the determined information update plan or transmits control commands generated based on the information update plan to a plurality of unmanned watercrafts, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, when the spatial density of the marine information of a predetermined data type in a predetermined space is equal to or lower than a predetermined density, as the update request condition, that update data of the marine information of the predetermined data type in the predetermined space be acquired at a spatial density higher than the predetermined density; The information update plan determination unit determines the relative distances between the unmanned vessels of the unmanned vessel group based on spatial density designation information included in the update request conditions for acquiring the update data at a spatial density higher than the specified density.

2. 2. The ocean observation system according to claim 1, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, when the time density of the ocean information of a specified data type during a specified period is equal to or lower than a specified density, that the update request condition is to obtain update data of the ocean information of the specified data type during the specified period at a time density higher than the specified density, in an ocean observation system.

3. An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires from the ocean situation awareness system first external information related to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output unit that displays information about the determined information update plan or transmits control commands generated based on the information update plan to a plurality of unmanned watercrafts, The update request determination unit determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel be acquired at a higher spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel when the absolute value of the difference between spatially neighboring data of the ocean information of a specified data type in the specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel is greater than or equal to a specified value.

4. An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires from the ocean situation awareness system first external information related to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output unit that displays information about the determined information update plan or transmits control commands generated based on the information update plan to a plurality of unmanned watercrafts, The update request determination unit determines as the update request condition that update data for the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel be acquired at a higher temporal density or spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel when the magnitude of the absolute value of the difference in time-dependent change, the rate of time-dependent change, or the jerk of the time-dependent change of the ocean information of a specified data type in the specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel is equal to or greater than a specified value.

5. An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires from the ocean situation awareness system first external information related to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output unit that displays information about the determined information update plan or transmits control commands generated based on the information update plan to a plurality of unmanned watercrafts, The update request determination unit determines as the update request condition that, when the position of a change boundary line at which the difference between spatially neighboring data of the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel is greater than or equal to a specified value, the update request condition is to obtain update data of the ocean information of the specified data type in the position where the change boundary line is predicted to move in the future or in the area surrounding that position at a higher spatial density or temporal density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel.

6. 2. The ocean observation system according to claim 1, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, An ocean observation system in which, when the update request determination unit determines that there is a possibility of data abnormalities such as drift, gain deviation, offset, or zero point learning deviation in the ocean information of a specified data type, the update request condition is to measure correction data for the ocean information of the specified data type in the area where the ocean information was acquired, or calibration data for a measurement sensor in an external observation system that measures the ocean conditions.

7. 2. The ocean observation system according to claim 1, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The update request determination unit determines, as the update request condition, that an area in which the ocean conditions related to at least one of wave height, wind speed, or rainfall contained in the ocean information are determined to satisfy a predetermined condition is to be the target area for obtaining update data for the ocean information.

8. 2. The ocean observation system according to claim 1, The update request determination unit determines, as the update request condition, that the target area for obtaining update data for the marine information is a route area or its surrounding area where the number of vessels other than the unmanned vessel traveling during a specified period in the past, the present, or a specified period in the future is greater than a specified value or is relatively greater than the surrounding area.

9. 2. The ocean observation system according to claim 1, the external information acquisition unit acquires the user's browsing history of the marine information, The update request determination unit determines, based on the user browsing history, at least one of the area, time period, and data type for which there is a relatively high need to update the marine information, and determines the determined at least one of the area, time period, and data type as the update request condition for obtaining update data for the marine information.

10. 2. The ocean observation system according to claim 1, the external information acquisition unit acquires the ocean information relating to the ocean state stored in the ocean situation awareness system, The ocean observation system, wherein when the update request determination unit detects the occurrence of a specified event based on the ocean information, including at least one of a specified ocean phenomenon, a specified ocean accident, or other specified abnormal situation, it determines an area including the area where the specified event occurred as the target area for obtaining update data for the ocean information under the update request conditions.

11. 2. The ocean observation system according to claim 1, an external observation plan acquisition unit that acquires an external observation plan by an external observation system that observes the ocean state; The information update plan determination unit determines the information update plan for the marine information using the plurality of unmanned vessels based on the external observation plan and the update request conditions.

12. The ocean observation system according to claim 11, An ocean observation system in which the external observation plan acquired by the external observation plan acquisition unit and the update request conditions determined by the update request determination unit include information regarding the observation data type of the ocean state, the observation area, and the observation schedule.

