Disaster observation system, disaster observation method and program

Abstract

According to the present invention, the occurrence and state of a tsunami can be grasped more reliably or more accurately. [Solution] The present invention is a disaster observation system comprising an unmanned boat fleet consisting of multiple unmanned boats sailing on the sea, an unmanned boat operation control unit that controls the operation of the unmanned boat fleet, an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the multiple unmanned boats or analysis data generated based on the measurement data, and a disaster detection determination unit that determines whether a tsunami has occurred or the state of tsunami occurrence based on the unmanned boat measurement information, wherein the unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so that the depth distance of the deployment range of the unmanned boat fleet on the sea is at least a predetermined distance when viewed from any direction.

Description

[Technical Field]

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

[0002] Systems for observing sea surface displacements such as tide levels and wave heights have been devised. For example, Patent Document 1 discloses a technology for observing tsunamis by detecting the unique sea surface waveforms of tsunamis using a drifting buoy installed in the ocean and equipped with a GPS positioning device.

[0003] As another example, Patent Document 2 discloses a technology for calculating the attitude angle of a ship using the carrier phases of multiple GNSS signals received by multiple GNSS antennas mounted on the ship, and observing tsunamis using changes in the attitude angle over time. In particular, Patent Document 2 discloses a technology for measuring the speed and other characteristics of a tsunami by arranging multiple ships in a line between the epicenter and the coast. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-229432 [Patent Document 2] Re-tabled publication No. 2017-141614 Summary of the Invention [Problem to be solved by the invention]

[0005] As described in Patent Document 2, by arranging multiple ships in a line between the epicenter and the coast and measuring changes in the sea surface using each ship, it is possible to estimate the speed of a tsunami moving from the epicenter to the coast. However, in situations where it is not known in advance whether a tsunami will occur or the direction in which the tsunami will arrive, it is not possible to arrange multiple ships in an appropriate direction in advance, and it is therefore not possible to estimate the speed of the tsunami.

[0006] Furthermore, in marine areas, the positions and attitudes of floating buoys and ships are constantly fluctuating due to the influence of waves and swells, so there is a problem in that it is not easy to accurately grasp the state of a tsunami, including its occurrence and its wave height, speed, and direction, using only measurement data from floating buoys or ships in one or a few locations.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objects is to more reliably or accurately grasp the occurrence and state of a tsunami. [Means for solving the problem]

[0008] According to the present invention, a disaster observation system is obtained which comprises an unmanned boat fleet having a plurality of unmanned boats sailing on the sea, an unmanned boat operation control unit which controls the operation of the unmanned boat fleet, an unmanned boat measurement information acquisition unit which acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats or analysis data generated based on the measurement data, and a disaster detection determination unit which determines whether a tsunami has occurred or the state of tsunami occurrence based on the unmanned boat measurement information, wherein the unmanned boat operation control unit controls the deployment positions of the plurality of unmanned boats so that the depth distance of the deployment range of the unmanned boat fleet on the sea is at least a predetermined distance when viewed from any direction. [Effects of the Invention]

[0009] According to the present invention, the occurrence and state of a tsunami can be grasped more reliably or more accurately. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an overall configuration diagram of a disaster 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 the unmanned boat system 1000 is deployed in a marine area to observe disaster information. [Figure 4] FIG. 3 is a functional block diagram showing the functional configuration of an external observation system 3000. [Figure 5] FIG. 2 is a functional block diagram showing the functional configuration of an unmanned watercraft 1010. [Figure 6] FIG. 2 is a functional block diagram showing the functional configuration of an integrated control system 2000. [Figure 7] 2 is a diagram showing an example of the contents of advance information acquired by advance information acquisition unit 2110. FIG. [Figure 8] 10 is a diagram showing an example of the contents of measurement request information acquired by a measurement request information acquisition unit 2120. FIG. [Figure 9] 1 is a diagram showing a conceptual diagram of a normal wave, a tsunami, and a composite wave of these. [Figure 10] FIG. 2 is a diagram showing an example of the deployment range and minor axis when the unmanned boat system 1000 is deployed on the sea in the first deployment formation. [Figure 11] FIG. 10 is a diagram showing an example of the deployment range and minor axis when the unmanned boat system 1000 is deployed on the sea in the second to fifth deployment formations. [Figure 12] FIG. 10 is a diagram showing an example of the positions and partial dense formation of multiple unmanned watercraft when the unmanned watercraft system 1000 is deployed on the sea. [Figure 13] FIG. 2 is a flowchart showing the control flow of upper-level processing in the disaster observation system 1. [Figure 14] FIG. 10 is a flowchart showing the flow of the process of determining the sign detection operation by the sign detection operation determination unit 2210. [Figure 15] FIG. 10 is a flowchart showing the process flow of disaster sign detection determination by a sign detection determination unit 2310. [Figure 16] FIG. 10 is a flowchart showing the flow of the initial detection operation determination process performed by the initial detection operation determination unit 2220. [Figure 17] FIG. 10 is a flowchart showing a processing flow for determining a disaster state by the disaster state determination unit 2300 based on measurement data acquired by the initial detection operation. [Figure 18] FIG. 10 is a diagram showing an example of an initial detection determination result by the disaster state determination unit 2300. [Figure 19] FIG. 10 is a flowchart showing a process flow for determining an initial action to be taken after a disaster is detected by a post-detection initial action determining unit 2410. [Figure 20] FIG. 10 is a diagram showing how a heading change operation is performed, which is an example of an initial action determined by the post-detection initial action determining unit 2410. [Figure 21] 10 is a diagram showing a state in which an offshore movement operation is being performed, which is an example of an initial action determined by the post-detection initial action determining unit 2410. FIG. [Figure 22] FIG. 10 is a flowchart showing an example of a processing flow for executing an operation for detailed measurement after a disaster is detected by the operation decision unit for detailed measurement 2420. [Figure 23] FIG. 10 is a diagram showing an example of how the detailed measurement operation determined by the detailed measurement operation determination unit 2420 is executed. [Figure 24] FIG. 10 is a flowchart showing a processing flow for determining a disaster state by the disaster state determination unit 2300 based on measurement data acquired by a detailed detection operation. [Figure 25] FIG. 2 is a hardware configuration diagram of an integrated control system 2000. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the following embodiments. [Item 1] an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so that the depth distance of the deployment range of the group of unmanned boats at sea is at least a predetermined distance regardless of the direction from which the deployment range is viewed. [Item 2] In the disaster observation system according to item 1, A disaster observation system, wherein the depth distance of the deployment range of the unmanned boat group is approximately 1 km or more. [Item 3] In the disaster observation system according to item 1 or 2, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so as to generate a partially dense formation in a partial area within the deployment range of the unmanned boat group, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the overall average density of the unmanned boat group. This is a disaster observation system. [Item 4] In the disaster observation system according to any one of items 1 to 3, A disaster observation system, wherein the relative distance between the plurality of unmanned crafts in the partial dense formation is approximately 500 m or less. [Item 5] In the disaster observation system according to any one of items 1 to 4, When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, A disaster observation system in which the unmanned boat operation control unit determines the area in which the partial dense formation will be generated, or the multiple unmanned boats that will make up the partial dense formation, based on information regarding earthquakes or tsunamis received from outside or detected by the disaster detection determination unit. [Item 6] In the disaster observation system according to any one of items 1 to 5, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit determines, based on information on the epicenter location of an earthquake received from outside or determined by the disaster detection determination unit, to generate the partial dense formation in an area away from the epicenter location within the deployment range of the unmanned boat group, or to form the partial dense formation with multiple unmanned boats deployed in an area away from the epicenter location. [Item 7] In the disaster observation system according to any one of items 1 to 6, When tsunami-related information regarding the detected location and detection time of the tsunami is received from an external source or determined by the disaster detection determination unit, A disaster observation system in which the unmanned boat operation control unit determines an area in which the partial dense formation can be generated before the tsunami arrives, or determines a plurality of unmanned boats that can form the partial dense formation before the tsunami arrives, based on the tsunami-related information received from outside or determined by the disaster detection determination unit. [Item 8] In the disaster observation system according to any one of items 1 to 7, the disaster detection determination unit determines the wavelength of the tsunami based on the unmanned boat measurement information; The unmanned boat operation control unit determines the relative distances between the multiple unmanned boats based on the determined wavelength of the tsunami. [Item 9] In the disaster observation system according to any one of items 1 to 8, the disaster detection determination unit determines the wavelength of the tsunami based on the unmanned boat measurement information; The unmanned boat operation control unit controls the relative distance between the multiple unmanned boats that make up the partial dense formation to a distance narrower than the wavelength based on the determined wavelength of the tsunami, in a disaster observation system. [Item 10] In the disaster observation system according to any one of items 1 to 9, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, A disaster observation system in which the unmanned boat operation control unit moves multiple unmanned boats to areas surrounding the epicenter of an earthquake based on information about the epicenter of the earthquake received from outside or determined by the disaster detection determination unit. [Item 11] In the disaster observation system according to any one of items 1 to 10, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit moves the multiple unmanned boats to the surrounding area of ​​the epicenter location based on information on the epicenter location of an earthquake received from outside or determined by the disaster detection determination unit, and controls the deployment positions of the multiple unmanned boats in the surrounding area so that the depth distance of the deployment range of the group of unmanned boats is equal to or greater than a predetermined distance. [Item 12] In the disaster observation system according to any one of items 1 to 11, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so as to generate a partially dense formation in the area surrounding the epicenter location, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the overall average density of the unmanned boat group. [Item 13] In the disaster observation system according to any one of items 1 to 12, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned vessel operation control unit moves multiple unmanned vessels to the surrounding area of ​​the epicenter location based on information on the epicenter location of an earthquake received from outside or determined by the disaster detection determination unit, and measures the seabed shape in the surrounding area using the multiple unmanned vessels, or collects seabed measurement data from seabed sensors pre-installed on the seabed in the surrounding area. [Item 14] In the disaster observation system according to any one of items 1 to 13, When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so that the relative distance between the multiple unmanned boats and adjacent unmanned boats is increased within a range that does not exceed the distance that can be photographed by the optical cameras mounted on the multiple unmanned boats, and acquires image data or video data of the area around the unmanned boats using the optical cameras. [Item 15] In the disaster observation system according to any one of items 1 to 14, When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so that they approach shallow water areas where the water depth distance is shorter than a predetermined distance. [Item 16] In the disaster observation system according to any one of items 1 to 15, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit controls the heading direction of the multiple unmanned boats so that the heading direction of the unmanned boats approaches the direction of the epicenter location of the earthquake based on information received from outside or determined by the disaster detection determination unit, in a disaster observation system. [Item 17] 17. The disaster observation system according to any one of items 1 to 16, When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, The unmanned watercraft operation control unit moves the plurality of unmanned watercraft from a coastal area within a predetermined distance from the coast to an offshore area in a disaster observation system. [Item 18] In the disaster observation system according to any one of items 1 to 17, the unmanned watercraft measurement information acquired by the unmanned watercraft measurement information acquisition unit is GNSS positioning information received by a GNSS positioning signal receiving unit included in the measurement unit, or acceleration information measured by an acceleration sensor included in the measurement unit, or the vertical position of the unmanned watercraft calculated from the GNSS positioning information or the acceleration information, A disaster observation system in which the disaster detection determination unit calculates the vertical position of the unmanned boat based on the GNSS positioning information or the acceleration information, or acquires the vertical position from the unmanned boat measurement information acquisition unit, and detects the occurrence of a tsunami if the calculated or acquired vertical position satisfies a predetermined condition set in advance. [Item 19] 19. The disaster observation system according to any one of items 1 to 18, A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami when the change period or change frequency of the vertical positions of the multiple unmanned boats satisfies a predetermined change period or change frequency condition for tsunami detection. [Item 20] 19. The disaster observation system according to any one of items 1 to 19, A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami when the wavelength of the waves calculated from the vertical positions of the multiple unmanned boats meets predetermined wavelength conditions for tsunami detection. [Item 21] In the disaster observation system according to any one of items 1 to 20, the unmanned watercraft measurement information acquired by the unmanned watercraft measurement information acquisition unit is an attitude angle of the unmanned watercraft measured by a GNSS compass included in the measurement unit, or an angular velocity of the unmanned watercraft measured by a gyro sensor, or an attitude angle of the unmanned watercraft calculated from the angular velocity, The disaster detection determination unit calculates the attitude angle of the unmanned boat based on the angular velocity, or acquires information on the attitude angle by acquiring the unmanned boat measurement information, and detects the occurrence of a tsunami if the calculated or acquired attitude angle satisfies a predetermined condition set in advance. [Item 22] 22. The disaster observation system according to any one of items 1 to 21, A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami when the change period or change frequency of the attitude angles of the multiple unmanned boats satisfies a predetermined change period or change frequency condition for tsunami detection. [Item 23] In the disaster observation system according to any one of items 1 to 22, A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami when the wavelength of the waves calculated from the attitude angles of the multiple unmanned boats meets predetermined wavelength conditions for tsunami detection. [Item 24] In the disaster observation system according to any one of items 1 to 23, the measurement units mounted on the plurality of unmanned watercraft are optical cameras, A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami based on image data or video data of the area around the unmanned watercraft captured by the optical camera. [Item 25] 25. The disaster observation system according to any one of items 1 to 24, the measurement units mounted on the plurality of unmanned watercraft are acoustic sensors, This is underwater noise data acquired by A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami when underwater noise data acquired by the acoustic sensor satisfies predetermined conditions for tsunami detection that have been set in advance. [Item 26] 26. The disaster observation system according to any one of items 1 to 25, When the measurement data measured by the measurement units mounted on the plurality of unmanned watercraft is image data or video data of the surroundings of the unmanned watercraft photographed by an optical camera, or acceleration data or angular velocity data of the unmanned watercraft measured by an inertial measurement unit, The disaster detection determination unit determines the capsizing state of multiple unmanned boats based on the image data, the video data, the acceleration data, or the angular velocity data, and detects the occurrence of a tsunami if the number of unmanned boats determined to be in a capsizing state is equal to or greater than a predetermined number of boats. [Item 27] 27. The disaster observation system according to any one of items 1 to 26, the unmanned boat measurement information acquisition unit acquires first unmanned boat measurement information including acoustic data or vibration data measured by the measurement units mounted on the plurality of unmanned boats; The disaster detection determination unit detects the occurrence of an earthquake when it detects a predetermined seismic sound from the acoustic data or a predetermined seismic wave from the vibration data. [Item 28] 28. The disaster observation system according to any one of items 1 to 27, the unmanned watercraft measurement information acquisition unit acquires second unmanned watercraft measurement information including at least one of a vertical position of the unmanned watercraft, an attitude angle such as a pitch angle or a roll angle of the unmanned watercraft, an image or video of the area around the unmanned watercraft, underwater noise, and an acceleration or angular velocity of the unmanned watercraft; A disaster observation system in which the disaster detection determination unit detects the occurrence of a tsunami if it determines that the second unmanned boat measurement information satisfies a predetermined condition after detecting the earthquake based on the first unmanned boat measurement information. [Item 29] 29. The disaster observation system according to any one of items 1 to 28, When detecting the occurrence of a tsunami based on the unmanned boat measurement information, the disaster detection determination unit: A disaster observation system that determines the occurrence state of a tsunami based on the unmanned boat measurement information obtained from multiple unmanned boats, including at least one of the tsunami wave height, movement direction, movement speed, period, frequency, wavelength, and amount of debris in the tsunami. [Item 30] A disaster observation method for observing a tsunami using a group of unmanned boats that includes a plurality of unmanned boats sailing on the sea, comprising: The computer An unmanned boat operation control step for controlling the deployment positions of a plurality of the unmanned boats so that the depth distance of the deployment range of the unmanned boat group at sea is at least a predetermined distance or more when viewed from any azimuth, An unmanned boat measurement information acquisition step for acquiring unmanned boat measurement information regarding measurement data measured by measurement units mounted on a plurality of the unmanned boats or analysis data generated based on the measurement data, A disaster detection determination step for determining the presence or absence of a tsunami or the occurrence state of a tsunami based on the acquired unmanned boat measurement information, A disaster observation method that executes the above steps. [Item 31] A program for use in tsunami observation using an unmanned boat group having a plurality of unmanned boats that navigate on the sea, To a computer, An unmanned boat operation control command for controlling the deployment positions of a plurality of the unmanned boats so that the depth distance of the deployment range of the unmanned boat group at sea is at least a predetermined distance or more when viewed from any azimuth, An unmanned boat measurement information acquisition command for acquiring unmanned boat measurement information regarding measurement data measured by measurement units mounted on a plurality of the unmanned boats or analysis data generated based on the measurement data, A disaster detection determination command for determining the presence or absence of a tsunami or the occurrence state of a tsunami based on the acquired unmanned boat measurement information, A program that causes the above commands to be executed.

