Group display system, autonomous navigation vessel, server device, program, and group display method

Abstract

To ensure that a group of multiple autonomous vessels is properly recognized by its surroundings. [Solution] A group display system according to one aspect of the present invention is a group display system for controlling the display of a group of boats consisting of a plurality of autonomous boats, comprising: an acquisition unit for acquiring position information of a plurality of autonomous boats; a generation unit for generating a virtual outline of the group of boats based on the position information; an assignment unit for assigning roles related to the virtual outline to each autonomous boat; a control unit for controlling the lights of each autonomous boat according to the role; and a transmission unit for transmitting navigation information messages including identifiers corresponding to the virtual outline.

Description

Technical Field

[0005]

[0001] The present invention relates to a group display system for controlling the display of a group of autonomous surface vehicles (ASVs), an autonomous surface vehicle constituting the system, a server device, a program, and a group display method.

Background Art

[0002] In recent years, technologies for operating multiple unmanned autonomous surface vehicles (ASVs) in cooperation have been developed for applications such as maritime surveillance, surveys, and logistics. In such systems, multiple autonomous surface vehicles form a formation and navigate, or deploy to a specific sea area to perform cooperative operations.

[0003] For example, Patent Document 1 discloses an investigation system in which a plurality of watercraft (boats, etc.) equipped with measurement units perform measurement while traveling in a predetermined investigation target area, and acquire information on the target area based on the acquired data.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional multi-vessel operation system as described above, the main focus is mainly on information collection and control between vessels, and sufficient consideration has not been given to the aspect of display of how to make the presence of the group of vessels recognized by other surrounding vessels (manned vessels, etc.).

[0006] This invention has been made in view of the above-mentioned problems, and aims to provide a group display system, autonomous vessels, a server device, a program, and a group display method that can appropriately recognize a group of multiple autonomous vessels in their surroundings. [Means for solving the problem]

[0007] A group display system according to one aspect of the present invention is a group display system for controlling the display of a group of boats consisting of a plurality of autonomous boats, comprising: an acquisition unit for acquiring position information of the plurality of autonomous boats; a generation unit for generating a virtual outline of the group of boats based on the position information; an assignment unit for assigning roles related to the virtual outline to each autonomous boat; a control unit for controlling the lights of each autonomous boat according to the roles; and a transmission unit for transmitting a navigation information message including an identifier corresponding to the virtual outline. [Effects of the Invention]

[0008] According to the present invention, it is possible to appropriately recognize a group of multiple autonomous vessels in their surroundings. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing the overall configuration of the group display system 1 according to this embodiment. [Figure 2] This is a schematic diagram showing an example of the configuration of the surface boat group control device 100 according to this embodiment. [Figure 3] This is a schematic diagram showing an example of a role assignment table according to this embodiment. [Figure 4] This is a schematic diagram showing an example of the configuration of the autonomous navigation vessel 200 according to this embodiment. [Figure 5] This sequence diagram shows an example of the operation process of the group display system 1 according to this embodiment. [Figure 6] This sequence diagram shows another example of the operation process of the group display system 1 according to this embodiment. [Figure 7] This sequence diagram shows yet another example of the operation process of the group display system 1 according to this embodiment. [Modes for carrying out the invention]

[0010] A preferred embodiment of the present invention will be described with reference to the attached drawings. (Note that in each drawing, components denoted by the same reference numerals have the same or similar components.)

[0011] Figure 1 is a schematic diagram showing the overall configuration of the group display system 1 according to this embodiment. The group display system 1 comprises a group of boats 2 consisting of multiple autonomous boats 200 navigating on the sea (or water), and a surface boat group control device 100 (server device) installed on land or elsewhere to remotely control the group of boats 2 via a communication network N. In Figure 1, as an example, seven autonomous boats 200, numbered 200A to 200G, constitute the group of boats 2, but the number of autonomous boats 200 that constitute the group of boats 2 is not limited to this.

[0012] Previously, when multiple small boats were sailing in close proximity, they were perceived by surrounding vessels only as an irregular cluster of points, making it difficult to intuitively grasp the overall size, direction of travel, or occupied area of ​​the group. In contrast, this embodiment may, in some cases, make it possible to present information about a group of multiple autonomous boats as if they were a single vessel.

[0013] The autonomous vehicle (ASV) 200 is, for example, a small unmanned vessel less than 3 meters in length, and has the function of autonomously navigating based on a pre-set program or remote commands. In this embodiment, multiple autonomous vehicles 200 cooperate with each other to form a predetermined formation and move or stay in place while displaying a virtual external shape that is recognized as if it were a single vessel.

[0014] In this embodiment, "virtual outline" refers to an outline logically defined based on the relative positional relationship of the multiple autonomous vessels 200, and may be a display outline that represents the area occupied by the multiple autonomous vessels 200, or a predetermined range set around it. Furthermore, in this embodiment, "virtual outline" is not limited to a specific geometric shape, but may include a logical concept that abstractly represents the occupied area or display target range of the group of vessels. In addition, the "virtual outline" in this embodiment may be a "fictitious outline" that shows the shape or size of a single vessel (e.g., a large cargo ship or a tow convoy) to be fictitiously represented by the group of vessels 2. In this case, the generation unit 131 determines the virtual outline not only based on the actual physical position of the group of vessels 2, but also on the intention of what type of vessel it should be perceived as to its surroundings (e.g., information that defines what type of vessel it should be perceived as to its surroundings). Alternatively, the "virtual outline" may be specified as the "outer edge of the occupied area" connecting the outermost edges of the physical area where the multiple autonomous vessels 200 are located. Furthermore, the "virtual outline" is not limited to visual shape data, but may also be defined as "numerical data (dimensional information)" that indicates the length and width for display purposes, encompassing the entire group of boats 2.

