Surface boat group control system

Abstract

The objective is to provide a surface vessel group control device that can improve at least one of the detection accuracy of objects or the communication accuracy between unmanned surface vessels by appropriately controlling the gap distance between them, thereby improving overall operational efficiency. [Solution] The surface vessel group control device 100 controls a group consisting of multiple unmanned surface vessels 200. The surface vessel group control device 100 includes an acquisition unit 10 that acquires detection information set to detect a predetermined object in or on the ocean and communication environment information related to wireless communication between the unmanned surface vessels 200, a determination unit 20 that determines the gap distance L to the nearest unmanned surface vessel 200 in the group consisting of multiple unmanned surface vessels 200 based on the detection information and the communication environment information, and a cell design unit 30 that determines a formation command to be output to the unmanned surface vessels 200 based on the determined gap distance L.

Description

Technical Field

[0001] The present invention relates to a control device for a group of unmanned surface vessels that controls a group consisting of a plurality of unmanned surface vessels.

Background Art

[0002] Conventionally, surveillance or investigation using unmanned aircraft on water has been proposed. In Patent Document 1, a group of mobile bodies including a plurality of mobile bodies each provided with a measurement sensor capable of acquiring measurement data obtained by measuring an object in a state where at least a part thereof protrudes above water, a mobile body operation control unit that controls the operation of the mobile bodies, first measurement data obtained by measuring an object from a first position by at least one of the mobile bodies in the group of mobile bodies, and second measurement data obtained by measuring an object from a second position by the mobile body or another mobile body, a measurement data acquisition unit that acquires the second measurement data, an object position determination unit that determines the position information of the object or determines the validity of the determined position information based on the first measurement data and the second measurement data, and an information output unit that displays and outputs or transmits to the outside the position information of the object determined by the object position determination unit, an information control system has been proposed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conventional aspect such as Patent Document 1, controlling the gap distance between unmanned surface vessels in consideration of both the detection accuracy of an object and the communication accuracy between unmanned surface vessels has not been proposed.

[0005] The present invention aims to provide a surface vessel group control device that can improve at least one of the detection accuracy of objects or the communication accuracy between unmanned surface vessels by appropriately controlling the gap distance between them, thereby improving overall operational efficiency. [Means for solving the problem]

[0006] The surface vessel group control device according to the present invention is A surface vessel group control device for controlling multiple unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, It is equipped with. [Effects of the Invention]

[0007] According to the present invention, by appropriately controlling the gap distance between unmanned surface vessels, it is possible to improve at least one of the detection accuracy of objects or the communication accuracy between unmanned surface vessels, and under certain conditions, both can be improved in a balanced manner. [Brief explanation of the drawing]

[0008] [Figure 1] A diagram showing the overall configuration of a surface boat fleet system according to an embodiment of the present invention. [Figure 2] A block diagram showing an example of the configuration of an unmanned surface vessel according to an embodiment of the present invention, in which an acoustic measurement unit is employed. [Figure 3] A block diagram showing the configuration of a surface boat group control device according to an embodiment of the present invention. [Figure 4] A figure illustrating an example of a method for determining the gap distance in an embodiment of the present invention. [Figure 5]This figure shows an example of a configuration in which a group is formed by three unmanned surface vessels in an embodiment of the present invention. [Figure 6] Figures showing two examples of a configuration in which a group of seven unmanned surface vessels is formed according to embodiments of the present invention. [Figure 7] This figure shows an example of a configuration in which a group is formed by 16 unmanned surface vessels in an embodiment of the present invention. [Figure 8] This figure shows another example of an embodiment of the present invention in which a group is composed of 16 unmanned surface vessels. [Figure 9] A block diagram showing an example of the configuration of an unmanned surface vessel according to an embodiment of the present invention, in which a magnetic measurement unit is employed. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the surface vessel swarm system of this embodiment includes a surface vessel swarm control device 100 and a plurality of unmanned surface vessels 200. The surface vessel swarm control device 100 of this embodiment is used to control a group consisting of a plurality of unmanned surface vessels 200. The surface vessel swarm control device 100 may acquire information on the plurality of unmanned surface vessels 200 via a communication satellite, a ground base station, etc., and based on the results, generate an observation plan for the group of unmanned surface vessels 200 (a group of vessels) including the deployment area, formation, movement path, and measurement timing. The surface vessel swarm control device 100 may be a server or may be provided in multiple separate locations. A power generation device (solar panel) and a power storage device for storing the electricity generated by the power generation device may be provided on the upper surface of the hull of the unmanned surface vessel 200.