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

[0013] [A. Configuration] (A-1. System Configuration of Environment Observation System 1) First, the system configuration of an environment observing system 1 according to one embodiment of the present invention will be described with reference to FIGS.

[0014] (A-1-1. System Configuration Overview) FIG. 1 is an overall configuration diagram of a disaster observation system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the disaster observation system 1 includes an unmanned watercraft system 1000, a supervisory control system 2000, and a user terminal 4000. The supervisory control system 2000 is configured to be able to communicate with an external observation system 3000 and the user terminal 4000, and can transmit and receive information. The supervisory control system 2000 can also transmit control commands to the unmanned watercraft system 1000 deployed at sea via an internet line, a communication satellite 6100, a terrestrial base station 6200, or the like, and can also receive operational status and measurement data from the unmanned watercraft system 1000.

[0015] The unmanned boat system 1000 includes a plurality of unmanned boats 1010. When the unmanned boat system 1000 is made up of a plurality of unmanned boats 1010, the plurality of unmanned boats 1010 are connected to each other by wireless communication and can form a communication network.

[0016] The unmanned vessel 1010 can measure various conditions related to disasters, including earthquakes, tsunamis, and seabed conditions, using measurement sensors (optical cameras, acoustic sensors such as sonar, GNSS signal receivers, seismometers, etc.) installed on board.

[0017] The external observation system 3000 is a system capable of monitoring single or multiple external disasters, and can transmit, for example, observation data on observed earthquakes and tsunamis, as well as analysis results on earthquakes and tsunamis obtained by analyzing the observation data, to the overall control system 2000.

[0018] The overall control system 2000 can control the operation of the unmanned watercraft 1010 by generating control commands such as the deployment position, nose direction, and measurement method of the multiple unmanned watercraft 1010 that make up the unmanned watercraft system 1000 based on observation data and analysis results acquired from the external observation system 3000, observation data and analysis results of the measurement target 7000 acquired by the unmanned watercraft system 1000, or a combination of these. Information such as the generated control commands is displayed on a display unit 2510 (described later) or the like, and can also receive command input from the user via a user input receiving unit 2520. Various information, including the observation data of the measurement target 7000 acquired by the unmanned watercraft system 1000 and the operating status of the unmanned watercraft system 1000, is transmitted to the overall control system 2000 via a communications satellite 6100, a terrestrial base station 6200, or an Internet line.

[0019] In addition, the integrated control system 2000 can generate disaster status information including earthquake occurrence information and two-dimensional distribution of tsunami conditions using observation data and analysis results obtained from the external observation system 3000, or observation data and analysis results of the measurement object 7000 obtained by the unmanned boat system 1000, or a combination of these, and provide the disaster status information to the user terminal 4000 and the external system 5000.

[0020] Here, the disaster observation system 1 uses a communication satellite 6100 as an example of a non-terrestrial network for transmitting and receiving information between the integrated 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.

[0021] 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.

[0022] 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.

[0023] (A-1-2. Configuration of the unmanned boat system 1000) FIG. 2 is a diagram showing an example of the configuration of the unmanned watercraft system 1000. As shown in FIG. 2, the multiple unmanned watercraft 1010 constituting the unmanned watercraft system 1000 are configured to serve as master watercraft 1001 capable of wireless communication with a communication satellite 6100 or a terrestrial base station 6200, or slave watercraft 1002 capable of communicating directly or indirectly with the master watercraft 1001. A wireless communication network is established between the multiple slave watercraft 1002 and the multiple unmanned watercrafts 1010 serving as master watercraft 1001, enabling wireless communication between them. The wireless communication distance between the multiple unmanned watercrafts 1010 varies depending on the performance of the wireless communication device installed in the unmanned watercraft 1010, but it is possible to use a wireless communication device with a communication distance of several hundred meters to approximately 1 km, for example. In this case, the relative distance between the multiple unmanned watercrafts 1010 is controlled to be within the above-mentioned range of wireless communication distance so that wireless communication between the unmanned watercrafts 1010 is not interrupted.

[0024] Each unmanned watercraft group (1000a, 1000b) has at least one master unit 1001 and multiple slave units 1002. The master unit 1001 is connected via wireless communication to a communication satellite 6100 or a terrestrial base station 6200, and has the function of aggregating various information collected from the 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 integrated control system 2000 and the unmanned watercraft 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; other communication paths can also be used, and these communication paths can also be made redundant for sending and receiving information.

[0025] 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).

[0026] (A-1-3. An example of an observation area by the unmanned boat system 1000) In the example shown in FIG. 3, a terrestrial base station 6200, an internet line connected to the communication satellite 6100 or the terrestrial base station 6200, and an integrated control system 2000 are provided on the ground side shown in the upper right of the drawing.

[0027] The area shown in the center of the drawing represents the marine area. An unmanned boat system 1000 consisting of multiple unmanned boats (parent boat 1001, child boat 1002) is deployed in the marine area, and a measurement unit 1100 mounted on unmanned boat 1010 in unmanned boat system 1000 measures the measurement target 7000, such as tsunamis, seabed conditions, and seismic waves. The measurement unit 1100, for example, uses an optical camera to capture images and videos of the sea, including tsunamis. The measurement unit 1100 can also use active sonar such as side-scan sonar to measure the conditions of the seabed near the epicenter. The measurement unit 1100 can also be equipped with other measurement sensors, such as a GNSS receiver, passive sonar (hydrophone), and seismometer.

[0028] Furthermore, information such as observation data of the measurement target 7000 detected by the measurement sensor 1110 is collected in the host unit 1001 via a wireless communication network within the unmanned watercraft system 1000, and is then transmitted from the host unit 1001 to the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200. Each unmanned watercraft 1010 is also provided with a navigation unit 1300 that can control navigation in any direction, and the unmanned watercraft 1010 controls the operation of the navigation unit 1300 based on control commands received from the overall control system 2000, thereby allowing the unmanned watercraft 1010 to freely control the deployment formation, relative distance, nose direction, etc. of the unmanned watercraft system 1000.

[0029] In the example shown in Figure 3, the overall control system 2000 is implemented in a facility on land, but this is not limited to this. All or part of the functions implemented in the overall control system 2000 shown in this embodiment can also be installed on a mother ship at sea (not shown), and the operation and management of the unmanned boat system 1000 can be performed from the mother ship.

[0030] (A-2. Configuration of the External Observation System 3000) Next, the configuration of the external observation system 3000 will be described using Fig. 4. Fig. 4 is a functional block diagram showing the functional configuration of the external observation system 3000. As shown in Fig. 4, the external observation system 3000 includes an earthquake and tsunami monitoring system 3100, a satellite disaster reporting system 3200, and a hydrographic data collection system 3300.

[0031] The earthquake and tsunami monitoring system 3100 is a system that monitors earthquake and tsunami observation data in real time and quickly provides emergency information about earthquakes and tsunamis, such as emergency earthquake alerts and tsunami warnings, to disaster prevention organizations, news organizations, etc. The earthquake and tsunami monitoring system 3100 includes, for example, the Earthquake Phenomena Observation System (EPOS) operated by the Japan Meteorological Agency, an ocean floor observation network called DONET (Dense Oceanfloor Network system for Earthquakes and Tsunamis), the Japan Trench Ocean Floor Earthquake and Tsunami Observation Network called S-net, and other earthquake observation systems and tsunami observation systems. When the earthquake or tsunami is detected, the earthquake and tsunami monitoring system 3100 can transmit emergency information about the earthquake or tsunami to the integrated control system 2000.

[0032] The satellite disaster reporting system 3200 is a system that notifies a wide area of ​​disaster information regarding earthquakes, tsunamis, etc. announced by disaster prevention organizations via communication satellites to terrestrial mobile objects, outdoor facilities, ships at sea, etc., and in particular includes a system that provides disaster notification services using the quasi-zenith satellite system, Michibiki, etc. The satellite disaster reporting system 3200 can transmit disaster information regarding earthquakes, tsunamis, etc. received from disaster prevention organizations to the integrated control system 2000.

[0033] The oceanographic data collection system 3300 is a marine situation awareness system (also called MDA) that can grasp the state of the ocean by aggregating and sharing various information such as ocean-related oceanographic information. When the oceanographic data collection system 3300 collects information on tsunamis as part of the oceanographic information, it can transmit the information on tsunamis to the integrated control system 2000.

[0034] As described above, the external observation system 3000 includes at least one of the above systems, and has the function of transmitting disaster information related to earthquakes and tsunamis to the integrated control system 2000.

[0035] (A-3. Configuration of Unmanned Vehicle 1010) Next, the functions and contents implemented in the unmanned watercraft 1010 will be described using Figure 5. In the present invention, an unmanned watercraft includes an unmanned mobile body capable of navigating on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body including a mobile buoy that can move using a battery, an internal combustion engine, or a thrust generating unit that utilizes wind power or wave power.

[0036] Fig. 5 is a functional block diagram showing the functional configuration of the unmanned watercraft 1010. Note that Fig. 5 illustrates the functional block diagram of the unmanned watercraft 1010, but 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 the functions shown in Fig. 5. 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.

[0037] The measurement unit 1100 is a functional unit that measures various state quantities of the measurement target 7000 around the own device using a measurement sensor 1110 and acquires the measured data as observation data. The measurement unit 1100 includes the measurement sensor 1110, a measurement control unit 1120, a GNSS positioning signal receiving unit 1130, and an inertial measurement unit 1140.