[0015] Communication network N is a communication network that mediates the transmission of information between autonomous navigation vessels 200 and surface vessel group control devices 100, or between autonomous navigation vessels 200 themselves. Communication network N includes, for example, satellite communication lines using low-Earth orbit satellites (such as Starlink®) or geostationary satellites (such as Iridium®), mobile phone lines such as LTE / 5G, and internet lines.

[0016] The surface vessel group control device 100 is composed of server equipment and other components, and collects position information and status information transmitted from each autonomous vessel 200. Based on the collected information, it generates a virtual outline of the group 2 and controls each vessel to assign a lighting role corresponding to that outline (for example, a "starboard light" for a vessel located at the starboard end of the virtual outline, a "stern light" for a vessel at the aft end, etc.).

[0017] As shown in FIG. 1, according to this group display system 1, although what is actually sailing is a group of small autonomous boats 200, from surrounding external boats 300 (such as manned ships, etc.), for example, a lighting display or an AIS (Automatic Identification System) signal as if there is a single ship shown in a virtual outer shape is presented.

[0018] For example, from a watercraft group control device 100 (or a leader boat representing the group), navigation information messages related to the boat group 2 are transmitted to the surroundings. In this way, a virtual outer shape is generated based on the relative positions of the boat group 2, and roles corresponding to the outer edge of the virtual outer shape are shared and assigned to a plurality of autonomous boats 200, and the lights of these autonomous boats 200 are controlled in coordination. Thereby, even when the boat group 2 is composed of a plurality of small boats, it becomes easier to be grasped as an integral outer shape from the external boat 300.

[0019] Further, the watercraft group control device 100 (or a leader boat representing the group) transmits a navigation information message including identification information representing the boat group corresponding to the virtual outer shape, so that the boat group 2 is also easily treated as a single object in the electronic display system, and the dispersion of recognition in surrounding ships can be suppressed.

[0020] FIG. 2 is a schematic diagram showing an example of the configuration of the watercraft group control device 100 according to this embodiment. Physically, the watercraft group control device 100 is realized by one or more server computers (including cloud servers) provided with a CPU (Central Processing Unit), a memory (ROM, RAM), a storage (HDD, SSD), a communication interface, and the like. As shown in FIG. 2, the watercraft group control device 100 includes a server communication unit 110, a storage unit 120, a control unit 130, and an input / output unit 140, which are interconnected via a bus or the like.

[0021] The server communication unit 110 is a communication interface (NIC: Network Interface Card, etc.) that transmits and receives data with multiple autonomous vessels 200 deployed at sea via a communication network N such as the Internet. The server communication unit 110 may, for example, receive (acquire) location information and status information (battery level, communication quality, etc.) transmitted from each autonomous vessel 200.

[0022] The server communication unit 110 may, for example, transmit control signals to each autonomous vessel 200 to control the lights of each autonomous vessel 200, according to the role associated with the generated virtual outline. The server communication unit 110 may, for example, transmit navigation information messages related to the group of vessels 2 to external parties such as AIS base stations or other vessels.

[0023] The navigation information message may include, for example, identification information representing boat group 2. This identification information may include, for example, an identifier (MMSI, etc.) corresponding to a virtual outline. This allows the AIS receivers of surrounding external vessels and electronic charts to recognize the boat as a single vessel with that identifier, rather than as an irregular cluster of points, thereby prompting appropriate evasive action.

[0024] Furthermore, navigation information messages may include the dimensions of the virtual vessel (length and width, etc.). Navigation information messages may also include a safety buffer dimension larger than the dimensions of the virtual vessel. This allows for more reliable evasive action to be taken by surrounding vessels. The safety buffer dimension may be a value obtained by adding a predetermined percentage to the dimensions of the virtual vessel. The safety buffer dimension may be calculated by adding a margin to the dimensions of the virtual vessel, taking into account the product of the communication delay time and the ship group's speed, GNSS positioning error, and the predicted drift range due to tidal currents.

[0025] The memory unit 120 is a non-volatile memory device that stores role assignment tables corresponding to each operating mode (movement mode, work mode, etc.) (see Figure 3, described later), configuration information of the boat group 2, and definition data of the generated virtual outline. The role assignment tables specify the lighting patterns (types of lights and placement constraints) required for each operating mode, and serve as reference data when the assignment unit 132, described later, determines roles.

[0026] Figure 3 is a schematic diagram showing an example of a role assignment table according to this embodiment. In the role assignment table, for each "operation mode," the type of "virtual outline" to be formed (shape and dimension constraints), the "lighting pattern" to be illuminated in that outline, and "remarks" are defined in association with each other.