13. The ocean observation system according to claim 12, An ocean observation system in which the information update plan determination unit determines the information update plan for observing the ocean conditions under conditions that are not included in the observation conditions of the observation data type, the observation area, and the observation schedule in the external observation plan, and that are included in the observation conditions of the observation data type, the observation area, and the observation schedule in the update request conditions.

14. The ocean observation system according to claim 11, An ocean observation system, wherein the external observation plan acquired by the external observation plan acquisition unit and the update request conditions determined by the update request determination unit include information regarding a data update schedule for uploading the ocean information to the ocean situation awareness system.

15. An ocean observation system that transmits ocean information including at least one of observation data on ocean conditions acquired using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, and analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, an external information acquisition unit that acquires, from the marine situation awareness system, first external information related to at least one of the marine information related to marine conditions accumulated in the marine situation awareness system and a user's browsing history of the marine information; an update request determination unit that determines an update request condition for the ocean information based on the acquired first external information; an information update plan determination unit that determines an information update plan for the marine information using the plurality of unmanned watercraft based on the update request conditions; an information input / output unit that displays information about the determined information update plan or transmits control commands generated based on the information update plan to a plurality of unmanned watercrafts, an external observation plan acquisition unit that acquires an external observation plan by an external observation system that observes the ocean state; the information update plan determination unit determines the information update plan for the oceanographic information using the plurality of unmanned watercraft based on the external observation plan and the update request conditions; the external observation plan acquired by the external observation plan acquisition unit and the update request conditions determined by the update request determination unit include information regarding a data update schedule for uploading the oceanographic information to the ocean situation awareness system, When a first data update time in the data update schedule included in the external observation plan is later than a second data update time in the data update schedule included in the update request condition, The information update plan determination unit uses the unmanned vessel to collect the ocean information from the ocean situation awareness system and determines the information update plan for uploading the ocean information to the ocean situation awareness system.

16. A method of ocean observation that transmits ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, The computer an external information acquisition step of acquiring, from the marine situation awareness system, first external information relating to at least one of the marine information relating to marine conditions accumulated in the marine situation awareness system and a user's browsing history of the marine information; an update request determination step of determining an update request condition for the ocean information based on the acquired first external information; an information update plan determination step of determining an information update plan for the marine information using an unmanned vessel group including the plurality of unmanned vessels based on the update request conditions; an information input / output step of displaying information about the determined information update plan or transmitting control commands generated based on the information update plan to a plurality of unmanned watercrafts; the external information acquisition step acquires the oceanographic information relating to the ocean state stored in the ocean situation awareness system, The update request determination step determines, when the spatial density of the marine information of a predetermined data type in a predetermined space is equal to or lower than a predetermined density, that update data of the marine information of the predetermined data type in the predetermined space is acquired at a spatial density higher than the predetermined density, as the update request condition; The information update plan determination step is an ocean observation method in which the relative distances between the unmanned vessels of the unmanned vessel group are determined based on spatial density designation information included in the update request conditions for acquiring the update data at a spatial density higher than the specified density.

17. A method of ocean observation that transmits ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, The computer an external information acquisition step of acquiring from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and accumulated in the ocean situation awareness system; an update request determination step of determining an update request condition for the ocean information based on the acquired first external information; an information update plan determination step of determining an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output step of displaying information about the determined information update plan or transmitting control commands generated based on the information update plan to a plurality of unmanned watercrafts; The update request determination step determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel be acquired at a higher spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel when the absolute value of the difference between the ocean information of a specified data type in the specified space and spatially neighboring data is greater than or equal to a specified value.

18. A method of ocean observation that transmits ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, The computer an external information acquisition step of acquiring from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and accumulated in the ocean situation awareness system; an update request determination step of determining an update request condition for the ocean information based on the acquired first external information; an information update plan determination step of determining an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output step of displaying information about the determined information update plan or transmitting control commands generated based on the information update plan to a plurality of unmanned watercrafts; The update request determination step determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel be acquired at a higher temporal density or spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel when the magnitude of the absolute value of the difference in time-dependent change, the rate of time-dependent change, or the jerk of time-dependent change of the ocean information of the specified data type in the specified space is equal to or greater than a specified value.