[0038] For example, the measurement sensor 1110 can be composed of an optical camera that can photograph conditions including waves on the sea surface and ships, a hydrophone (passive sonar) that can acquire acoustic data including underwater noise, a side-scan sonar (active sonar) that can measure the reflected waves of sound waves emitted from the unmanned vessel 1010 reflected by the seabed, a seismometer that can measure seismic waves (including P waves and S waves), and a LiDAR (laser sensor) that measures the reflected light of laser light emitted from the unmanned vessel 1010.

[0039] Furthermore, the measurement sensor 1110 is not limited to a sensor installed on the hull of the unmanned watercraft 1010, but may be a hanging type measurement sensor 1110 that can be towed rearward from the hull or hung in the sea.

[0040] The GNSS positioning signal receiving unit 1130 may be configured with a single GNSS antenna, but may also be configured with a GNSS compass equipped with multiple GNSS antennas.

[0041] The inertial measurement unit 1140 also has a gyroscope that detects the angular velocity of the unmanned watercraft 1010 around three axes, and an acceleration sensor that measures the acceleration in the three axial directions.

[0042] 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. It can also control the measurement operation of the measurement sensor 1110, such as the measurement frequency and measurement timing. For example, if the measurement sensor is an optical camera, the measurement control unit 1120 can adjust the frame rate and shutter speed of the optical camera. It can also change the zoom amount and resolution of the optical camera to any control amount. It can also adjust the measurement sensitivity of the measurement sensor 1110 to any control amount.

[0043] Next, the aircraft 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 can determine the aircraft's position (position in a horizontal two-dimensional plane, vertical height, or a three-dimensional space combining these), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state.

[0044] The internal state determination unit 1220 determines the SOC (State of Charge) of a battery or other power storage device mounted on the unmanned craft, the travelable distance that can be calculated from the SOC, temporary abnormal states (temperature abnormality, communication abnormality, etc.) of equipment mounted on the unmanned craft, and equipment failure states. The external state determination unit 1230 also determines communication states such as communication strength (dB value, etc.) of wireless communications with other unmanned crafts 1010 in the unmanned craft system 1000, or wireless communications with the overall control system 2000 via a communication satellite 6100 or a terrestrial base station 6200, communication speed, communication delay, etc., or wave height and weather (rain, snow, cloudy, etc.) around the unmanned craft.

[0045] The method for determining the position and moving speed of the aircraft by the navigation state determination unit 1210 is not particularly limited, but for example, the current position (vertical height, horizontal two-dimensional plane, or position in a three-dimensional space combining these), moving speed, and moving direction of the aircraft can be determined using the GNSS positioning signal received by the GNSS positioning signal receiving unit 1130. Furthermore, the navigation state determination unit 1210 can calculate the moving speed of the aircraft by single integration of the acceleration measured by the inertial measurement unit 1140, and can calculate the position of the aircraft by double integration.

[0046] The attitude angles (roll angle, pitch angle, yaw angle) of the aircraft can be measured, for example, by the GNSS compass of the GNSS positioning signal receiver 1130. The yaw angle of the aircraft, i.e., the aircraft's heading, can be determined using a geomagnetic sensor, SLAM technology using the shape of the seabed, or other methods in addition to the GNSS compass. The turning speed can be calculated based on the amount of change over time in the determined heading information. The navigation state determiner 1210 can also calculate the attitude angle of the aircraft by single-time integration of the angular velocity around three axes (roll, pitch, yaw) measured by the inertial measurement unit 1140.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Next, the communication unit 1400 includes an unmanned craft-to-unmanned craft communication unit 1410 and an overall control communication unit 1420, and is a functional unit that communicates with other unmanned crafts 1010 in the unmanned craft system 1000 and the overall control system 2000. The unmanned craft-to-unmanned craft communication unit 1410 includes a communication antenna used for a maritime wireless communication network, and communicates with other unmanned crafts 1010 in the unmanned craft system 1000. The overall control communication unit 1420 includes a satellite communication antenna capable of communicating with a communication satellite 6100 or a communication antenna capable of communicating with a terrestrial base station 6200, and communicates with the overall control system 2000 via the communication satellite 6100 or the terrestrial base station 6200. In addition to the above-mentioned communication units, the communication unit may also include an AIS antenna or a VHF antenna, and may include a communication unit that communicates with external surveillance crafts and AIS base stations.

[0052] Next, the data processing unit 1500 is a functional unit that performs data processing such as primary processing and data compression of various measurement data acquired by the measurement unit 1100. The data processing unit 1500 may have a function to perform, for example, data analysis of measurement data such as seismic waves and optical images acquired by the measurement sensor 1110, and perform primary detection processing of the occurrence of an earthquake or tsunami. As another example, the data processing unit 1500 may have a function to analyze the position and attitude angle of the aircraft determined by the navigation state determination unit 1210, and perform primary detection processing of the occurrence of a tsunami.

[0053] In addition, in order to reduce the transmission load when wirelessly transmitting transmission data from the unmanned boat system 1000 to the overall control system 2000, the data processing unit 1500 can perform data compression processing to compress the measurement data and generate transmission data.

[0054] 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 measurement 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.

[0055] 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 of the power storage device 1710 and also controls the power generation operation of the power generation device 1720.

[0056] (A-4. Configuration of the integrated control system 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 6. Fig. 6 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 6, the overall control system 2000 includes an information acquisition unit 2100, a pre-disaster detection operation control unit 2200, a disaster state determination unit 2300, a post-disaster detection operation control unit 2400, and an information input / output unit 2500.

[0057] (A-4-1. Information acquisition department 2100) The information acquisition unit 2100 is a functional unit that acquires various information required for processing by each functional unit of the integrated control system 2000 from a user input acceptance unit 2520 (described later), an external observation system 3000, and a user terminal 4000. The information acquisition unit 2100 includes a prior information acquisition unit 2110, a measurement request information acquisition unit 2120, a disaster-related information acquisition unit 2130, and an unmanned boat measurement data acquisition unit 2140.

[0058] The advance information acquisition unit 2110 is a functional unit that acquires advance information before disaster observation is carried out by the unmanned watercraft system 1000. Fig. 7 is a diagram showing an example of the content of the advance information acquired by the advance information acquisition unit 2110. As shown in Fig. 7, the advance information acquired by the advance information acquisition unit 2110 includes unmanned watercraft-related information and past investigation history information.

[0059] The unmanned watercraft-related information includes information about the unmanned watercraft system 1000, such as information about the system configuration, onboard measurement sensors, and vehicle performance. The system configuration includes information about the 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 unit 1100 mounted on the unmanned watercraft 1010. The vehicle 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, and the power storage performance and power generation performance of the power supply unit 1700.

[0060] Next, the past investigation history information includes historical information regarding measurement operations previously performed by the disaster observation system 1, such as the measurement location, the measurement time, the measurement data, and information regarding the disaster state determined from the measurement data.

[0061] Next, the measurement request information acquisition unit 2120 is a functional unit that acquires measurement request information input from the user input acceptance unit 2520, the user terminal 4000, etc. For example, the measurement request information acquisition unit 2120 can acquire measurement request information that includes the determination content of the earthquake or tsunami to be determined and the observation conditions when observing the marine environmental state.

[0062] Fig. 8 is a diagram showing an example of the contents of measurement request information acquired by the measurement request information acquisition unit 2120. As shown in Fig. 8, the measurement request information acquired by the measurement request information acquisition unit 2120 includes a determination target and an observation condition.

[0063] The information to be determined includes earthquakes and tsunamis, which are types of disaster conditions that need to be determined in disaster observation. Detailed earthquake conditions include, for example, whether an earthquake has occurred, its epicenter, seismic intensity, and changes in the seafloor at the epicenter. Detailed tsunami conditions include, for example, whether a tsunami has occurred, its height, speed, direction, period, frequency, wavelength, amount of debris, coastal areas where the tsunami will reach, predicted time of arrival at the coast, and tsunami height at the time of arrival at the coast.

[0064] Next, the observation condition information includes various condition information for performing measurements for disaster observation, such as area, time, and measurement method. Area information is information that specifies the position or area of ​​the measurement target, and can be specified as a specific position or area in a two-dimensional area on the sea surface, or a specific position or area on the seabed. Time information includes information that specifies the date, time, and time period (time period in a 24-hour cycle) for disaster observation.

[0065] The measurement method information also includes information specifying the behavior of the unmanned vessel 1010 when conducting disaster observation, and can include, for example, interval mooring measurement, in which measurements are taken periodically while the unmanned vessel 1010 is moored, continuous measurement, in which measurements are taken constantly in real time while the unmanned vessel 1010 is sailing, arbitrary time measurement, in which measurements are taken at any specified time, trigger measurement, in which measurements are taken when a specified trigger is detected, speed correction measurement, in which measurements are taken while the vessel is traveling and measurement errors caused by the traveling speed are corrected, and unmanned vessel synchronous measurement, in which measurement sensors mounted on multiple unmanned vessels 1010 are synchronized to take measurements.

[0066] The disaster-related information acquisition unit 2130 is a functional unit that acquires disaster-related information including measurement data related to earthquakes and tsunamis and analysis results related to earthquakes and tsunamis obtained by analyzing the measurement data from the external observation system 3000. The disaster-related information acquisition unit 2130 can acquire, for example, earthquake-related information such as epicenter location coordinates, magnitude, seismic intensity, and earthquake-related undersea sounds, and tsunami-related information such as tsunami location coordinates, tsunami movement speed, movement direction, predicted time of arrival at the coast, and predicted wave height at arrival.

[0067] The unmanned boat measurement data acquisition unit 2140 is a functional unit that acquires in real time from the unmanned boat system 1000 measurement data observed by the measurement unit 1100 mounted on the unmanned boat 1010, or analysis data (substantial aircraft state determination results and data processing results) generated by the substantive aircraft state determination unit 1200 and the data processing unit 1500 based on the measurement data.

[0068] (A-4-2. Pre-disaster detection operation control unit 2200) The pre-disaster detection operation control unit 2200 is a functional unit that controls the operation of the unmanned watercraft system 1000 before the occurrence of an earthquake or tsunami is detected by the disaster state determination unit 2300. The pre-disaster detection operation control unit 2200 includes a sign detection operation determination unit 2210, an initial detection operation determination unit 2220, and a pre-detection operation execution command unit 2230.

[0069] The sign detection operation determination unit 2210 is a functional unit that determines the operation of the unmanned watercraft system 1000 to detect signs of a disaster such as an earthquake or tsunami. The sign detection operation determination unit 2210 determines a sign detection operation, for example, to deploy multiple unmanned watercraft 1010 over a relatively wide area and perform measurement operations using the measurement unit 1100. The sign detection operation determination unit 2210 can also determine a sign detection operation to deploy multiple unmanned watercraft 1010 in a spread manner near the epicenters of past earthquakes based on historical information about earthquakes observed in the past. The sign detection operation determination unit 2210 can also determine a sign detection operation to deploy multiple unmanned watercraft 1010 in a spread manner near the locations of active faults on the seafloor that have been identified in advance.

[0070] In addition, the precursor detection operation determination unit 2210 can determine earthquake-prone areas where earthquakes have occurred frequently in recent times from past earthquake history information, and determine precursor detection operations that deploy multiple unmanned boats 1010 around the earthquake-prone areas.

[0071] The precursor detection operation determination unit 2210 can, for example, determine precursor detection operations (patrol routes, measurement information to be collected, etc.) by having multiple unmanned boats 1010 patrol the vicinity of seismometers and water pressure gauges that have been installed in advance at multiple locations on the seabed, acquiring measurement information from the seismometers and water pressure gauges via acoustic communication, etc., and transmitting the acquired measurement information to the overall control system 2000.

[0072] As another example, the precursor detection operation determination unit 2210 can determine precursor detection operations (such as patrol routes and measurement information to be collected) by having multiple unmanned boats 1010 equipped with measurement sensors 1110 such as optical cameras and LiDAR patrol the area around an active volcano, measure optical images and three-dimensional shape data of the volcano, and transmit the measurement information to the integrated control system 2000.

[0073] As another example, the precursor detection operation determination unit 2210 can determine precursor detection operations (patrol route, measurement information to be collected, etc.) by having multiple unmanned vessels 1010 patrol the undersea area around previously identified undersea volcanoes or undersea faults, and using measurement sensors 1110 equipped with active sonar such as side scan sonar or laser sensors such as LiDAR to measure three-dimensional shape data around the undersea volcanoes or undersea faults, obtain information on changes in the topography, and transmit the obtained measurement information to the overall control system 2000.

[0074] Next, the initial detection operation determination unit 2220 is a functional unit that determines a pre-operation for initially detecting the occurrence of a disaster such as an earthquake or tsunami before detecting the occurrence of the disaster. The initial detection operation determination unit 2220 has a function of, for example, executing measurements by the measurement unit 1100 for the multiple unmanned watercraft 1010, performing status determination by the own watercraft status determination unit 1200, and determining whether to continuously perform data processing by the data processing unit 1500.