[0027] Here, "operation mode" refers to a classification set according to the operational purpose or operational status of the boat group 2, and includes, for example, a movement mode whose primary purpose is movement, and an operation mode whose primary purpose is observation or detection. The operation mode is set or switched by the surface boat group control device 100 based on the operator's instructions or autonomous judgment.

[0028] The "virtual outline" type (shape and dimension constraints) refers to information indicating the shape, length, width, or constraints related to these of the virtual outline that should be presented to surrounding external vessels in the operating mode. For example, in the movement mode, a virtual outline such as a spindle shape with a reduced width is defined to take into account navigation in shipping lanes and passing other vessels, while in the work mode, a virtual outline such as a wide horizontal formation or trapezoid shape is defined to ensure the sensor's coverage area.

[0029] A "lighting pattern" is defined as a set of roles representing the types and arrangement of lights that should be recognized by external vessels in accordance with the virtual outline. The lighting pattern includes the roles of lights such as masthead lights, starboard lights, port lights, and stern lights, and the assignment unit 132 dynamically assigns these roles to each autonomous vessel 200 in correspondence with predetermined positional relationships on the virtual outline defined by the generation unit 131.

[0030] "Remarks" are information indicating supplementary display conditions or operational considerations in the operating mode, and may include, for example, the presence or absence of additional lights indicating that the vessel is subject to maneuverability restrictions, notes regarding specific light placements, or display priorities. The information described in the remarks is referenced to supplementarily control the application of light patterns or the assignment of roles.

[0031] In this way, by defining the types of lights and placement constraints required for each operating mode in the role assignment table, and assigning roles according to the operating mode, the definition of display requirements becomes clear, and variations in implementation and operation can be suppressed. Furthermore, since the role assignment and lighting configuration can be automatically reorganized in response to the switching of operating modes, it becomes easier to maintain stable display quality as a group even if the operating status of boat group 2 changes.

[0032] Refer to Figure 2 again. The control unit 130 is composed of a processor and operates as the following functional units by reading and executing the program stored in the memory unit 120.

[0033] The generation unit 131 generates a virtual outline of the boat group 2 based on the acquired position information of the multiple autonomous boats 200. The virtual outline may be defined, for example, by shape or dimensions (length, width, etc.). The virtual outline may encompass all of the multiple autonomous boats 200 included in the boat group 2, or it may not encompass all of the autonomous boats 200 included in the boat group 2. The generation unit 131 may determine the shape or size for displaying the boat group 2 as a single vessel and generate the virtual outline based on that shape or size. The generation unit 131 may identify the outer edge of the physical area occupied by the multiple autonomous boats 200 and generate that outer edge as the virtual outline. The generation unit 131 may calculate the length and width for display that encompass the entire boat group 2 and set those display dimensions as the dimensions of the virtual outline.

[0034] The generation unit 131 may generate a virtual outline based on the position information of some of the multiple autonomous vessels 200 constituting the fleet 2 that meet predetermined conditions (a subset), and exclude the remaining autonomous vessels from the definition of the virtual outline. For example, certain autonomous vessels 200 that are located far away from the main formation of the fleet 2 (e.g., reconnaissance vessels conducting environmental surveys several kilometers ahead, or communication relay vessels waiting in the rear) may be excluded from the elements (vertices, etc.) that form the virtual outline.

[0035] In this case, the assignment unit 132 may assign roles related to the virtual shape (such as navigation lights for a large ship) to autonomous vessels 200 located within the range of the virtual shape, while assigning individual ship roles (for example, all-around lights for a small ship) to autonomous vessels 200 that are excluded, or performing individual controls such as turning off their lights to allow them to operate stealthily.

[0036] The generation unit 131 may dynamically update the virtual outline. For example, the generation unit 131 may update the virtual outline when the position information of at least one autonomous vessel 200 is updated due to the movement or formation change of the group of vessels 2. In addition, the generation unit 131 may dynamically update the virtual outline not only at predetermined time intervals, but also when the operational mode is changed (for example, when the formation expands from movement mode to work mode) or when the omission or delay of some autonomous vessels 200 is detected.

[0037] The assignment unit 132 assigns roles associated with the virtual outline generated by the generation unit 131 to multiple autonomous vessels 200. These roles may include the type of light, placement, and lighting mode of lights corresponding to the outer edge of the virtual outline.

[0038] The assignment unit 132 may, based on the visibility determination result output by the determination unit 134, reassign the role assigned to the first autonomous navigation boat among the multiple autonomous navigation boats 200 to another second autonomous navigation boat. This makes it easier to maintain the visibility of the lights as a group of boats 2, even if it is determined that a predetermined light may be obscured or difficult to see from an external moving object in a particular direction.

[0039] Furthermore, when the assignment unit 132 reassigns a role from the first autonomous vessel to the second autonomous vessel, it may consider whether the second autonomous vessel is located within a predetermined proximity range to the first autonomous vessel. For example, the assignment unit 132 can select the autonomous vessel 200 to take over the role based on the relative distance, relative bearing, or proximity relationship in the virtual outline between the two autonomous vessels 200. This helps to prevent the role from being reassigned to an autonomous vessel 200 that is excessively far away, and makes it easier to prevent misidentification or a decrease in safety due to a sudden change in the position of the lights.