[0010] The detection results and measurement data of objects detected by the unmanned surface vessel 200, as well as various information on the operational status of the unmanned surface vessel 200, may be transmitted to the surface vessel group control device 100 via a communication satellite, ground base station, etc. The surface vessel group control device 100 may transmit control commands to each unmanned surface vessel 200 based on the information acquired from the unmanned surface vessel 200 and the survey objective information, etc. Among the multiple unmanned surface vessels 200 that make up the group, a master unit may be set up, and information may be transmitted to the surface vessel group control device 100 via the master unit. In this case, the information acquired by the slave units or the information of the slave units themselves may be aggregated in the master unit, and the master unit may transmit the aggregated information to the surface vessel group control device 100. The information acquired by the slave units or the information of the slave units themselves may be transmitted to the nearest surface vessel group control device 100 that is closer to the master unit than the slave unit, and then transmitted among the multiple unmanned surface vessels 200 in a relay manner and finally transmitted to the master unit. If multiple surface ship group control devices 100 are located at approximately the same distance from each other, and there are multiple surface ship group control devices 100 to which transmission is to be performed, the determination unit 20 (see Figure 3) may be configured to select any of the surface ship group control devices 100.

[0011] Since communication with the surface vessel group control device 100 via communication satellites, ground base stations, etc., consumes power, etc., the power consumption of the entire group can be reduced by having the master unit handle communication collectively compared to a configuration where communication is carried out by individual slave units. Information transmitted from the surface vessel group control device 100 to the unmanned surface vessels 200 may also be transmitted to the master unit and then transmitted (deployed) from the master unit to the slave units. In the following, the description will mainly use the configuration in which the master unit communicates with the surface vessel group control device 100. However, the configuration is not limited to this configuration, and the surface vessel group control device 100 and each unmanned surface vessel 200 may communicate directly via communication satellites, ground base stations, etc., without using the concepts of master unit and slave unit. Furthermore, the master unit and slave units may be swapped depending on the status of each unmanned surface vessel 200.

[0012] As shown in Figure 2, each unmanned surface vessel 200 constituting the group may have a status determination unit 210. The status determination unit 210 may determine the position, speed, heading, direction of movement, acceleration / deceleration, battery level, fuel level, presence or absence of malfunction, etc., of the unmanned surface vessel 200. Each unmanned surface vessel 200 may also have a communication determination unit 220. The communication determination unit 220 may determine the communication status, such as the communication strength (dB value, etc.) and communication speed, etc., with other unmanned surface vessels 200 constituting the group. Each unmanned surface vessel 200 may also have a surrounding conditions determination unit 230. The surrounding conditions determination unit 230 may determine environmental information such as ocean current velocity, direction of current, tidal concentration, wind speed, wind direction, wave height, weather, etc. In this embodiment, the determination unit 210 has a status determination unit 210, a communication determination unit 220, and a surrounding conditions determination unit 230.

[0013] Each unmanned surface vessel 200 may be equipped with optical cameras such as visible light cameras and infrared cameras, a GNSS (Global Navigation Satellite System) receiver, an IMU (Inertial Measurement Unit), a wind sensor, a wave sensor, etc. Each unmanned surface vessel 200 may also be equipped with a CTD (Conductivity (Salinity), Water Temperature, and Water Depth Measurement Device) to measure the electrical conductivity, water temperature, and water pressure of seawater, and may acquire the spatiotemporal distribution of salinity and water temperature. These devices are used to determine the state of the unmanned surface vessel 200 or the surrounding conditions, and thus constitute the aforementioned state determination unit 210 or surrounding conditions determination unit 230. Furthermore, if these are used to determine the communication status, they constitute the communication determination unit 220. Regarding water temperature, the temperature distribution may be determined by comparing the independent operation of the temperature sensor mounted on the unmanned surface vessel 200 with estimations based on information from satellites, as needed.