[0075] Here, we will explain the characteristics of normal waves and tsunamis using Figure 9. Figure 9 is a diagram showing the concept of normal waves, tsunamis, and their composite waves. The upper part of Figure 9 shows normal ocean waves (waves). Normal ocean waves have a relatively short wavelength of several tens of meters or less. The wavelength of swells (not shown) is slightly longer than that of normal ocean waves, at approximately 100 meters. The center of Figure 9 shows a conceptual diagram of a tsunami, whose wavelength is very long, ranging from several kilometers to several hundred kilometers. Tsunamis are characterized by their occurrence immediately after an earthquake and their tendency to spread rapidly, reaching speeds of several hundred kilometers per hour in deep offshore areas. When a tsunami actually occurs at sea, a composite wave is formed, as shown in the lower part of Figure 9. This composite wave is a combination of normal waves and tsunamis, that is, a composite wave of normal waves and tsunamis with different frequencies. In such a situation, if one wishes to accurately detect the occurrence of a tsunami, its direction of movement, and its speed, it is desirable to deploy the unmanned boat system 1000 in the direction of the tsunami's movement, spreading it out over a distance longer than the wavelength or half wavelength of the tsunami.

[0076] However, because it is difficult to predict the location of the epicenter or the direction of a tsunami in advance, it is desirable for the formation to be spread out long enough to match the wavelength or half wavelength of the tsunami, regardless of when and from which direction the tsunami arrives. Therefore, it is desirable for the initial detection operation determination unit 2220 to determine the deployment positions of the multiple unmanned watercraft 1010 so that the depth distance of the deployment range of the unmanned watercraft system 1000 is at least a predetermined distance when viewed from any direction, i.e., so that the shortest diameter is at least a predetermined distance. Controlling the deployment range of the unmanned watercraft system 1000 in this way makes it possible to accurately detect the occurrence of a tsunami and its direction and speed of movement, even when a tsunami suddenly arrives from any direction.

[0077] In this case, it is desirable that the shortest depth distance of the deployment range of the unmanned boat system 1000 be equal to or longer than the wavelength or half the wavelength of the tsunami, so the initial detection operation determination unit 2220 can determine the depth distance to be, for example, approximately 1 km or more, which is half the wavelength of a tsunami, which is several kilometers to several hundred kilometers.

[0078] Here, the deployment range and minor axis of the multiple deployment formation patterns of the unmanned boat system 1000 will be described using Figures 10 and 11. Figure 10 is a diagram showing an example of the deployment range and minor axis when the unmanned boat system 1000 is deployed at sea in a first deployment formation. In the example shown in Figure 10, the deployment range can be defined by a polygon enclosed by the outermost lines among the multiple lines connecting the multiple unmanned boats 1010 that make up the unmanned boat system 1000. As another example, a shape passing through the positions of the multiple unmanned boats 1010 that are located near the outer edge of the deployment formation can be approximated by an ellipse, and this ellipse can be defined as the deployment range.

[0079] Here, by setting the depth distance (short side distance or short axis) when viewed from a direction where the depth of the deployment range of multiple unmanned boats, which can be defined by a polygon or ellipse, is relatively short (preferably the shortest), to approximately 1 km or more, which is half the wavelength of a typical tsunami, when a tsunami arrives from any direction, it is possible to measure the tsunami with multiple unmanned boats deployed over more than half the wavelength of the tsunami, making it possible to accurately detect the occurrence of a tsunami and its direction and speed of movement.

[0080] There are various patterns of formations for unmanned watercraft systems 1000. Therefore, the deployment ranges for the other four formation patterns will be explained using Figure 11. Figure 11 shows examples of the deployment range and minor axis when unmanned watercraft systems 1000 are deployed on the sea in the second to fifth deployment formations.

[0081] As shown in Figure 11, the second deployment formation shows a deployment formation in which some of the unmanned boats that make up unmanned boat system 1000 are deployed at separate locations. The third deployment formation shows a deployment formation in which multiple unmanned boats that make up unmanned boat system 1000 are deployed in a square formation. The fourth deployment formation shows a deployment formation in which multiple unmanned boats that make up unmanned boat system 1000 are aligned in approximately two rows. The fifth deployment formation shows a deployment formation in which multiple unmanned boats that make up unmanned boat system 1000 are deployed in a triangular formation.

[0082] As shown in Figure 11, for each deployment formation pattern, the depth distance (minor axis) when viewed from the direction in which the depth of the deployment range of multiple unmanned boats is shortest can be defined as shown in Figure 11. Note that the method of defining the deployment range to approximate a specific shape is not limited to approximating an ellipse, and it may also be approximated to a polygon or other shape.

[0083] Furthermore, with regard to the height and wavelength of the tsunami, which are status items other than the direction and speed of movement of the tsunami, it is desirable to closely pack the multiple unmanned watercraft 1010 relative to the wavelength or half wavelength of the tsunami. Therefore, it is desirable for the initial detection operation determination unit 2220 to determine the deployment positions of the multiple unmanned watercraft 1010 so that a partially packed formation is generated in a partial area within the deployment range of the unmanned watercraft system 1000, in which the density of the multiple unmanned watercraft 1010 per unit area on the sea surface is higher than the average density of the unmanned watercraft system 1000 as a whole.

[0084] In this case, since it is desirable that the relative distance between the multiple unmanned boats 1010 within the partially dense formation be equal to or less than half the wavelength of the tsunami, the initial detection operation determination unit 2220 can set the relative distance between the multiple unmanned boats 1010 to, for example, approximately 500 m or less.

[0085] An example of a partially dense formation will now be described using Figure 12. Figure 12 is a diagram showing an example of the positions of multiple unmanned boats and the partially dense formation when unmanned boat system 1000 is deployed on the sea. The example shown in Figure 12 shows the positions of multiple unmanned boats when a partially dense formation is formed within the deployment range of unmanned boat system 1000. It is desirable to control the relative distance between multiple unmanned boats in the partially dense formation to 500 m or less, which is less than half the wavelength of a tsunami.

[0086] As shown in Figure 12, by limiting the relative distance between multiple unmanned boats in a partially dense formation to a length of less than half the wavelength of the tsunami, it is possible to accurately detect the height and wavelength of the tsunami.

[0087] The pre-detection operation execution command unit 2230 is a functional unit that generates an execution command to cause multiple unmanned boats 1010 to execute the operations determined by the precursor detection operation determination unit 2210 and the initial detection operation determination unit 2220, and transmits the execution command to the unmanned boat system 1000.

[0088] (A-4-3. Disaster status determination unit 2300) The disaster state determination unit 2300 is a functional unit that determines whether or not a tsunami has occurred and its occurrence state, or whether or not an earthquake has occurred and its occurrence state, based on measurement data and analysis data acquired from the unmanned watercraft system 1000, which has performed operation control in accordance with the pre-disaster detection operation control unit 2200 or the post-disaster detection operation control unit 2400, via the unmanned watercraft measurement data acquisition unit 2140. The disaster state determination unit 2300 includes a sign detection determination unit 2310, an earthquake detection determination unit 2320, a tsunami detection determination unit 2330, and a future prediction unit 2340.

[0089] The sign detection / determination unit 2310 is a functional unit that detects and determines signs of an earthquake or tsunami. For example, the sign detection / determination unit 2310 detects and determines signs of an earthquake or tsunami based on measurement data and analysis data acquired by the multiple unmanned watercraft 1010 by the sign detection operation determined by the sign detection operation determination unit 2210.

[0090] The precursor detection determination unit 2310 can detect changes in the shape of the seabed over time based on time-series three-dimensional shape data around undersea volcanoes and undersea faults obtained by the precursor detection operation, and detect precursors of an earthquake or eruption.

[0091] Furthermore, since seismic waves travel through the ocean and send shocks to ships sailing on the sea, the precursor detection and determination unit 2310 can also detect the seismic waves of foreshocks that occur before the main earthquake based on vibration information measured by a seismometer installed in the measurement unit 1100 of the unmanned boat.

[0092] Next, the earthquake detection and determination unit 2320 is a functional unit that detects the occurrence of an earthquake based on the measurement data or analysis data received from the unmanned boat system 1000 via the unmanned boat measurement data acquisition unit 2140.

[0093] For example, first unmanned boat measurement information including acoustic data measured by a passive sonar such as a hydrophone included in the measurement unit 1100 or vibration data measured by a seismometer included in the measurement unit 1100 is acquired via the unmanned boat measurement data acquisition unit 2140, and the earthquake detection determination unit 2320 can detect the occurrence of an earthquake when it detects a specified seismic sound from the acoustic data or a specified seismic wave from the vibration data.

[0094] For example, if the volume (dB) and frequency (Hz) of the measured acoustic data fall within a predetermined range for earthquake detection, it can be determined to be a specific earthquake sound. Furthermore, since P waves of seismic waves travel through the ocean and are transmitted to ships as vibration waves, if the volume (dB) and frequency (Hz) of the acquired vibration data fall within a predetermined P wave range for earthquake detection, it can be determined to be a specific earthquake wave. Furthermore, S waves of seismic waves only travel through solid objects, so earthquake shaking is weaker at the sea surface than on the ground. The location of the epicenter can be estimated using the detection times of the P waves detected by the unmanned boat at sea and the S waves detected on land, as well as the difference in propagation speed between the P waves and the S waves.

[0095] Next, the tsunami detection determination unit 2330 is a functional unit that determines whether a tsunami has occurred and the state of occurrence based on the measurement data or analysis data received from the unmanned boat system 1000 via the unmanned boat measurement data acquisition unit 2140.

[0096] The tsunami detection determination unit 2330 acquires, for example, via the unmanned boat measurement data acquisition unit 2140, GNSS positioning information received by the GNSS positioning signal receiving unit 1130 included in the measurement unit 1100, or acceleration information measured by an acceleration sensor included in the measurement unit 1100, and calculates the vertical position of the unmanned boat 1010 based on this acquired information. Alternatively, the tsunami detection determination unit 2330 acquires the vertical position of the unmanned boat calculated from the GNSS positioning information or the acceleration information via the unmanned boat measurement data acquisition unit 2140. The tsunami detection determination unit 2330 further detects the occurrence of a tsunami when the calculated or acquired vertical position satisfies a predetermined condition that has been set in advance.

[0097] Here, when the tsunami detection determination unit 2330 receives GNSS positioning information received by the GNSS positioning signal receiving unit 1130 included in the measurement unit 1100 via the unmanned boat measurement data acquisition unit 2140, it detects a change in position coordinate in the vertical Z-axis direction from the GNSS positioning information. Furthermore, when the tsunami detection determination unit 2330 receives acceleration information measured by an acceleration sensor included in the measurement unit 1100 via the unmanned boat measurement data acquisition unit 2140, it detects a change in position coordinate in the vertical Z-axis direction by integrating the acceleration information of the vertical Z-axis component twice.

[0098] As described above, when detecting the occurrence of a tsunami based on the calculated or acquired vertical positions of multiple unmanned boats 1010, the tsunami detection determination unit 2330 can, for example, pre-set the period or frequency of change in the vertical position of the sea surface when a tsunami occurs as determination criteria information for tsunami detection, and can detect the occurrence of a tsunami when the period or frequency of change in the vertical positions of the multiple unmanned boats 1010 meets the pre-set conditions of the period or frequency of change for tsunami detection.

[0099] Similarly, when detecting the occurrence of a tsunami based on the calculated or acquired vertical positions of multiple unmanned boats 1010, as another example, the tsunami detection determination unit 2330 can pre-set the wavelength of the tsunami at the time of tsunami occurrence as the determination standard information for tsunami detection, and detect the occurrence of a tsunami when the wavelength of the wave calculated from changes in the vertical positions of multiple unmanned boats 1010 meets the pre-set wavelength conditions for tsunami detection.

[0100] Furthermore, the tsunami detection method used by the tsunami detection determination unit 2330 is not limited to the vertical position information described above. For example, the unmanned boat measurement data acquisition unit 2140 may acquire the attitude angle of the unmanned boat measured by the GNSS compass included in the measurement unit 1100, or the angular velocity of the unmanned boat measured by a gyro sensor included in the measurement unit 1100, and calculate the attitude angle of the unmanned boat 1010 based on the angular velocity. Alternatively, the tsunami detection determination unit 2330 may acquire the angular velocity of the unmanned boat calculated by integrating the angular velocity of the unmanned boat once via the unmanned boat measurement data acquisition unit 2140. The tsunami detection determination unit 2330 can also detect the occurrence of a tsunami if the calculated or acquired attitude angle satisfies a predetermined condition.

[0101] As described above, when detecting the occurrence of a tsunami based on the calculated or acquired attitude angles of multiple unmanned vessels 1010, the tsunami detection judgment unit 2330, for example, pre-sets the change period or change frequency of the inclination angle of the sea surface when a tsunami occurs as judgment criteria information for tsunami detection, and can detect the occurrence of a tsunami when the change period or change frequency of the calculated or acquired attitude angles (particularly, pitch angle or roll angle) of multiple unmanned vessels 1010 meets the pre-set change period or change frequency conditions for tsunami detection.

[0102] Similarly, when detecting the occurrence of a tsunami based on the calculated or acquired attitude angles of multiple unmanned boats 1010, as another example, the tsunami detection judgment unit 2330 can pre-set the wavelength of the tsunami at the time of tsunami occurrence as judgment criteria information for tsunami detection, and detect the occurrence of a tsunami when the wavelength of the wave calculated from changes in the attitude angles of multiple unmanned boats 1010 meets the pre-set wavelength conditions for tsunami detection.