[0040] The assignment unit 132 can select at least one of the multiple autonomous navigation boats 200 as the leader boat representing the fleet 2, and assign the role of leader boat to that autonomous navigation boat 200. Here, the leader boat is an autonomous navigation boat 200 that serves as the standard for coordinated control in the fleet 2, and is responsible for roles that affect the operation of the entire fleet 2, such as transmitting navigation information messages containing identification information representing the fleet, synchronizing time within the fleet, or determining the standard timing for coordinated lighting.

[0041] When selecting the leader boat, the allocation unit 132 may consider, for example, at least one of the following: the communication quality, positioning accuracy, remaining power, computing performance, or positional relationship of each autonomous boat 200 within the boat group 2. Furthermore, if the allocation unit 132 detects that an autonomous boat 200 assigned to the leader boat has been lost, communication has been interrupted, performance has deteriorated, or it no longer meets predetermined operating conditions, it may transfer the role of the leader boat to one of the other autonomous boats 200 among the plurality of autonomous boats 200.

[0042] At this time, the allocation unit 132 re-selects the other autonomous navigation boat 200 as the new leader boat and reassigns the role of leader boat to the autonomous navigation boat 200, thereby making it easier to continue cooperative control and group display as a group of boats 2.

[0043] The assignment unit 132 may resolve a conflict state in which multiple autonomous vessels 200 are assigned the same or conflicting roles, based on predetermined rules. These predetermined rules may include, for example, rules for uniquely determining which autonomous vessel 200 will be the primary light source, based on priority, positional relationship, communication quality, remaining power, or past assignment history. The assignment unit 132 transmits assignment information to each autonomous vessel 200 that reflects the reassignment of roles based on the visibility determination results and the resolution of the conflict state.

[0044] The signal output unit 133 generates a light control signal according to its assigned role and outputs it to each autonomous navigation vessel 200 via the server communication unit 110 (control signal transmission unit). The signal output unit 133 generates the control signal so that the flashing timing of the lights as a whole is synchronized within a predetermined delay range, taking into account communication delays.

[0045] The determination unit 134 may determine the operational status of the boat group 2 based on predetermined information. The predetermined information may include, for example, position information, status information, and communication status for each autonomous boat 200.

[0046] The determination unit 134 detects a predetermined abnormal condition if it determines that it cannot maintain at least some of the information necessary to properly maintain the group display with predetermined accuracy, consistency, or synchronization. These predetermined abnormal conditions may include, for example, communication failure, positioning abnormality, or failure to assign roles (inability to calculate). If it is determined that an abnormal condition has been met, the determination unit 134 stops the group's coordinated control (transmission of a single identifier and coordinated lighting) and executes fallback control that transitions each autonomous vessel 200 to an individual safety display (for example, lighting only the legally required lights).

[0047] The determination unit 134 may determine the visibility of the lights of the boat group 2 as seen from the external moving object based on external moving object information based on the bearing of the external moving object. Here, external moving object information includes the position, bearing, distance, direction of movement, and speed of movement of the external moving object, or information indicating the relative positional relationship with the boat group 2 derived from these, and may be, for example, dynamic information obtained from AIS signals, information detected by various sensors mounted on the autonomous navigation boat 200, or an estimated result integrating these.

[0048] The determination unit 134 may determine, based on external moving object information, whether all or part of the lights of the group of boats 2 may be obscured or become difficult to see from a specific direction, and may output the determination result as the visibility determination result. The visibility determination result is supplied to the assignment unit 132, and the assignment unit 132 may change or reassign the roles assigned to the multiple autonomous boats 200 based on the determination result.

[0049] The program for executing the above-described process may be provided by recording it on a computer-readable recording medium (a non-temporary recording medium). Examples of recording media include magnetic disks, optical disks (CD-ROMs, DVD-ROMs, etc.), magneto-optical disks, and semiconductor memory. The program may also be provided (distributed) to the surface vessel group control device 100 by being downloaded from an external server device via a communication network N.

[0050] The input / output unit 140 includes a display, keyboard, mouse, etc., and is a user interface that accepts operator selection of operating modes, display of monitoring information, and changes to system settings.

[0051] Figure 4 is a schematic diagram showing an example of the configuration of the autonomous navigation vessel 200 according to this embodiment. The autonomous navigation vessel 200 may be a small unmanned surface vehicle (USV) capable of performing tasks such as ocean surveillance and environmental observation. The autonomous navigation vessel 200 may be configured as a foil vessel, for example, having a hull with a total length of less than 3.0 m, and navigating by floating the hull above the water surface using hydrofoils (water wings) provided on the bottom of the hull, thereby reducing water resistance and enabling energy-efficient high-speed, long-distance navigation.

[0052] As shown in Figure 4, the autonomous navigation vessel 200 comprises a control unit 210, a memory unit 220, a positioning unit 230, a control and communication unit 240, a wireless transmission unit 250, a sensor unit 260, a lighting unit 270, a propulsion unit 280, and a power supply unit 290, all of which are interconnected via a bus or the like.