[0014] As shown in Figure 2, the unmanned surface vessel 200 has a surface vessel communication unit 250, which may enable mesh communication between the unmanned surface vessels 200 using Wi-Fi or the like, or it may be possible to connect with ground base stations such as LTE and 5G, or with aerial relays such as satellites and HAPS. The surface vessel communication unit 250 has a surface vessel transmitting unit 251 that transmits information and a surface vessel receiving unit 252 that receives information.

[0015] The surface vessel group control device 100 may determine a relay route combining sea, air, and ground routes according to the required performance, and may instruct the maritime relay operation, including the number of unmanned surface vessels 200, their formation, and their placement. The wireless standard may be selected according to the operating conditions, and may be switched considering the performance differences of Wi-Fi, LTE, 5G, satellite systems, etc. Furthermore, in order to complement communication with underwater equipment, the unmanned surface vessels 200 may cooperate with surface buoys, underwater buoys, and bottom buoys to configure a relay route that bridges underwater equipment to an internet line via acoustic communication.

[0016] The unmanned surface vessel 200 has a surface vessel memory unit 280, and the surface vessel memory unit 280 may store information acquired by the unmanned surface vessel 200, information about the unmanned surface vessel 200 itself, information received from the surface vessel group control device 100, etc.

[0017] The unmanned surface vessel 200 may have an acoustic measurement unit 241 (see Figure 2) consisting of an active sonar or a passive sonar, and a measurement side unit 240 such as a magnetometer side unit 242 (see Figure 9) having a magnetic detection sensor. In this embodiment, information based on the distance at which an object can be detected by the measurement side unit 240 is called detection information.

[0018] The acoustic measurement unit 241 measures acoustic information for detecting a predetermined object, and the magnetometer side unit 242 measures magnetic information for detecting a predetermined object. The predetermined object may be, for example, a submarine or a mine. Note that the magnetometer side unit 242 can also detect submarines as well as mines. When using acoustics as detection information, the signal-to-noise ratio (SNR) and acoustic attenuation in the underwater sea area being searched may also be used. The following description will primarily use an embodiment where the measurement side unit 240 consists of the acoustic measurement unit 241. Figure 2 uses an embodiment where the measurement side unit 240 is the acoustic measurement unit 241, and Figure 9 uses an embodiment where the measurement side unit 240 is the magnetometer side unit 242. However, an embodiment where the measurement side unit 240 has both the acoustic measurement unit 241 and the magnetometer side unit 242 may also be adopted.

[0019] While the unmanned surface vessel 200 is under normal navigation conditions, the acoustic measurement unit 241 may perform a primary measurement, and following this primary measurement, the acoustic measurement unit 241 may perform a synchronous secondary measurement under quiet conditions with the propulsion output stopped or reduced. The active sonars of multiple unmanned surface vessels 200 may be synchronized to take measurements from multiple directions in order to improve the accuracy of identifying and reacquiring underwater objects such as submarines. The sonar may be a separate type used physically separated from the unmanned surface vessel 200, or a towed type used towed behind the unmanned surface vessel 200.