19. A method of ocean observation that transmits ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, The computer an external information acquisition step of acquiring from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and accumulated in the ocean situation awareness system; an update request determination step of determining an update request condition for the ocean information based on the acquired first external information; an information update plan determination step of determining an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output step of displaying information about the determined information update plan or transmitting control commands generated based on the information update plan to a plurality of unmanned watercrafts; The update request determination step determines, as the update request condition, that when the position of a change boundary line at which the difference between spatially neighboring data of the ocean information of a predetermined data type in a predetermined space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel moves over time, update data of the ocean information of the predetermined data type in the position where the change boundary line is predicted to move in the future or in the area surrounding that position be obtained at a spatial density or temporal density higher than that of the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel.

20. A program used in an ocean observation method for transmitting ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, On the computer, an external information acquisition command to acquire, from the marine situation awareness system, first external information relating to at least one of the marine information relating to the marine state stored in the marine situation awareness system and a user browsing history of the marine information; an update request determination command for determining an update request condition for the oceanographic information based on the acquired first external information; an information update plan determination command that determines an information update plan for the marine information using an unmanned vessel group having the plurality of unmanned vessels based on the update request condition; an information input / output command for displaying information about the determined information update plan, or for transmitting control commands generated based on the information update plan to a plurality of unmanned crafts; the external information acquisition command acquires the oceanographic information relating to the ocean conditions stored in the ocean situation awareness system; The update request determination command determines, when the spatial density of the marine information of a predetermined data type in a predetermined space is equal to or lower than a predetermined density, that update data of the marine information of the predetermined data type in the predetermined space is acquired at a spatial density higher than the predetermined density, as the update request condition; The information update plan determination command is a program that determines the relative distances between the unmanned watercraft of the unmanned watercraft group based on spatial density designation information included in the update request conditions for acquiring the update data at a spatial density higher than the predetermined density.

21. A program used in an ocean observation method for transmitting ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, On the computer, an external information acquisition command to acquire from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination command for determining an update request condition for the oceanographic information based on the acquired first external information; an information update plan determination command that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output command for displaying information about the determined information update plan, or for transmitting control commands generated based on the information update plan to a plurality of unmanned crafts; The update request determination command is a program that determines, when the absolute value of the difference between the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel and spatially neighboring data is greater than or equal to a specified value, as the update request condition, that update data for the ocean information of the specified data type in the specified space be obtained at a higher spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel.

22. A program used in an ocean observation method for transmitting ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, On the computer, an external information acquisition command to acquire from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination command for determining an update request condition for the oceanographic information based on the acquired first external information; an information update plan determination command that determines an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output command for displaying information about the determined information update plan, or for transmitting control commands generated based on the information update plan to a plurality of unmanned crafts; The update request determination command is a program that determines, as the update request condition, that update data for the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel be obtained at a higher temporal density or spatial density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel when the magnitude of the absolute value of the difference in time-dependent change, the rate of time-dependent change, or the jerk of the time-dependent change of the ocean information of the specified data type in the specified space is equal to or greater than a specified value.

23. A program used in an ocean observation method for transmitting ocean information including at least one of observation data on ocean conditions obtained using measurement sensors mounted on a plurality of unmanned watercraft capable of moving on water, or analysis data obtained by analyzing the observation data, to an external ocean situation assessment system, On the computer, an external information acquisition command to acquire from the ocean situation awareness system first external information relating to the ocean information on ocean conditions measured by at least one of a floating buoy floating on the sea surface, a moored buoy fixed or moored to the seabed, an unmanned submersible capable of navigating the sea, and a manned observation vessel and stored in the ocean situation awareness system; an update request determination command for determining an update request condition for the oceanographic information based on the acquired first external information; an information update plan determination command for determining an information update plan for the marine information using a plurality of unmanned watercraft based on the update request conditions; an information input / output command for displaying information about the determined information update plan, or for transmitting control commands generated based on the information update plan to a plurality of unmanned crafts; The update request determination command is a program that determines, when the position of a change boundary line at which the difference between spatially neighboring data of the ocean information of a specified data type in a specified space measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel is greater than or equal to a specified value, as the update request condition, to obtain update data of the ocean information of the specified data type in the position where the change boundary line is predicted to move in the future or in the area surrounding that position at a higher spatial density or temporal density than the ocean information measured by at least one of the floating buoy, the moored buoy, the unmanned submersible, and the manned observation vessel.

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