[0053] The control unit 210 is composed of a processor such as a CPU, FPGA, or microcontroller, and comprehensively controls the operation of the autonomous vessel 200. The control unit 210 performs the following functions by executing a program stored in the memory unit 220. The control unit 210 may, for example, follow a pre-set route (waypoint) or perform group control (formation control) to maintain relative positions within the group of vessels 2.

[0054] The control unit 210 may, for example, control the lighting mode of the light unit 270, such as the light color and flashing pattern, based on a "role-based control signal" received from the surface ship group control device 100 or other autonomous vessels via the control communication unit 240 (receiving unit). The control unit 210 may, for example, when it is selected as the "leader ship" of the ship group 2, collect information from other autonomous vessels (slave units) and transmit it to the surface ship group control device 100, or conversely, transmit control commands to the slave units.

[0055] The storage unit 220 includes ROM, RAM, flash memory, etc., and stores control programs, observation data, role information assigned to it, etc. As a security measure, the storage unit 220 may also include a tamper-resistant hardware security module (HSM). The HSM has the function of encrypting the stored measurement data and communication control keys (encryption keys). Furthermore, the HSM may have the function of physically or electrically destroying data when capture or sinking is detected.

[0056] The program stored in the memory unit 220 may be provided by recording it on a computer-readable recording medium (a non-temporary recording medium). Examples of recording media include magnetic disks, optical disks (CD-ROMs, DVD-ROMs, etc.), magneto-optical disks, and semiconductor memory. The program may also be provided (distributed) to the autonomous vessel 200 by being downloaded from an external server device via a communication network N.

[0057] The positioning unit 230 includes a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). The GNSS receiver receives signals from positioning satellites such as quasi-zenith satellites (e.g., L5 signals) to acquire highly accurate self-position information and may have a spoofing detection function. The IMU includes a 9-axis sensor and the like to detect the ship's movement (pitch, roll, yaw) due to waves, and is used for attitude control, correction control of light oscillation, or estimation of wave information.

[0058] The control and communication unit 240 is a communication module that transmits and receives control data (role information, control commands, observation data, etc.) between the surface boat group control device 100 and other autonomous navigation boats 200. Specifically, it may include a broadband satellite communication device (e.g., Starlink®) using a low-Earth orbit satellite constellation for long-distance communication, a backup satellite communication device (e.g., Iridium®), and a low-power wide-area wireless communication device (e.g., a LoRa® module using the 920MHz band) for direct communication within the boat group (inter-boat communication).

[0059] This enables both the reception of remote control signals from the surface vessel group control device 100 and autonomous group coordinated control among the autonomous vessels 200. In particular, the autonomous vessels 200 may have the function of sharing relative positions and velocity vectors with neighboring vessels through inter-vessel communication using a low-power wide-area wireless communication device (e.g., a LoRa® module), and performing autonomous formation maintenance through multi-agent control. As a result, even if remote control signals (satellite communication) from the surface vessel group control device 100 are lost, the group can maintain its shape and continue to navigate safely.

[0060] The radio transmitter 250 transmits navigation information messages to external sources (such as external navigation vessels 300). The radio transmitter 250 is composed of a VHF band antenna, an RF circuit, and a signal processing circuit, and under the control of the control unit 210, transmits navigation information messages, including an identifier (such as MMSI) corresponding to the virtual outline and dimensional information, to surrounding vessels and land stations. The radio transmitter 250 is not limited to the AIS (Automatic Identification System) standard, but may also be a communication device compatible with next-generation maritime radio communication standards such as VDES (VHF Data Exchange System).

[0061] Furthermore, the autonomous navigation vessel 200 may change the operation of the radio transmission unit 250 according to legal regulations and the operating environment. For example, the control unit 210 may stop the transmission function of the radio transmission unit 250 (or set it to receive only) and replace the presentation of information to the outside by transmission from the surface vessel group control device 100 (server communication unit 110) as described above. Alternatively, the control unit 210 may control the radio transmission unit 250 based on a command from the surface vessel group control device 100 and broadcast a navigation information message including an identifier (MMSI, etc.) and dimensional information corresponding to the virtual outline to the surrounding area.

[0062] Here, we will describe the specific data structure of the navigation information message transmitted by the wireless transmitter 250. When the wireless transmitter 250 uses an existing AIS, the transmitter (or control unit 210) sets a single common identifier such as MMSI for the entire fleet 2. For setting this MMSI, for example, a special MMSI pre-assigned for fleet control may be shared and used by multiple autonomous vessels 200 that make up fleet 2. Alternatively, an MMSI specific to one representative autonomous vessel (e.g., the leader vessel) among the multiple autonomous vessels 200 may be set as the MMSI for the entire fleet 2. The transmitting unit then generates an AIS message (e.g., a Class A position reporting message) containing the set MMSI, and sets the dimensions of the generated virtual shape (e.g., forehead distance A + stern distance B = total length 50m, port distance C + starboard distance D = total width 20m) rather than the physical dimensions of the individual autonomous vessel 200 (e.g., 3m) in the Ship Dimensions / Reference for Position field of the message. In addition, the Ship Type may be set to a code such as "maneuverability-restricted vessel" or "work vessel" according to the characteristics of the virtual shape. As a result, a symbol will be displayed on the radar and electronic charts (ECDIS) of surrounding external vessels 300 as if a single large vessel with those dimensions existed, prompting appropriate evasive action.