[0020] As shown in Figure 3, the surface vessel group control device 100 may include an acquisition unit 10 that acquires detection information set to detect a predetermined object in or on the ocean and communication environment information related to wireless communication between unmanned surface vessels 200; a determination unit 20 that determines the gap distance L to the nearest unmanned surface vessel 200 in a group of multiple unmanned surface vessels 200 based on the detection information and communication environment information; a cell design unit 30 that determines formation commands to be output to the unmanned surface vessels 200 via the device communication unit 130 and the surface vessel communication unit 250 based on the determined gap distance L; a calculation unit 40 that performs various calculations; and an update unit 40 that updates information. As an example, the determination unit 20 adopts the smaller of the distance between unmanned surface vessels 200 determined by the detection information and the distance between unmanned surface vessels 200 determined by the communication environment information as the gap distance L (see Figure 4). In the configuration shown on the left side of Figure 4, the distance between the unmanned surface vessels 200 determined by the communication environment information is 3 km, and the distance between the unmanned surface vessels 200 determined by the detection information is 1 km. Therefore, the shorter distance of 1 km is adopted as the gap distance L. Similarly, in the configuration shown on the right side of Figure 4, the distance between the unmanned surface vessels 200 determined by the communication environment information is 500 m, and the distance between the unmanned surface vessels 200 determined by the detection information is 5 km. Therefore, the shorter distance of 500 m is adopted as the gap distance L.

[0021] As shown in Figure 3, the device communication unit 130 of the surface vessel group control device 100 communicates with the master unit of the unmanned surface vessel 200. The device communication unit 130 has a device transmission unit 131 that transmits information and a device reception unit 132 that receives information. When the surface vessel group control device 100 and the master unit, the unmanned surface vessel 200, communicate, information transmitted from the master unit's surface vessel transmission unit 251 is received by the device reception unit 132, and information transmitted from the device transmission unit 131 is received by the master unit's surface vessel reception unit 252.

[0022] The surface vessel group control device 100 may organize the group of unmanned surface vessels 200 into platoons and assign roles such as "tracking," "anticipation," "encirclement," "communication relay," "data transmission / reception and analysis," and "charging" to each platoon. The generated grouping or commands may be transmitted wirelessly to the master unit of the unmanned surface vessels 200, or they may be notified externally. Measurement by the unmanned surface vessels 200 may be performed by switching between modes such as wide-area synchronous measurement and narrow-area concentrated measurement.

[0023] The unmanned surface vessel 200 may autonomously travel along the observation line in accordance with commands from the surface vessel group control device 100 or commands pre-stored in the surface vessel memory unit 280, record information using camera images, CTD data, etc., and transmit it to the master unit. The calculation unit 80 of the surface vessel group control device 100 may calculate indicators such as the search rate and detection probability for the target group of unmanned surface vessels 200 from the acquired data obtained from the master unit. If it is determined that predetermined indicators have not been achieved, the update unit 40 of the surface vessel group control device 100 may adaptively update the gap distance L, the number of vessels in the group of unmanned surface vessels 200, their arrangement, movement speed, straight-line travel time, etc. In addition, the cell design unit 30 of the surface vessel group control device 100 may integrate satellite observations and observations by the unmanned surface vessel 200 to estimate the two-dimensional or three-dimensional distribution and anomalous areas of the marine environment and generate commands to deploy the unmanned surface vessel 200 to the necessary areas.

[0024] As shown in Figure 3, the surface vessel group control device 100 may have an operation unit 160 and a display unit 162. The display unit 162 may display the position, route, relay route, communication quality, remaining power, etc., of each of the multiple unmanned surface vessels 200. The user may also modify the route and formation of the unmanned surface vessels 200 by input from the operation unit 160. If the surface vessel group control device 100 has a touch panel, the touch panel will serve as an operation display unit that combines the functions of both the operation unit 160 and the display unit 162.

[0025] Groups of unmanned surface vessels 200 may be identified by identification information. If there are multiple groups, commands may be transmitted from the surface vessel group control device 100 to each group. If the number of unmanned surface vessels 200 constituting a group is changed, identification information may be assigned to the changed group. For example, if a group consisting of 15 unmanned surface vessels 200 is changed to a group consisting of 3 unmanned surface vessels 200, resulting in 5 groups, the update unit 40 may assign identification information to each of the 5 groups.