[0103] Furthermore, the tsunami detection method used by the tsunami detection determination unit 2330 is not limited to the above-mentioned method, and may also be a method of detecting the occurrence of a tsunami based on image data or video data of the area around the unmanned boat taken by optical cameras mounted as measurement units on multiple unmanned boats 1010.

[0104] As yet another example, the tsunami detection method by the tsunami detection determination unit 2330 is not limited to the above-mentioned method, but may also be a method in which the occurrence of a tsunami is detected based on underwater noise data acquired by acoustic sensors (particularly passive sonar such as hydrophones) mounted as measurement units on multiple unmanned boats 1010, and the acquired underwater noise data satisfies predetermined conditions for tsunami detection that have been set in advance.

[0105] As yet another example, the tsunami detection method used by the tsunami detection / determination unit 2330 is not limited to the above-described method, and may instead detect and determine that a tsunami has occurred when many of the multiple unmanned boats 1010 have capsized. In this case, for example, the capsized state of the multiple unmanned boats can be determined based on image data or video data of the area around the unmanned boats captured by optical cameras mounted as measurement units on the multiple unmanned boats 1010. The capsized state of the multiple unmanned boats can also be determined based on acceleration data or angular velocity data of the unmanned boats measured by inertial measurement units 1140 mounted as measurement units on the multiple unmanned boats 1010. The occurrence of a tsunami can be detected when the number of unmanned boats determined to be capsized using the above-described method is equal to or greater than a predetermined number.

[0106] The tsunami detection determination unit 2330 can also improve the accuracy of tsunami detection by combining the various tsunami detection methods described above with the earthquake detection determination result obtained by the earthquake detection determination unit 2320. In this case, for example, after the earthquake detection determination unit 2320 detects the occurrence of an earthquake based on acoustic data and vibration data acquired by the measurement unit 1100 of the unmanned watercraft 1010, the occurrence of a tsunami can be detected if the tsunami detection determination unit 2330 determines that at least one of the vertical position of the unmanned watercraft, the pitch angle or roll angle attitude angle of the unmanned watercraft, images or videos of the area around the unmanned watercraft, underwater noise, and the acceleration or angular velocity of the unmanned watercraft meets the predetermined conditions for tsunami detection. Furthermore, as a method for improving earthquake detection accuracy, false positives can be reduced by setting the detection of both seismic waves (P waves) from the unmanned watercraft and seismic sounds from the unmanned watercraft as conditions for earthquake detection determination.

[0107] Here, the tsunami detection and determination unit 2330 may not only have the function of detecting and determining whether a tsunami has occurred, but also the function of determining the state of the tsunami occurrence, including the wave height, direction of movement, speed of movement, period, frequency, wavelength, and amount of debris in the tsunami, based on the measurement data of the unmanned boat acquired via the unmanned boat measurement data acquisition unit 2140, when the occurrence of a tsunami is detected.

[0108] In this case, as shown in Figure 9, waves are generated that are a combination of a tsunami and ocean waves (or swells). Therefore, by analyzing the period and frequency of the time-series changes in the sea surface state, it is possible to distinguish and detect the tsunami from the ocean waves (or swells). If time-series fluctuations within a preset tsunami period or frequency range are detected from the calculated or acquired vertical positions of multiple unmanned boats or the period and frequency of the time-series changes in the pitch or roll angle attitude angles of multiple unmanned boats, the detected time-series fluctuations can be determined to be a tsunami. The frequency for tsunami detection can be set, for example, within a range of approximately 0.001 Hz to 0.01 Hz. Here, as shown in Figure 9, waves are generated that are a combination of a tsunami and ocean waves (or swells). Therefore, by detecting time-series fluctuations within the tsunami period or frequency range using multiple unmanned boats, rather than a single unmanned boat, the tsunami period and frequency can be detected more accurately.

[0109] Furthermore, when periodic fluctuations within a predetermined tsunami wavelength range are detected based on time-series changes in the vertical positions of multiple unmanned boats positioned at different locations on the ocean or the pitch or roll angles of those unmanned boats, the length of one period of the detected periodic fluctuations can be determined as the tsunami wavelength. For example, the wavelength can be calculated by multiplying the time difference between the detection times of the highest and lowest vertical positions by the tsunami's moving speed. Alternatively, the wavelength can be calculated by multiplying the tsunami period by the wave speed. As shown in Figure 9, because tsunami periods are very long, ranging from several kilometers to several hundred kilometers, detecting periodic fluctuations in vertical positions and attitude angles using multiple unmanned boats positioned over a distance at least longer than half the tsunami wavelength can more accurately detect the tsunami wavelength.

[0110] Furthermore, the wave height of a tsunami can be determined from the difference between the vertical positions of multiple unmanned boats under normal conditions before the tsunami is detected and the maximum vertical positions of multiple unmanned boats at the time the tsunami is detected. As shown in Figure 9, waves are generated that are a combination of the tsunami and ocean waves (or swells), so the wave height of a tsunami can be detected more accurately by detecting the maximum vertical positions under normal conditions and the maximum vertical positions at the time the tsunami is detected using multiple unmanned boats, rather than a single unmanned boat.

[0111] The speed of a tsunami can be calculated from the time difference between the detection times of the tsunami among multiple unmanned boats located at different positions on the sea and the relative distance between the detection positions. To more accurately detect the speed of a tsunami, it is necessary to know the time difference between the detection times of tsunamis of the same phase. Therefore, the speed of a tsunami can be calculated, for example, based on the time difference between the detection times of the maximum vertical positions of the multiple unmanned boats at the time of tsunami detection, or the time difference between the detection times of the maximum pitch or roll attitude angles of the multiple unmanned boats at the time of tsunami detection.

[0112] As an alternative method for detecting the speed of a tsunami, it is possible to measure the speed of the tsunami by using the steeply sloping part of the sea surface formed ahead of the tsunami's direction of travel and moving an unmanned boat at high speed, roughly the same as the tsunami.

[0113] It is also known that tsunamis spread radially from the epicenter, and that phenomena such as refraction, reflection, and diffraction occur due to the influence of the seabed topography and coastline, causing them to move in complex directions.For this reason, the direction of a tsunami's movement can be determined by determining the waveform of the tsunami and its changes over time based on the time-series changes in the vertical position and attitude angles of the pitch angle or roll angle of multiple unmanned boats placed at different positions on the sea surface.

[0114] Furthermore, when a tsunami reaches the coast, it may wash away vehicles and houses along the coast, and in such cases, the tsunami may contain a large amount of debris. As a result, the debris contained in the second and subsequent waves of the tsunami collide with each other, generating a large amount of noise. Therefore, by measuring the noise within the tsunami using passive sonar such as hydrophones mounted as the measurement units 1100 of multiple unmanned boats, it is possible to estimate the amount of debris contained in the tsunami.

[0115] Furthermore, when the tsunami occurrence is detected, the tsunami detection and determination unit 2330 can also determine the occurrence state of the tsunami based on image data and video data of the area around the unmanned boat acquired by the optical camera via the unmanned boat measurement data acquisition unit 2140. For example, the wave height of the tsunami can be determined based on image data and video data of the area around the unmanned boat, and it is also possible to calculate the speed and direction of movement of the tsunami using the measured position and azimuth attitude angle (yaw angle) of the unmanned boat in addition to the image data and video data.

[0116] Next, the future prediction unit 2340 is a functional unit that predicts the state of an earthquake or tsunami at a future time based on the results of the earthquake occurrence detection or earthquake state determination by the earthquake detection and determination unit 2320, or the results of the tsunami occurrence detection or tsunami occurrence state determination by the tsunami detection and determination unit 2330.

[0117] For example, the future prediction unit 2340 can predict the location of the epicenter, the progress at any location on the ground, and the arrival time of the seismic waves based on the seismic waves (e.g., P waves) detected by the earthquake detection and determination unit 2320, or in addition, based on the seismic waves (e.g., S waves) detected on the ground and acquired via the disaster-related information acquisition unit 2130.

[0118] In addition, the future prediction unit 2340 can predict the arrival time of the tsunami at any location on the ground and the height of the tsunami at the time of arrival based on the detection position, movement speed, movement direction, etc. of the tsunami, which are the results of the tsunami occurrence state determination by the tsunami detection determination unit 2330.

[0119] (A-4-4. Post-disaster detection operation control unit 2400) The post-disaster detection operation control unit 2400 is a functional unit that controls the operation of the unmanned watercraft system 1000 after the disaster state determination unit 2300 detects the occurrence of an earthquake or tsunami, or after receiving information about the occurrence of an earthquake or tsunami from the external observation system 3000 via the disaster-related information acquisition unit 2130. The post-disaster detection operation control unit 2400 includes a post-detection initial action determination unit 2410, a detailed measurement action determination unit 2420, a continuous monitoring action determination unit 2430, and a post-detection action execution command unit 2440.

[0120] The post-detection initial action decision unit 2410 is a functional unit that decides the initial action to be immediately executed by multiple unmanned boats when the disaster state determination unit 2300 detects the occurrence of an earthquake or tsunami, or when information about the occurrence of an earthquake or tsunami is received from the external observation system 3000 via the disaster-related information acquisition unit 2130.

[0121] For example, when the post-detection initial action decision unit 2410 detects the occurrence of a tsunami or receives information about the occurrence of a tsunami, it can decide to perform initial action such as continuous measurement by the measurement units 1100 of multiple unmanned boats in the tsunami detection area, data analysis by the data processing unit, recording the measurement data in the recording unit 1600, and transmitting the various measurement data measured in real time to the overall control system 2000 via a wireless communication network between the multiple unmanned boats.

[0122] Furthermore, the post-detection initial action decision unit 2410 can decide to perform an initial action of continuously capturing image data and video data of the surrounding area using an optical camera mounted on the unmanned boat, not limited to the tsunami detection area, recording the measurement data in the recording unit 1600, and transmitting the captured image data and video data in real time to the overall control system 2000 via a wireless communication network between multiple unmanned boats.

[0123] Furthermore, when analysis data is generated by analyzing measurement data by the data processing units 1500 of multiple unmanned crafts 1010, the post-detection initial action decision unit 2410 can decide to perform an initial action of transmitting the analysis data to the overall control system 2000 in real time.

[0124] Furthermore, the post-detection initial action determination unit 2410 may have a function for performing safety operations to prevent the multiple unmanned boats from colliding with other objects and being damaged or capsizing due to a tsunami. For example, when the post-detection initial action determination unit 2410 detects a tsunami occurrence or receives tsunami occurrence information, it can determine an initial action to control the headings of the multiple unmanned boats so that their headings approach the heading of the epicenter location and become substantially the same as the heading of the epicenter location, based on information about the earthquake's epicenter location received from the external observation system 3000 or determined by the disaster state determination unit 2300. This initial action ensures that when the tsunami arrives at the unmanned boat's location, the unmanned boat's noses are facing the direction of the incoming tsunami, thereby reducing the risk of the unmanned boat capsizing compared to when the tsunami hits the unmanned boat from the side.

[0125] Furthermore, when the post-detection initial action determination unit 2410 detects a tsunami or receives tsunami occurrence information, it can determine an initial action to move multiple unmanned watercraft anchored or sailing in coastal areas within a predetermined distance from the coast from the coastal areas to offshore areas. The shallower the water, the higher the tsunami wave height, and tsunamis are higher in coastal areas than in offshore areas. Therefore, this initial action can move the unmanned watercraft to offshore areas where the tsunami height is relatively low and will have less impact on the unmanned watercraft, reducing the risk of the unmanned watercraft capsizing or colliding with other objects and being damaged.

[0126] Next, the detailed measurement operation decision unit 2420 is a functional unit that decides the operation to measure the occurrence state of the tsunami in more detail using multiple unmanned boats when the disaster state determination unit 2300 detects the occurrence of an earthquake or tsunami, or when information on the occurrence of an earthquake or tsunami is received from the external observation system 3000 via the disaster-related information acquisition unit 2130.

[0127] For example, when the detailed measurement operation determination unit 2420 detects the occurrence of a tsunami or receives information about the occurrence of a tsunami, it can determine an area for generating a partially dense formation where the density of multiple unmanned boats 1010 per unit area on the ocean surface is higher than the average density of the entire unmanned boat system 1000, or multiple unmanned boats that will constitute the partially dense formation, based on information about the earthquake or tsunami received from the external observation system 3000 or detected by the disaster state determination unit 2300. That is, as shown in FIG. 12 , it determines an area for generating a partially dense formation within the deployment range of the unmanned boat system 1000, and the unmanned boats to be used in the partially dense formation. In this way, by changing the formation of multiple unmanned boats to generate a partially dense formation after the occurrence of a tsunami is detected, etc., it is possible to detect the tsunami occurrence state in detail, such as the height of the tsunami before the arrival of the first wave, or with respect to the second and third waves of the tsunami.