[0063] On the other hand, when the wireless transmission unit 250 uses VDES (VHF Data Exchange System), particularly extended messages such as ASM (Application Specific Messages), the transmission unit (or control unit 210) may transmit more detailed virtual outline data. The navigation information message may include, for example, a list of coordinates (polygon data) for each vertex of the polygon that constitutes the virtual outline. The navigation information message may also include metadata indicating the radius and offset value of the no-entry area (safety buffer) to be set around the virtual outline, or the total number of autonomous vessels constituting the fleet 2 and the formation type (line-of-sail, column-of-sail, etc.). In this way, when using AIS, legacy receivers can be supported by replacing existing format field values ​​(dimensions, etc.) with virtual values ​​and transmitting them, and when using VDES, more precise situational awareness data can be provided to advanced autonomous vessels, etc., by transmitting detailed shape information as dedicated binary data.

[0064] The sensor unit 260 includes various sensors depending on the mission. For example, it is connected to a CTD sensor for measuring water temperature, salinity, and depth, an ADCP (Ambient Current Control Panel), a visible light camera, an infrared (IR) camera, a LiDAR for monitoring the surroundings, and a hydrophone (passive sonar) for detecting underwater acoustics. This sensor information is transmitted to the surface vessel group control device 100 via the control and communication unit 240.

[0065] The lighting unit 270 is a light-emitting device for displaying optical information to the surroundings of the autonomous navigation vessel 200. The lighting unit 270 may include a light source such as a high-brightness LED capable of functioning as a masthead light (white), side lights (green and red), stern light (white), and omnidirectional light, as well as a drive circuit for the same. The lighting unit 270 may be configured, for example, to function as an "omnidirectional light" when navigating alone based on a command from the control unit 210, and to switch to a light emission color and beam angle (e.g., green, 112.5 degrees) according to the assigned role (e.g., "starboard light") when navigating in a group (when forming a virtual outline).

[0066] The propulsion unit 280 is a device capable of generating thrust for the autonomous vessel 200. The propulsion unit 280 may include, for example, an electric thruster (propeller) and its motor driver, a rudder actuator, and an angle control mechanism for hydrofoils.

[0067] The power supply unit 290 is a device for supplying power to the autonomous navigation vessel 200. The configuration of the power supply unit 290 is not particularly limited, but for example, it may consist of a solar panel (power generation device) located on the top surface of the hull, a lithium-ion battery (energy storage device) for storing the generated power, and a charge / discharge control circuit.

[0068] Figure 5 is a sequence diagram showing an example of the operation process of the group display system 1 according to this embodiment. The operation process of group display control by the group display system 1 under normal conditions will be explained with reference to Figure 5.

[0069] First, each autonomous vessel 200 (200A to 200C) transmits its own position information, acquired by its positioning unit, to the surface vessel group control device 100 via the network (S101). The generation unit of the surface vessel group control device 100 generates a virtual outline of the vessel group 2 based on the collected position information (S102).

[0070] Next, the assignment unit of the surface vessel group control device 100 assigns a "role" to each vessel based on its virtual external configuration (e.g., starboard bow, mast position, etc.) (S103). For example, autonomous vessel 200A is assigned the role of "starboard light," and autonomous vessel 200B is assigned the role of "mast light."

[0071] The surface vessel group control device 100 transmits a light control command to each vessel based on the determined role (S104). Upon receiving this command, each autonomous vessel 200 turns on (or flashes) its lights at the commanded timing (S105). At this time, the flashing timing of each vessel is synchronized by synchronous control.

[0072] In parallel, the surface vessel group control device 100 generates a navigation information message including the dimensions (length, width) of the generated virtual outline and a single identifier (MMSI, etc.), and broadcasts it externally using the AIS or VDES protocol (S106). As a result, the external navigation vessel 300 receives the data as "a single vessel" through an AIS receiver, etc., and also recognizes the synchronously flashing group of lights as "the lights of a single vessel" visually.

[0073] Although Figure 5 illustrates a server-led flow, direct communication between each autonomous vessel 200 is also permitted. Specifically, each autonomous vessel 200 directly exchanges positional information with other nearby autonomous vessels 200 and autonomously controls its own navigation to maintain a predetermined distance and relative position between vessels. In this case, the server device 100 only provides general destination instructions and operational mode specifications for the entire fleet, and a "hybrid" control structure is adopted in which fine-tuning between individual vessels is resolved through direct communication between the autonomous vessels 200.

[0074] Figure 6 is a sequence diagram showing another example of the operation process of the group display system 1 according to this embodiment. The operation process of the occlusion compensation control by the group display system 1 will be explained with reference to Figure 6. Note that the following explanation is merely an example, and here we will explain the case in which the role of the starboard light switches from autonomous navigation boat 200C to autonomous navigation boat 200F because autonomous navigation boat 200C is occluded.