[0026] The unmanned surface vessel 200 basically has a triangular configuration consisting of three unmanned surface vessels 200 (see Figures 4 and 5). The distance between each of the three unmanned surface vessels 200 is determined as the gap distance L, and for example, in a plan view (viewed from above), the three unmanned surface vessels 200 form an equilateral triangle. The surface vessel group control device 100 has a device storage unit 90 that stores various information, including the aforementioned detection information, communication environment information between the unmanned surface vessels 200 acquired from the unmanned surface vessels 200 (e.g., the master unit), the gap distance L determined by the determination unit 20, and formation commands. The acquisition unit 10 may acquire the detection information that has been stored in advance from the device storage unit 90. The acquisition unit 10 may also acquire the communication environment information between the unmanned surface vessels 200 that make up the group, which is transmitted from the unmanned surface vessel 200 (e.g., the master unit).

[0027] For example, since the range that can be measured by the measuring side unit 240 changes depending on the current velocity, direction of flow, and tidal concentration, the gap distance L may be calculated by the calculation unit 80 using information obtained from the surrounding situation determination unit 213 of each surface vessel group control device 100, in addition to the information stored in advance in the device storage unit 90, and the detection information obtained as a result of the calculation may be obtained from the calculation unit 80. In this case, the determination unit 20 will determine the gap distance L based on the information obtained from the surrounding situation determination unit 213, and adopting this configuration is beneficial because it allows the gap distance L to be determined according to the actual situation (real-time situation), further improving the detection accuracy of the target object.

[0028] Multiple unmanned surface vessels 200 may measure salinity, water temperature, and pressure (depth) using their side measuring devices 240, and the surface vessel group control device 100 may identify shadow zones, which are areas underwater where sound is less likely to penetrate and sonar makes it difficult to detect submarines.

[0029] The cell design unit 30 may output a formation command specifying a unit hierarchy or communication topology to the unmanned surface vessel 200 via the device transmission unit 131 based on the determined gap distance L. The unit hierarchy is the number of unmanned surface vessels 200 that make up a group, such as 3, 7, or 16 vessels (see Figures 5 to 8). As an example, the unit hierarchy may be changed according to the command from the cell design unit 30 so that 16 vessels form a group for the survey in one sea area, and 3 vessels form a group for the survey in another sea area.

[0030] As shown in Figure 5, when a group consists of three vessels, one of them becomes the master unit and the remaining two become slave units. The same applies to other cases; as shown in Figure 6, when a group consists of seven vessels, one becomes the master unit and the remaining six become slave units. As shown in Figures 7 and 8, when a group consists of sixteen vessels, one becomes the master unit and the remaining fifteen become slave units. However, when a group is large (for example, when a group is composed of many unmanned surface vessels 200, such as 16 vessels, as shown in Figures 7 and 8), multiple master units may be selected, and communication with the surface vessel group control device 100 may be carried out by multiple master units. In this case, the determination unit 20 determines which slave units from the group will be grouped by the master unit, and according to this determination, the master unit may collect information from the slave units or distribute information to the slave units.

[0031] The communication topology is the arrangement of the unmanned surface vessels 200 that make up the group. Possible communication topologies include a hexagonal grid (see left side of Figure 6 and Figure 7), a series configuration (see Figure 8), and a tree structure (triangular, see Figure 5). For example, if the gap distance L is large and a wide area can be searched, the cell design unit 30 may specify a hexagonal grid that efficiently covers the entire surface. In environments where communication stability is required, the cell design unit 30 may specify a tree structure (triangular), which is the minimum configuration. In narrow straits or tracking missions, the cell design unit 30 may specify a series configuration.

[0032] In order to perform detection with as few leaks as possible (high coverage rate) by the group of unmanned surface vessels 200, it is preferable that each unmanned surface vessel 200 be positioned at a distance less than or equal to the detection range of the detection sensor. Therefore, by determining the gap distance L based on detection information as in this embodiment, it is possible to achieve an embodiment that minimizes leaks in the detection of the target object. If the search range is to be widened (coverage is to be increased), the gap distance L will be set to be larger. On the other hand, if the gap distance L is too large, there is a possibility that there will be leaks in the range that can be detected by the group of unmanned surface vessels 200. Therefore, it is ideal to set a gap distance L that minimizes search leaks while maintaining maximum efficiency.