[0128] As described above, when generating a partial dense formation within the deployment range of the unmanned watercraft system 1000, the detailed measurement operation decision unit 2420 can, for example, determine to generate a partial dense formation in an area away from the epicenter within the deployment range of the unmanned watercraft system 1000, or to configure a partial dense formation using multiple unmanned watercraft deployed in an area away from the epicenter, based on information about the earthquake or tsunami received from the external observation system 3000 or detected by the disaster state determination unit 2300. That is, in the example shown in Figure 12, if the epicenter is in the upper left direction of the drawing, it is determined that the partial dense formation will be generated in the area on the lower right, which is the farthest from the epicenter, within the deployment range of the unmanned watercraft system 1000.

[0129] Furthermore, when generating a partial dense formation within the deployment range of the unmanned watercraft system 1000, an area where a partial dense formation can be generated before the tsunami arrives can be determined, or multiple unmanned watercraft that can form a partial dense formation before the tsunami arrives can be determined, based on, for example, information about the earthquake or tsunami received from the external observation system 3000 or detected by the disaster state determination unit 2300. In this way, by determining a method for generating a partial dense formation using the detailed measurement operation determination unit 2420, a partial dense formation can be generated before the tsunami arrives, and the tsunami occurrence state can be detected in more detail.

[0130] The detailed measurement operation determination unit 2420 may also have a function to determine the relative distances between the multiple unmanned watercraft in the unmanned watercraft system 1000 based on the tsunami wavelength determined by the disaster state determination unit 2300. As mentioned above, in order to accurately detect the occurrence of a tsunami and its movement direction and speed, it is desirable that the multiple unmanned watercraft be deployed in the direction of the tsunami's movement over a distance of at least half the tsunami's wavelength. Therefore, it is particularly desirable to determine the relative distances between the multiple unmanned watercraft so that the multiple unmanned watercraft are deployed over a distance of at least half the tsunami's wavelength in the direction of the tsunami's movement.

[0131] The detailed measurement operation determination unit 2420 may also have a function to determine, based on the tsunami wavelength determined by the disaster state determination unit 2300, to control the relative distance between the multiple unmanned watercraft constituting the partial dense formation to a distance shorter than the determined tsunami wavelength. As described above, in order to accurately detect the height of a tsunami, it is desirable to measure the state of the sea surface in the direction of tsunami movement at intervals shorter than half the tsunami wavelength. Therefore, by limiting the relative distance between the multiple unmanned watercraft in the partial dense formation to a length shorter than half the tsunami wavelength, the tsunami height can be accurately detected.

[0132] As another example, the detailed measurement operation decision unit 2420 can decide to move multiple unmanned watercraft to the area surrounding the epicenter location based on the information about the epicenter location when it receives information about the epicenter location from the external observation system 3000 or detects the distance and direction to the epicenter location from the detection information about the seismic wave and tsunami direction by the disaster state determination unit 2300. In this case, it can determine whether additional unmanned watercraft are needed, and if it is determined that additional unmanned watercraft are needed, it can move the additional unmanned watercraft to the area surrounding the epicenter location and perform measurements.

[0133] Furthermore, when moving multiple unmanned watercraft to the area surrounding the epicenter position in this way, the detailed measurement operation determination unit 2420 can further control the deployment positions of the multiple unmanned watercraft so that the minor axis of the deployment range of the unmanned watercraft system 1000 in the area surrounding the epicenter position is equal to or greater than a predetermined distance (particularly, equal to or greater than 1 km, which is half the wavelength of the tsunami). By controlling the deployment alignment of the unmanned watercraft in the area surrounding the epicenter position in this way, when a tsunami arrives from any direction, it is possible to measure the tsunami with multiple unmanned watercraft deployed over a distance equal to or greater than half the wavelength of the tsunami (or an integral multiple of 1 / 4 the wavelength), making it possible to accurately detect the occurrence of a tsunami and its moving direction and speed.

[0134] Furthermore, when multiple unmanned watercraft are moved to the area surrounding the epicenter, the detailed measurement operation determination unit 2420 can control the deployment positions of the multiple unmanned watercraft so as to generate a partial dense formation in the area surrounding the epicenter within the deployment range of the unmanned watercraft system 1000. In this way, by generating a wide-area formation in which multiple unmanned watercraft are deployed over a range of more than half the wavelength of the tsunami in the area surrounding the epicenter, and by generating a partial dense formation within the wide deployment range of the unmanned watercraft, it becomes possible to accurately detect the occurrence of a tsunami, its direction of movement, and its speed, as well as its height.

[0135] Furthermore, when multiple unmanned watercraft are moved to the area surrounding the epicenter, the detailed measurement operation determination unit 2420 can determine a measurement operation to measure the seafloor shape in the area surrounding the epicenter using active sonar such as a side-scan sonar or a laser sensor such as LiDAR mounted on the multiple unmanned watercraft as the measurement unit 1100. Furthermore, when multiple unmanned watercraft are moved to the area surrounding the epicenter, the detailed measurement operation determination unit 2420 can determine a data collection operation to collect seafloor measurement data using acoustic communication or the like from seafloor sensors (sensors that measure seafloor topographical changes, water pressure sensors, seismometers, etc.) that have been installed in advance on the seafloor in the surrounding area. After an earthquake occurs, it is highly likely that the seafloor shape near undersea volcanoes and undersea faults at the epicenter has changed. Therefore, as described above, measurement data on the seafloor shape in the area surrounding the epicenter can be collected and used to predict the impact of the earthquake and future seismic activity. The detailed measurement operation determination unit 2420 is not limited to the operation of measuring the seabed topography, and can also determine the operation of measuring floating objects in the sea, fault movements in the ground, and the like.

[0136] Furthermore, when multiple unmanned watercraft are moved to the area surrounding the epicenter, the detailed measurement operation determination unit 2420 can control the deployment positions of the multiple unmanned watercraft so that the relative distance between the unmanned watercraft and adjacent unmanned watercraft is increased within a range not exceeding the imaging distance (e.g., 4 km) of the optical cameras mounted on the multiple unmanned watercraft as measurement units 1100, and determine a peripheral data acquisition operation to acquire image data or video data around the unmanned watercraft using the optical cameras. Here, the peripheral data acquisition operation may be an operation to rotate the nose of the unmanned watercraft 360 degrees to acquire image data or video data in all directions. After an earthquake occurs, there is a possibility of steam erupting due to an underwater volcanic eruption at the epicenter, or damage to ships and other objects on the sea surface. Therefore, by acquiring image data or video data of the area surrounding the epicenter on the sea surface as described above, it is possible to obtain information useful for understanding the damage to ships and other objects caused by the earthquake and the cause of the earthquake.

[0137] As another example, when the detailed measurement operation determination unit 2420 receives information about an earthquake or tsunami occurrence from the external observation system 3000 or detects the occurrence of an earthquake or tsunami via the disaster state determination unit 2300, it can determine, as a control operation for the unmanned boats, that the deployment positions of the multiple unmanned boats be controlled so that they approach shallow water areas where the water depth distance is shorter than a predetermined distance. Tsunamis have the characteristic of increasing wave height as the water depth decreases, which tends to cause greater damage in coastal areas. Therefore, as described above, when an earthquake or tsunami occurs, controlling the deployment positions of the multiple unmanned boats to approach shallow water areas and collecting information in shallow water areas makes it possible to quickly grasp the damage caused by the tsunami. Furthermore, because tsunamis undergo refraction in shallow water areas, controlling the deployment positions of the multiple unmanned boats to approach shallow water areas makes it possible to measure the state of tsunami refraction.

[0138] Next, the continuous monitoring operation decision unit 2430 is a functional unit that decides the operation of multiple unmanned boats that will continue over the long term in order to continuously monitor for aftershocks and second and third waves of tsunamis that are predicted to occur after an earthquake or tsunami occurs.

[0139] For example, when the continuous monitoring operation determination unit 2430 receives information about the occurrence of an earthquake or tsunami from the external observation system 3000, or when the disaster state determination unit 2300 detects the occurrence of an earthquake or tsunami, it can determine a continuous monitoring operation based on information about the epicenter location to move multiple unmanned boats to the area surrounding the epicenter location, and further to arrange the multiple unmanned boats to form a wide-area formation or a partially dense formation in the area surrounding the epicenter location.

[0140] Furthermore, the continuous monitoring operation determination unit 2430 determines whether additional unmanned vessels are needed to measure in more detail any aftershocks or second or third waves of tsunamis that are predicted to occur after an earthquake or tsunami occurs, and if it is determined that additional unmanned vessels are needed, it can determine the continuous monitoring operation, including the number of additional unmanned vessels to be added and the additional deployment positions to which the additional unmanned vessels will be dispatched.

[0141] In addition, when the continuous monitoring operation decision unit 2430 receives request information from a user to improve the accuracy of predicting the epicenter location of future earthquakes or the occurrence state of tsunamis, it can decide to dispatch and deploy a new unmanned boat to an additional position for measuring seismic waves (P waves) or an additional position for measuring the occurrence state of tsunamis.

[0142] Next, the post-detection operation execution command unit 2440 is a functional unit that generates execution commands to have multiple unmanned boats execute the operations determined by the above-mentioned post-detection initial action decision unit 2410, detailed measurement operation decision unit 2420, and continuous monitoring operation decision unit 2430, and transmits the execution commands to the unmanned boat system 1000.

[0143] (A-4-5. Information input / output unit 2500) The information input / output unit 2500 is a functional unit that has the functions of inputting and outputting information to and from the unmanned watercraft system 1000, the user terminal 4000, the external observation system 3000, etc., displaying and outputting information to the user, and receiving information input from the user. The information input / output unit 2500 includes a display unit 2510, a user input receiving unit 2520, a control command transmitting unit 2530, and a display information transmitting unit 2540.

[0144] The display unit 2510 is a functional unit that displays and outputs various information including information acquired and generated by each functional unit of the integrated control system 2000. For example, the display unit 2510 can display and output advance information such as that shown in Fig. 7 acquired by the advance information acquisition unit 2110, measurement request information such as that shown in Fig. 8 acquired by the measurement request information acquisition unit 2120, disaster-related information acquired by the disaster-related information acquisition unit 2130, measurement data and analysis data acquired by the unmanned boat measurement data acquisition unit 2140, or various information including the operating status of multiple unmanned boats 1010.

[0145] As another example, the display unit 2510 may have the function of displaying and outputting the judgment results by the disaster state judgment unit 2300 and operation execution commands for the unmanned craft 1010 generated by the pre-disaster detection operation control unit 2200 and the post-disaster detection operation control unit 2400.

[0146] The display unit 2510 may also have a function of generating display information to be displayed on the display unit 2510. In this case, for example, the display unit 2510 can generate display information that displays on a two-dimensional map including the sea and the land of coastal areas the results of earthquake and tsunami sign detection, earthquake detection determination, tsunami detection determination, future prediction results, etc., determined by the disaster state determination unit 2300. That is, the display unit 2510 generates display information that displays on a two-dimensional map information such as the earthquake detection determination results, including whether an earthquake has occurred, its epicenter, seismic intensity, or change in the seabed at the epicenter; the tsunami detection determination results, including whether a tsunami has occurred, its tsunami height, tsunami speed, tsunami direction, period, frequency, wavelength, or amount of debris; and the future prediction results, including the coastal areas where the tsunami will reach, the predicted time of arrival on the coast, or the tsunami height at the time of arrival on the coast.

[0147] Next, the user input accepting unit 2520 is a functional unit that accepts any user input information related to the various information displayed on the display unit 2510 or unrelated to the displayed information. For example, the user input accepting unit 2520 can accept a command to change the displayed operation execution command to the unmanned watercraft system 1000. The user input information accepted by the user input accepting unit 2730 can include an operation intervention command from the user to the unmanned watercraft 1010, etc.

[0148] The user input receiving unit 2520 may be a portable mobile terminal such as a smartphone, a tablet terminal, a notebook PC, etc. The user input information may also be received via operation buttons provided on the display screen of the display unit 2510.

[0149] Next, the control command transmission unit 2530 is a functional unit that transmits operation execution commands for the unmanned craft 1010 generated by the pre-disaster detection operation control unit 2200 and the post-disaster detection operation control unit 2400 to the unmanned craft 1010 via the communication satellite 6100 or the terrestrial base station 6200.

[0150] The display information transmission unit 2540 is a functional unit that transmits display information to the user terminal 4000. Note that the display information transmitted by the display information transmission unit 2540 to the user terminal 4000 may include various information to be displayed on the display unit 2510.

[0151] (A-5. Control flow of Disaster Observation System 1) Next, a control processing flow of the disaster observation system 1 and a specific example of the control processing will be described with reference to FIGS.

[0152] (A-5-1. Upper control flow of Disaster Observation System 1) FIG. 13 is a flowchart showing the control flow of the upper level processing of the disaster observation system 1.

[0153] First, the advance information acquisition unit 2110 and the measurement request information acquisition unit 2120 acquire advance information and measurement request information (step 101). In this step, for example, various advance information as shown in Fig. 7 and various measurement request information as shown in Fig. 8 are acquired.

[0154] Next, the sign detection operation determination unit 2210 determines an operation for detecting a sign of a disaster and causes the plurality of unmanned watercraft to execute that operation (step 102). The detailed processing of this step will be described later.