[0075] The surface vessel group control device 100 acquires position or heading information of the external navigation vessel 300 (S201). The surface vessel group control device 100 may receive AIS signals containing the said information transmitted by the external navigation vessel 300, for example, via a radio receiver (AIS receiver) mounted on an autonomous navigation vessel 200 (e.g., a master unit), or via a land base station or satellite AIS. Alternatively, the surface vessel group control device 100 may receive the said information from the autonomous navigation vessel 200, for example, when the autonomous navigation vessel 200 measures the external navigation vessel 300 via a sensor unit 260.

[0076] The surface vessel group control device 100 determines whether or not the starboard light of the autonomous vessel 200C is obstructed based on the line-of-sight vector from the external vessel 300, the current wave information, and the attitude information of each vessel (S202).

[0077] If the device determines that the lights are obscured (reduced visibility), the surface vessel group control device 100 sends a control command to turn off the lights to the autonomous vessel 200C (S203-1), and then sends a control command to the autonomous vessel 200F, which is in a visible position, to reassign the role (starboard light) (S203-2).

[0078] In response, autonomous navigation boat 200C performs a light-off control (S204-1), and autonomous navigation boat 200F immediately performs a light-on control of the designated starboard light (S204-2). As a result, the external navigation boat 300 can see the vessel as a single ship with continuous, uninterrupted lighting.

[0079] The surface vessel group control device 100 may, if necessary, transmit navigation messages to the external vessels 300 (S205).

[0080] Figure 7 is a sequence diagram showing yet another example of the operation process of the group display system 1 according to this embodiment. Referring to Figure 7, the operation process of fallback control in the event of an abnormality in the group display system 1 will be explained.

[0081] The surface vessel group control device 100 monitors the status of each autonomous vessel 200 in the group 2 (S301). Here, the surface vessel group control device 100 determines whether a predetermined abnormal condition (for example, an internal system error, detection of a cyberattack, or deterioration of the communication environment making it difficult to maintain the group) has been met (S302).

[0082] If the system determines that an abnormal condition has been met, the surface vessel group control device 100 transmits a group display stop command to each autonomous vessel 200 (200A, 200B, 200C, etc.) (S303). Upon receiving this command, each autonomous vessel 200 stops the cooperative control mode based on the virtual outline (role illumination and transmission of a single identifier) ​​and transitions to individual mode (S304). In other words, it returns to a state in which the legally required lights as an individual small vessel (e.g., independent all-around lights) are illuminated.

[0083] Next, each autonomous vessel 200 begins transmitting navigation messages (such as AIS signals) with its individual identifier to the external vessel 300 (S305). This avoids the risk of continuing to disguise itself as a "giant ship" when an anomaly occurs, and safely presents to the surroundings that it is a "dispersed group of small vessels not under control."

[0084] The example shown in Figure 7 is an example of a surface vessel group control device-led (server-led) fallback control in which the surface vessel group control device 100 grasps the status of the entire group and performs control, but it is not limited to this. For example, it may be an autonomous vessel-led fallback control in which each autonomous vessel 200 autonomously decides whether to cancel its role or change its lighting display based on the status information of its own vessel and surrounding autonomous vessels 200, or it may be a hybrid control that switches between server-led and autonomous vessel-led depending on the situation.

[0085] In the embodiments described above, the surface boat group control device 100 was described as having functions such as a server communication unit 110, a control unit 130, a generation unit 131, an assignment unit 132, a signal output unit 133, and a determination unit 134. However, some or all of these functions may be provided in each autonomous boat 200. For example, at least one of the multiple autonomous boats 200 may have functions equivalent to the surface boat group control device 100 and directly acquire position information from the other autonomous boats 200 to calculate the virtual outline. Alternatively, at least one autonomous boat 200 may assign roles related to the virtual outline to each autonomous boat 200, and generate lighting control signals according to the assigned roles and transmit (output) them to each autonomous boat 200. Furthermore, at least one autonomous boat 200 may transmit navigation information messages related to the boat group 2 to an AIS base station or other vessels. This enables real-time control of fleets even in remote sea areas with unstable communication environments.

[0086] The embodiments described above are provided to facilitate understanding of the present invention and are not intended to limit its interpretation. The elements, arrangement, materials, conditions, shapes, and sizes of the embodiments are not limited to those exemplified and can be modified as appropriate. Furthermore, it is possible to partially substitute or combine the configurations shown in different embodiments. [Explanation of symbols]

[0087] 1...Group display system, 2...Fleet, 300...External navigation vessel, 100...Surface vessel fleet control device (server device), 110...Server communication unit, 120...Storage unit, 130...Control unit, 131...Generation unit, 132...Assignment unit, 133...Signal output unit, 134...Determination unit, 140...Input / output unit, 200...Autonomous navigation vessel, 200A, 200B, ..., 200n...Autonomous navigation vessel, 210...Control unit (boat-side control unit), 220...Storage unit, 230...Positioning unit, 240...Control communication unit, 250...Wireless transmission unit, 260...Sensor unit, 270...Lighting unit, 280...Propulsion unit, 290...Power supply unit, N...Communication network

Claims

1. A group display system for controlling the display of a group of multiple autonomous vessels, An acquisition unit that acquires the position information of the aforementioned multiple autonomous vessels, A generation unit generates a virtual outline representing a single vessel that is simulated by the group of vessels based on the aforementioned position information, An assignment unit that assigns a role in the lighting pattern corresponding to the virtual external shape to each autonomous vessel, A lighting control unit that controls the lights of each autonomous vessel according to its role, A group display system equipped with the following features.