[0033] The calculation unit 80 may calculate coverage rate information for multiple unmanned surface vessels 200. The calculation unit 80 may calculate coverage rate information based on the actual positions (current locations) of the multiple unmanned surface vessels 200, or on the gap distance L issued as a command and the communication topology of the unmanned surface vessels 200. The determination unit 20 may determine the gap distance L using the coverage rate information. In this case, an upper limit of the gap distance L may be set on the condition that the coverage rate calculated by the calculation unit 80 satisfies the desired coverage rate, under the number of vessels (unit hierarchy) and formation (communication topology) that make up the multiple unmanned surface vessels 200. Based on the coverage rate information, the update unit 40 may adjust the gap distance L or change the unit hierarchy or communication topology.

[0034] Furthermore, if communication between the unmanned surface vessels 200 constituting the group is interrupted and communication cannot be secured, some unmanned surface vessels 200 may become separated from the group, or information acquired by the unmanned surface vessels 200 may not be shared in a timely manner. In addition, if communication cannot be secured, problems may arise in the reliability of the operation. For this reason, by adopting a method of determining the gap distance L based on communication environment information, it is possible to prevent such inconveniences from occurring as much as possible. The acquisition unit 10 may acquire communication environment information from the unmanned surface vessels 200. For example, the communication strength, communication speed, etc. of each unmanned surface vessel 200 may be periodically transmitted to the surface vessel group control device 100 via the master unit, and the acquisition unit 10 may acquire this information. The communication environment information may also include communication disconnection probability information. As shown in Figure 3, the surface vessel group control device 100 has a management unit 150, and all information acquired by the acquisition unit 10 may be stored in the device storage unit 90 and managed as a log in the management unit 150.

[0035] The acquisition unit 10 may acquire sea condition information acquired by the surrounding condition determination unit 230 installed on the unmanned surface vessel 200. More specifically, the sea condition information acquired by the surrounding condition determination unit 230 of each unmanned surface vessel 200 may be periodically transmitted to the surface vessel group control device 100 via the master unit, and the acquisition unit 10 may acquire this information. Detection information and / or communication environment information may be affected by sea condition information, but in this embodiment, the determination unit 20 can determine the gap distance L after considering the sea condition information. The sea condition information acquired from the unmanned surface vessel 200 includes waves, the hull roll of the unmanned surface vessel 200, and the salinity of seawater, etc. To give a specific example of sea condition information, the sea condition information includes wave height, wavelength, wave period, wave direction and swell, as well as oceanographic information such as wind speed, wind direction, sea surface temperature, ocean current speed, ocean current direction, atmospheric pressure, and humidity. Furthermore, the oceanographic information may include water quality information such as seawater salinity, water temperature, turbidity, dissolved oxygen level, and pH, as well as depth information and seabed topography information obtained by sonar, and underwater acoustic information obtained by underwater acoustic sensors. In addition, the oceanographic information may include visual information such as sea surface images, sea surface shape information, and surrounding obstacle information obtained by cameras mounted on the unmanned surface vessel 200, and may also include hull attitude information (roll angle, pitch angle, yaw angle, acceleration, etc.) based on IMU, etc.

[0036] The acquisition unit 10 may acquire information regarding the power consumption of each unmanned surface vessel 200 (such as the remaining battery level). In this case, the determination unit 20 may determine the gap distance L using the information regarding the power consumption of each unmanned surface vessel 200. A longer gap distance L increases the power required for communication between adjacent unmanned surface vessels 200. Increased power consumption can shorten the operating time or cause the unmanned surface vessels 200 to overheat. On the other hand, a longer gap distance L allows more information to be acquired in a single search. Therefore, when this embodiment is adopted, the optimal gap distance L can be determined by also considering power consumption information.