[0155] Next, the sign detection determination unit 2310 determines whether a sign of a disaster has been detected based on the measurement data and the like acquired by the unmanned watercraft system 1000 during the disaster sign detection operation (step 102). The detailed processing of this step will be described later.

[0156] Next, the initial detection operation determination unit 2220 determines an initial detection operation and causes the plurality of unmanned watercraft to execute that operation (step 104). The detailed processing of this step will be described later.

[0157] Next, based on the measurement data etc. acquired by the unmanned watercraft system 1000 during the initial detection operation, the earthquake detection / determination unit 2320 and the tsunami detection / determination unit 2330 perform initial detection / determination of an earthquake or tsunami (step 105). The detailed processing of this step will be described later.

[0158] Next, the post-detection initial action determining unit 2410 determines the initial action to be immediately executed by the unmanned watercraft after the disaster is detected, and causes the unmanned watercraft to execute the action (step 106). The detailed processing of this step will be described later.

[0159] Next, the detailed measurement operation determination unit 2420 determines an operation for detailed detection and causes the plurality of unmanned watercraft to execute that operation (step 107). The detailed processing of this step will be described later.

[0160] Next, based on the measurement data and the like acquired by the unmanned watercraft system 1000 through the initial operation and detailed detection operation, the earthquake detection determination unit 2320 and the tsunami detection determination unit 2330 perform detailed detection determination of the earthquake and tsunami (step 108). The detailed processing content of this step will be described later.

[0161] Next, based on the occurrence state of the earthquake or tsunami determined by the earthquake detection determination unit 2320 and the tsunami detection determination unit 2330, the future prediction unit 2340 predicts the state of the earthquake or tsunami at a future time (step 109).

[0162] (A-5-2. Processing flow of the sign detection operation determination unit 2210) 14 is a flowchart showing the process flow for determining the sign detection operation by the sign detection operation determination unit 2210. In particular, FIG. 14 shows detailed processing of step 102 in the flowchart of FIG.

[0163] First, the sign detection operation determination unit 2210 determines the sign detection operation of the multiple unmanned watercraft (step 201). In this step, as an example, the sign detection operation is determined to be patrolling around a volcano that is undergoing volcanic activity.

[0164] Next, the sign detection operation determination unit 2210 determines a measurement operation for sign detection (step 202). In this step, as an example, the sign detection operation is determined to be one in which a plurality of unmanned boats 1010 equipped with measurement sensors 1110 such as optical cameras and LiDAR measure optical images and three-dimensional shape data of the volcano and transmit the measurement information to the integrated control system 2000.

[0165] Next, the unmanned watercraft system 1000 is caused to execute the sign detection operation determined by the sign detection operation determination unit 2210, and measurement data is acquired (step 203).

[0166] Next, the pre-detection operation execution command unit 2230 executes an operation for symptom detection and transmits the acquired measurement data from the unmanned boat system 1000 to the overall control system 2000 (step 204).

[0167] (A-5-3. Processing flow of the sign detection determination unit 2310) 15 is a flowchart showing the process flow of disaster sign detection determination by the sign detection determination unit 2310. In particular, FIG. 15 shows detailed processing of step 103 in the flowchart of FIG.

[0168] First, the unmanned boat measurement data acquisition unit 2140 acquires measurement data and analysis data acquired by the plurality of unmanned boats 1010 (step 301).

[0169] Next, the disaster-related information acquisition unit 2130 acquires disaster-related information relating to earthquakes and tsunamis acquired by the external observation system 3000 (step 302).

[0170] Next, the sign detection determination unit 2310 determines whether a sign of an earthquake or tsunami has been detected based on the information acquired in step 301 or step 302 (step 303). If no sign of a disaster is detected in this step, the process in this flowchart transitions to step 301. On the other hand, if a sign of a disaster is detected in this step, the process in this flowchart transitions to step 304.

[0171] Next, if a sign of a disaster is detected in step 303, display information including the contents of the detected sign of a disaster is generated by the display unit 2510 of the information input / output unit 2500, and the display information is displayed and output on the display unit 2510, or transmitted and output to the user terminal 4000 via the display information transmission unit 2740 (step 304).

[0172] (A-5-4. Processing flow of the initial detection operation determination unit 2220) 16 is a flowchart showing the process flow for determining an initial detection operation by the initial detection operation determination unit 2220. In particular, FIG. 16 shows detailed processing of step 104 in the flowchart of FIG.

[0173] First, the initial detection operation determination unit 2220 determines the initial detection operations of the multiple unmanned watercraft (step 401). In this step, as an example, the deployment positions of the multiple unmanned watercraft 1010 are determined so that the shortest diameter of the deployment range of the unmanned watercraft system 1000 is at least a predetermined distance or more.

[0174] Next, the initial detection operation determination unit 2220 determines the measurement operation for initial detection (step 402). In this step, as an example, the operation for measuring the vertical position, attitude angle, etc. of multiple unmanned watercrafts at the deployment positions determined in step 401 is determined.

[0175] Next, the unmanned watercraft system 1000 is caused to execute the initial detection operation determined by the initial detection operation determination unit 2220, and measurement data is acquired (step 403).

[0176] Next, the unmanned watercraft system 1000 executes an initial detection operation and transmits the acquired measurement data to the overall control system 2000 (step 404).

[0177] (A-5-5. Processing flow of initial detection determination by disaster state determination unit 2300) 17 is a flowchart showing the process flow for determining a disaster state by the disaster state determination unit 2300 based on measurement data acquired by the initial detection operation, etc. In particular, FIG. 17 shows detailed processing of step 105 in the flowchart of FIG.

[0178] First, the unmanned watercraft measurement data acquisition unit 2140 executes an initial detection operation to acquire measurement data and analysis data acquired by the multiple unmanned watercrafts 1010 (step 501).

[0179] Next, the disaster-related information acquisition unit 2130 acquires disaster-related information relating to earthquakes and tsunamis acquired by the external observation system 3000 (step 502).

[0180] Next, the earthquake detection / determination unit 2320 and the tsunami detection / determination unit 2330 of the disaster state determination unit 2300 detect and determine whether an earthquake or tsunami has occurred and the state of occurrence based on the information acquired in step 501 and step 502 (step 503). If no disaster is detected in this step, the process in this flowchart transitions to step 501. On the other hand, if a disaster is detected in this step, the process in this flowchart transitions to step 504. In this step, for example, the presence or absence of an earthquake, epicenter, seismic intensity, seismic source seabed change, presence or absence of a tsunami, tsunami height, tsunami speed, tsunami direction, period, frequency, wavelength, amount of debris, etc. are detected and determined.

[0181] Next, if a disaster is detected in step 503, display information including the detected occurrence or non-occurrence of a disaster and the state of the disaster is generated by the display unit 2510 of the information input / output unit 2500, and the display information is displayed on the display unit 2510 or transmitted to the user terminal 4000 via the display information transmission unit 2740 (step 504).

[0182] (A-5-5-1. Example of Initial Detection and Determination Result by Disaster State Determination Unit 2300) Fig. 18 is a diagram showing an example of an initial detection determination result by the disaster state determination unit 2300. In particular, Fig. 18 shows an example of display information when the initial detection determination result is displayed on a two-dimensional map in step 504 shown in Fig. 17.

[0183] 18 includes earthquake occurrence information determined by the earthquake detection determination unit 2320 and tsunami occurrence information determined by the tsunami detection determination unit 2330. The earthquake occurrence information includes status information related to the earthquake, such as the time of occurrence of the earthquake, the epicenter location (latitude, longitude, and epicenter depth), and magnitude.

[0184] The tsunami occurrence information also includes, for example, the time of tsunami detection, the detected position of the tsunami, the direction of movement, and the tsunami height. If other state quantities of the tsunami are detected in the initial detection, the other state quantities (movement speed, period, wavelength, etc.) may also be included. In Fig. 18, the position of the tsunami measured by the unmanned boat system 1000 is shown by a solid line, and the predicted position of the tsunami predicted from the measured position of the tsunami and the epicenter position is shown by a dotted line.

[0185] Furthermore, as shown in FIG. 18, the initial detection determination result may also indicate the deployment position of the unmanned watercraft system 1000 that detected the tsunami and the positions of each unmanned watercraft 1010.

[0186] (A-5-6. Processing flow of post-detection initial action determination unit 2410) 19 is a flowchart showing the execution processing flow of the initial action after a disaster is detected by the post-detection initial action determining unit 2410. In particular, FIG. 19 shows detailed processing of step 106 in the flowchart of FIG.

[0187] First, the post-detection initial action decision unit 2410 causes multiple unmanned boats deployed around the location where the earthquake or tsunami is detected to acquire measurement data, and determines that the initial action will be to transmit the acquired data in real time to the overall control system 2000, and then causes the post-detection action execution command unit 2440 to execute the initial action (step 601).

[0188] Next, the post-detection initial action determination unit 2410 determines that the initial action will be to have multiple unmanned boats deployed around the location where the earthquake or tsunami was detected take images or videos of the surrounding area using optical cameras, and to transmit the captured image data or video data to the integrated control system 2000 in real time, and then the post-detection action execution command unit 2440 executes the initial action (step 602).

[0189] Next, the post-detection initial action determination unit 2410 determines that the initial action is to change the headings of the multiple unmanned crafts 1010 so that they point in the direction of the epicenter location, and the post-detection action execution command unit 2440 executes the initial action (step 603).

[0190] Next, the post-detection initial action decision unit 2410 decides that the initial action for multiple unmanned crafts anchored or sailing in the coastal area is to move them from the coastal area to the offshore area, and the post-detection action execution command unit 2440 executes the initial action (step 604).

[0191] (A-5-6-1. Example of Initial Action by Post-Detection Initial Action Determining Unit 2410) 20 is a diagram showing the execution of a heading change operation, which is an example of an initial action determined by the post-detection initial action determination unit 2410. In particular, Fig. 20 shows an example in which the unmanned watercraft system 1000 performs an action based on the operation command for the heading change operation in step 603 shown in Fig. 19.

[0192] The upper diagram in Figure 20 shows the heading and position of each unmanned boat 1010 in the unmanned boat system 1000 at time t1 before an operation command for changing the heading of the unmanned boat 1010 is sent to the unmanned boat system 1000. At time t1, the noses of the multiple unmanned boats are pointing in different directions.

[0193] The lower diagram in Figure 20 shows the heading and position of each unmanned boat 1010 in the unmanned boat system 1000 at time t2, when an operation command to change the heading of the unmanned boat 1010 is sent to the unmanned boat system 1000 and each unmanned boat 1010 in the unmanned boat system 1000 has completed the heading change operation. At time t2, the heading of the unmanned boat is controlled to approach the heading of the epicenter position, and the heading of the unmanned boat is controlled to be approximately the same as the heading of the epicenter position. This heading change operation ensures that when a tsunami arrives at the unmanned boat's position, the nose of the unmanned boat will be facing the direction of the tsunami, thereby reducing the risk of the unmanned boat capsizing compared to when the tsunami hits the side of the unmanned boat.

[0194] (A-5-6-2. Example of Initial Action by Post-Detection Initial Action Determining Unit 2410) 21 is a diagram showing the execution of an offshore movement operation, which is an example of an initial action determined by the post-detection initial action determination unit 2410. In particular, FIG. 21 shows an example in which the unmanned watercraft system 1000 performs an action based on the offshore movement operation in step 604 shown in FIG.

[0195] The upper diagram of Figure 21 shows the position of each unmanned watercraft 1010 in the unmanned watercraft system 1000 at time t1 before an operation command for an offshore movement operation for the unmanned watercraft 1010 is sent to the unmanned watercraft system 1000. Multiple unmanned watercraft are anchored in a coastal area at time t1.

[0196] The lower diagram in Figure 21 shows the position of each unmanned boat 1010 in the unmanned boat system 1000 at time t2, when an operation command for an offshore movement operation to the unmanned boat 1010 is sent to the unmanned boat system 1000 and each unmanned boat 1010 in the unmanned boat system 1000 has completed its movement. Multiple unmanned boats have moved from a coastal area to an offshore area at time t2. This offshore movement operation allows the unmanned boat to be moved to an offshore area where the height of a tsunami is relatively low and the impact on the unmanned boat is minimal, reducing the risk of the unmanned boat capsizing or colliding with another object and being damaged in the coastal area.

[0197] (A-5-7. Processing flow of the detailed measurement operation determination unit 2420) 22 is a flowchart showing an example of the execution processing flow of the detailed measurement operation after a disaster is detected by the detailed measurement operation determination unit 2420. In particular, Fig. 22 shows the detailed processing of step 107 in the flowchart of Fig. 13.

[0198] First, the detailed measurement operation determination unit 2420 determines the operation of moving multiple unmanned boats 1010 to the epicenter location or its surrounding area as the detailed measurement operation, and the post-detection operation execution command unit 2440 executes the detailed measurement operation (step 701).

[0199] Next, the detailed measurement operation determination unit 2420 determines that the detailed measurement operation is an operation to deploy the formation of multiple unmanned watercraft that have moved to the epicenter location or its surrounding area into a predetermined formation, and the post-detection operation execution command unit 2440 executes the detailed measurement operation (step 702). In this step, the predetermined formation can be a wide-area formation in which the shortest minor axis of the deployment range of the unmanned watercraft systems 1000 is at least 1 km or more, or it can be a formation with a partially dense formation in which the density of multiple unmanned watercraft 1010 per unit area on the sea surface is higher than the overall average density of the unmanned watercraft systems 1000.