2. The group display system according to claim 1, wherein the assignment unit determines the role to be assigned to each autonomous vessel based on a table that defines lighting patterns corresponding to the operating mode.

3. The group display system further comprises a transmission unit that transmits a navigation information message including an identifier corresponding to the virtual outline, The generation unit updates the virtual outline in accordance with the update of the position information. The group display system according to claim 1 or 2, wherein the transmitting unit transmits the navigation information message including an identifier corresponding to the updated virtual outline.

4. The group display system further comprises a transmission unit that transmits a navigation information message including an identifier corresponding to the virtual outline, The group display system according to claim 1 or 2, wherein the navigation information message includes the dimensions of the virtual outline and a safety buffer dimension larger than the dimensions.

5. The group display system further comprises a visibility determination unit that determines the visibility of the lights of the group of boats from the external moving object based on external moving object information based on the direction of the external moving object, The group display system according to claim 1 or 2, wherein the assignment unit reassigns the role assigned to the first autonomous vessel among the plurality of autonomous vessels to the second autonomous vessel among the plurality of autonomous vessels, based on the visibility determination result.

6. The group display system according to claim 1 or 2, wherein the allocation unit resolves the conflict state based on a predetermined rule when a conflict state of roles occurs among the plurality of autonomous vessels.

7. The group display system according to claim 1 or 2, wherein the lighting control unit outputs a control signal for synchronizing the timing of the lights of each of the plurality of autonomous vessels within a predetermined delay range.

8. The group display system further comprises an abnormal condition determination unit that determines predetermined abnormal conditions, and a transmission unit that transmits a navigation information message including an identifier corresponding to the virtual outline. The group display system according to claim 1 or 2, wherein the transmitting unit stops transmitting the navigation information message including the identifier in accordance with the determination result of the predetermined abnormal condition.

9. The aforementioned group display system is A determination unit that determines predetermined abnormal conditions, The group display system according to claim 1 or 2, further comprising: a display control unit that transitions from a group display of the virtual outline to an individual display of the plurality of autonomous vessels in accordance with the determination result of the predetermined abnormal condition.

10. The group display system according to claim 1 or 2, wherein the allocation unit selects at least one of the plurality of autonomous vessels as the leader vessel and assigns the role of leader vessel to the at least one autonomous vessel.

11. The group display system according to claim 10, wherein the allocation unit, upon detecting the loss or performance degradation of the leader vessel, transfers the role of the leader vessel from the autonomous vessel of the leader vessel to one of the other autonomous vessels among the plurality of autonomous vessels.

12. The group display system according to claim 1 or 2, wherein the generation unit determines the shape or size for displaying the group of boats consisting of the plurality of autonomous boats as a single vessel, and generates the virtual outline based on the shape or size.

13. The group display system according to claim 1 or 2, wherein the generation unit identifies the outer edge of the physical area occupied by the plurality of autonomous vessels based on the position information of the plurality of autonomous vessels, and generates the outer edge as the virtual outline.

14. The group display system according to claim 1 or 2, wherein the generation unit calculates a display length and width that encompasses the entire group of boats based on the position information of the plurality of autonomous boats, and sets the display length and width as the dimensions of the virtual outline.

15. An autonomous navigation vessel, comprising a positioning unit that acquires its own position, A lighting unit for emitting light to be displayed around the autonomous vessel, A role in a lighting pattern corresponding to a virtual outline representing a single vessel simulated by a group of multiple autonomous vessels, comprising a receiving unit that receives control signals based on the role assigned to the autonomous vessel, An autonomous vessel comprising: a lighting control unit that controls the lighting unit based on the control signal received via the receiving unit;

16. The autonomous navigation boat according to claim 15, further comprising a transmitting unit for transmitting navigation information messages to an external source.

17. A server device that controls the display of a group of multiple autonomous vessels, A generation unit generates a virtual outline representing a single vessel simulated by the group of autonomous vessels based on the position information of the multiple autonomous vessels, An assignment unit that assigns a role in the lighting pattern corresponding to the virtual external shape to each autonomous vessel, A control signal transmission unit transmits control signals to each of the autonomous navigation vessels to control the lights of each autonomous navigation vessel according to the aforementioned role, A server device equipped with the following features.

18. On the computer, A process for generating a virtual outline representing a single vessel that is simulated by a group of multiple autonomous vessels based on the positional information of the multiple autonomous vessels, The process of assigning a role in the lighting pattern corresponding to the virtual outline to each autonomous vessel, The process involves transmitting control signals to each autonomous vessel to control the lights equipped on each autonomous vessel, according to the aforementioned role. A program that executes the command.

19. A group display method executed by a computer that controls the display of a group of multiple autonomous vessels, A step of generating a virtual outline representing a single vessel simulated by the group of autonomous vessels based on the positional information of the plurality of autonomous vessels, A step of assigning a role in the lighting pattern corresponding to the virtual outline to each autonomous vessel, The process of transmitting control signals to each autonomous vessel for controlling the lights of each autonomous vessel according to the role described above, A group representation method that includes this group.

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