[0200] Next, the detailed measurement operation determination unit 2420 determines an operation to deploy the additional unmanned boat 1010 at a predetermined position as the detailed measurement operation, and the post-detection operation execution command unit 2440 executes the detailed measurement operation (step 702). In this step, for example, a shallow water area where the water depth distance is shorter than a predetermined distance is determined as the predetermined position for deploying the additional unmanned boat 1010.

[0201] Next, the detailed measurement operation determination unit 2420 determines the measurement operations to be performed underwater, on the seabed, underground, or on the sea surface as detailed measurement operations using various sensors included in the measurement unit 1100 installed on the unmanned boat, and the post-detection operation execution command unit 2440 executes the detailed measurement operations (step 704).

[0202] Next, the detailed measurement operation is executed, and the acquired measurement data is transmitted from the unmanned boat system 1000 to the overall control system 2000 (step 705).

[0203] (A-5-7-1. An example of detailed measurement operation by the detailed measurement operation determination unit 2420) Fig. 23 is a diagram showing an example of the execution of the detailed measurement operation determined by the detailed measurement operation determination unit 2420. In particular, Fig. 23 shows the deployment position of the unmanned watercraft system 1000 when the detailed measurement operation determined in steps 701 to 703 shown in Fig. 22 is executed.

[0204] In the upper right portion of Figure 23, multiple unmanned craft 1010 are deployed in the area surrounding the epicenter location, and additional unmanned craft are deployed in a shallow area near the coast on the left side of Figure 23.

[0205] In this way, by deploying multiple unmanned vessels 1010 in the area surrounding the epicenter, it is possible to grasp changes in the shape of the seabed in the area surrounding the epicenter, which can be used to predict the impact of the earthquake and future seismic activity, etc. Also, by acquiring image data or video data in the area surrounding the epicenter, it is possible to obtain information that is useful for understanding the damage caused by the earthquake to ships at sea, the cause of the earthquake, etc.

[0206] (A-5-8. Processing flow of detailed detection determination by the disaster state determination unit 2300) 24 is a flowchart showing the process flow for determining a disaster state by the disaster state determination unit 2300 based on measurement data acquired by the detailed detection operation, etc. In particular, FIG. 24 shows detailed processing of step 108 in the flowchart of FIG.

[0207] First, the unmanned watercraft measurement data acquisition unit 2140 executes detailed detection operations to acquire measurement data and analysis data acquired by the multiple unmanned watercrafts 1010 (step 801).

[0208] Next, the earthquake detection / determination unit 2320 and tsunami detection / determination unit 2330 of the disaster state determination unit 2300 detect and determine the detailed state of the tsunami occurrence based on the measurement data and analysis data acquired by the unmanned watercraft 1010 (step 802). In this step, for example, the epicenter, whether or not a tsunami has occurred, tsunami height, tsunami speed, tsunami direction, period, frequency, wavelength, amount of debris, etc. are determined in detail.

[0209] Next, the disaster state determination unit 2300 determines the state of the seabed and underground near the epicenter position based on the measurement data of the seabed and underground conditions measured by the unmanned boat (step 803).

[0210] Next, the display unit 2510 of the information input / output unit 2500 generates display information including detailed determination results of the disaster occurrence state, and displays and outputs the display information on the display unit 2510, or transmits and outputs the display information to the user terminal 4000 via the display information transmission unit 2740 (step 804).

[0211] (A-6. Hardware Configuration) 25 is a hardware configuration diagram of an overall control system 2000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0212] The input device 100 can constitute the user input receiving unit 2520, and is a device that allows a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0213] 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. Specifically, the output device 200 can constitute the display unit 2510, etc., using a display device for eyewear, AR, or VR, or can also be a printer or a speaker.

[0214] 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.

[0215] 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.

[0216] The communication device 600 is a device that performs wireless or wired information communication with the outside.

[0217] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0218] [A-2. Effects of this embodiment] According to the above-described embodiment, it is possible to more reliably or accurately grasp the occurrence and state of a tsunami by using a plurality of unmanned boats. As an example, by controlling the deployment positions of a plurality of unmanned boats so that the minor axis of the deployment range of the group of unmanned boats on the sea is equal to or greater than a predetermined distance, it is possible to more accurately detect the occurrence and state of a tsunami even when the tsunami is approaching from any direction. [Explanation of symbols]

[0219] 1...Environmental 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 1130: GNSS positioning signal receiving unit 1140...Inertial Measurement 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 and Communications Department 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...advance information acquisition unit 2120: Measurement request information acquisition unit 2130: Disaster-related information acquisition unit 2140…Unmanned boat measurement data acquisition section 2200... Pre-disaster detection operation control unit 2210... Precursor detection operation determination unit 2220... Initial detection operation determination unit Pre-detection operation execution command unit 2300...Disaster state determination unit 2310...Precursor detection determination unit 2320: Earthquake detection and determination unit 2330: Tsunami detection and determination unit 2340…Future Prediction Department 2400... Post-disaster detection operation control unit 2410... Post-detection initial action determination unit 2420: Detailed measurement operation decision unit 2430: Continuous monitoring operation decision unit 2440...Post-detection action execution command unit 2500...Information input / output section 2510...Display section 2520...User input reception unit 2530...Control command transmission unit 2540...Display information transmission unit 3000...External Observation System 3100: Earthquake and Tsunami Monitoring System 3200: Satellite Disaster Reporting System 3300...Oceanographic data collection system 4000...User terminal 6100: Communications satellite 6200: Ground base station 7000...Measurement target

Claims

1. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; A disaster observation system that controls the deployment positions of multiple unmanned boats so as to generate a partially dense formation in a partial area within the deployment range of the unmanned boat group, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the average density of the entire group of unmanned boats.

2. 2. The disaster observation system according to claim 1, A disaster observation system, wherein the relative distance between the plurality of unmanned crafts in the partial dense formation is approximately 500 m or less.

3. 2. The disaster observation system according to claim 1, When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, A disaster observation system in which the unmanned boat operation control unit determines the area in which the partial dense formation will be generated, or the multiple unmanned boats that will make up the partial dense formation, based on information regarding earthquakes or tsunamis received from outside or detected by the disaster detection determination unit.

4. 2. The disaster observation system according to claim 1, When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit determines, based on information on the epicenter location of an earthquake received from outside or determined by the disaster detection determination unit, to generate the partial dense formation in an area away from the epicenter location within the deployment range of the unmanned boat group, or to form the partial dense formation with multiple unmanned boats deployed in an area away from the epicenter location.

5. In the disaster observation system according to claim 1, When tsunami-related information regarding the detected location and detection time of the tsunami is received from an external source or determined by the disaster detection determination unit, A disaster observation system in which the unmanned boat operation control unit determines an area in which the partial dense formation can be generated before the tsunami arrives, or determines a plurality of unmanned boats that can form the partial dense formation before the tsunami arrives, based on the tsunami-related information received from outside or determined by the disaster detection determination unit.

6. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection determination unit that determines the wavelength of a tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; A disaster observation system that determines relative distances between multiple unmanned craft based on the determined wavelength of the tsunami.

7. 2. The disaster observation system according to claim 1, the disaster detection determination unit determines the wavelength of the tsunami based on the unmanned boat measurement information; The unmanned boat operation control unit controls the relative distance between the multiple unmanned boats that make up the partial dense formation to a distance narrower than the wavelength based on the determined wavelength of the tsunami, in a disaster observation system.

8. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, the unmanned boat operation control unit controls the deployment positions of the plurality of unmanned boats so that the depth distance of the deployment range of the group of unmanned boats on the sea is at least a predetermined distance when the deployment range is viewed from any direction; When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, the unmanned watercraft operation control unit moves the plurality of unmanned watercraft to an area surrounding the epicenter location based on information on the epicenter location of the earthquake received from an external source or determined by the disaster detection determination unit; A disaster observation system in which a plurality of the unmanned boats are used to measure floating objects in the sea in the surrounding area of ​​the epicenter location or measure fault movement in the surrounding area.

9. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so as to generate a partially dense formation in the area surrounding the epicenter location, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the overall average density of the unmanned boat group.

10. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When information on the location of the epicenter of an earthquake is received from the outside, or when the location of the epicenter of an earthquake is determined by the disaster detection determination unit, A disaster observation system in which the unmanned boat operation control unit moves multiple unmanned boats to the area surrounding the epicenter location based on information on the epicenter location of an earthquake received from outside or determined by the disaster detection determination unit, and measures the seabed shape in the area surrounding the epicenter location using the multiple unmanned boats, or collects seabed measurement data from seabed sensors pre-installed on the seabed in the area surrounding the epicenter location.

11. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, The unmanned boat operation control unit moves multiple unmanned boats to the area surrounding the epicenter of the earthquake based on information about the epicenter location received from outside or determined by the disaster detection determination unit, controls the deployment positions of the multiple unmanned boats so that the relative distance between each unmanned boat and adjacent unmanned boats is increased within a range that does not exceed the distance that can be photographed by the optical cameras mounted on the multiple unmanned boats, and acquires image data or video data about the area around the unmanned boats using the optical cameras.

12. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When information about an earthquake or tsunami is received from the outside, or when the disaster detection determination unit detects the occurrence of an earthquake or tsunami, The unmanned boat operation control unit controls the deployment positions of the multiple unmanned boats so that they approach shallow water areas where the water depth distance is shorter than a predetermined distance.

13. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When the measurement data measured by the measurement units mounted on the plurality of unmanned watercraft is image data or video data of the surroundings of the unmanned watercraft photographed by an optical camera, or acceleration data or angular velocity data of the unmanned watercraft measured by an inertial measurement unit, The disaster detection determination unit determines the capsizing state of multiple unmanned boats based on the image data, the video data, the acceleration data, or the angular velocity data, and detects the occurrence of a tsunami if the number of unmanned boats determined to be in a capsizing state is equal to or greater than a predetermined number of boats.

14. an unmanned vessel fleet having a plurality of unmanned vessels navigating on the sea; an unmanned boat operation control unit that controls the operation of the group of unmanned boats; an unmanned boat measurement information acquisition unit that acquires unmanned boat measurement information including at least one of measurement data measured by measurement units mounted on the plurality of unmanned boats and analysis data generated based on the measurement data; a disaster detection and determination unit that determines whether a tsunami has occurred or the state of the tsunami based on the unmanned boat measurement information, The unmanned watercraft operation control unit controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea is at least a predetermined distance when viewed from any direction; When detecting the occurrence of a tsunami based on the unmanned boat measurement information, the disaster detection determination unit: A disaster observation system that determines the amount of debris in a tsunami as the occurrence state of the tsunami based on underwater noise data acquired from multiple unmanned boats.

15. A disaster observation method for observing a tsunami using a group of unmanned boats that includes a plurality of unmanned boats sailing on the sea, comprising: The computer an unmanned boat operation control step of controlling the deployment positions of the plurality of unmanned boats so that the depth distance of the deployment range of the group of unmanned boats on the sea when viewed from a direction that provides the shortest depth distance is at least a predetermined distance; an unmanned boat measurement information acquisition step of acquiring unmanned boat measurement information relating to measurement data measured by measurement units mounted on the plurality of unmanned boats or analysis data generated based on the measurement data; a disaster detection and determination step of determining whether a tsunami has occurred or the state of the tsunami based on the acquired unmanned boat measurement information; in the unmanned boat operation control step, the deployment positions of the plurality of unmanned boats are controlled so that the depth distance of the deployment range of the group of unmanned boats on the sea is at least a predetermined distance when the deployment range is viewed from any direction, A disaster observation method that controls the deployment positions of multiple unmanned boats so as to generate a partially dense formation in a partial area within the deployment range of the unmanned boat group, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the average density of the entire group of unmanned boats.

16. A program used for tsunami observation using a group of unmanned boats having a plurality of unmanned boats sailing on the sea, On the computer, an unmanned watercraft operation control command for controlling the deployment positions of the plurality of unmanned watercraft so that the depth distance of the deployment range of the group of unmanned watercraft on the sea, when viewed from a direction that provides the shortest depth distance, is at least a predetermined distance; an unmanned watercraft measurement information acquisition command for acquiring unmanned watercraft measurement information relating to measurement data measured by measurement units mounted on the plurality of unmanned watercrafts or analysis data generated based on the measurement data; and a disaster detection and determination command for determining whether a tsunami has occurred or the state of the tsunami based on the acquired unmanned boat measurement information. controlling, by the unmanned craft operation control command, the deployment positions of the plurality of unmanned crafts so that the depth distance of the deployment range of the group of unmanned crafts on the sea is at least a predetermined distance when the deployment range is viewed from any direction; A program that controls the deployment positions of multiple unmanned boats so as to generate a partially dense formation in a partial area within the deployment range of the unmanned boat group, in which the density of the multiple unmanned boats per unit area on the sea surface is higher than the average density of the entire group of unmanned boats.

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