[0037] As mentioned above, since communication with the surface vessel group control device 100 via communication satellites, ground base stations, etc., consumes power, etc., the decision unit 20 may select an unmanned surface vessel 200 with sufficient battery power as the master unit. Each of the unmanned surface vessels 200 that make up the group is the same unit, and the master unit and slave units may be distinguished only by whether or not they communicate with the surface vessel group control device 100.

[0038] The update unit 40 may update the gap distance L only when the difference between the gap distance L before update and the gap distance L after update exceeds the difference threshold ΔL. According to this embodiment, it is possible to prevent the gap distance L from being frequently updated due to sensor noise or transient disturbances. By adopting this embodiment, unnecessary rearrangement, excessive duplication, and wasted propulsion and communication power can be reduced, and formation learning and optimization can be made more likely to converge. The difference threshold ΔL may be set in a sea area profile according to environmental fluctuations and ship handling responsiveness. Even while making the difference threshold ΔL variable in this way, a "minimum holding time" may be set, and a balance between stability and tracking performance may be achieved by ensuring that the difference threshold ΔL does not fall below this "minimum holding time". Whether or not to update by the update unit 40 may be determined at predetermined intervals. If there are multiple groups, whether or not to perform an update by the update unit 40 may be determined for each group.

[0039] As shown in Figure 3, the surface vessel group control device 100 may have an estimation unit 50 that estimates the environmental conditions of the sea area to be explored by a group of multiple unmanned surface vessels 200. The estimation unit 50 may estimate the environmental conditions of the sea area to be explored after a predetermined time, such as 5 minutes, 30 minutes, or 1 hour, by applying time-series data such as the roughness of the sea (wind wave class), communication strength such as RSSI (Received Signal Strength Indicator), and sonar signal quality such as SNR to a pre-prepared model such as a Kalman filter or a moving average model.

[0040] The update unit 40 may change the update cycle of the gap distance L according to the environmental conditions estimated by the estimation unit 50. The cycle may be made variable according to the uncertainty of the environmental estimation, and a longer cycle may be set when the uncertainty is high. If the gap distance L is updated when the environment is unstable and the prediction error is large, the quality may actually deteriorate. For this reason, the update cycle of the gap distance L may be extended when the prediction uncertainty is high, and on the other hand, the update cycle of the gap distance L may be shortened when the prediction accuracy is high to improve responsiveness. When a major event such as a cable break, emergency WP (Waypoint), or regulatory notification occurs, the update of the gap distance L may be performed immediately in response to the occurrence of the event.

[0041] As shown in Figure 3, the surface vessel group control device 100 may have a prediction unit 60 that primarily and secondarily predicts the gap distance L. The primary prediction is performed prior to the secondary prediction. For example, the primary prediction predicts the gap distance L at the target time point, for example, 30 minutes in advance, and the secondary prediction predicts the gap distance L at the target time point, for example, 15 minutes in advance. In this case, the determination unit 20 may determine the final gap distance L using the primary predicted gap distance L1 and the secondary predicted gap distance L2. For example, the determination unit 20 may determine the final gap distance L by weighting and combining the primary predicted gap distance L1 and the secondary predicted gap distance L2 according to their respective reliability levels. By adopting such a configuration, a cell design that is robust to environmental fluctuations, stable, and highly responsive can be expected. Alternatively, the difference between the secondary predicted gap distance L2 and the primary predicted gap distance L1 may be calculated. In this case, if the difference is small, the reliability is high, but if the difference is large, the environment has changed significantly and the reliability is low. The prediction unit 60 may then perform a tertiary prediction and use the gap distance L from this prediction as the final value. Furthermore, if the primary predicted gap distance L1 exceeds a threshold (indicating a large movement), the surface vessel group control device 100 may issue a command to the unmanned surface vessel 200 to prepare for movement earlier, such as preparing for double connection (MBB: Make-Before-Break) as described later.

[0042] The cell design unit 30 may, when changing the gap distance L, unit hierarchy, or communication topology, establish a communication link between the unmanned surface vessels 200 using dual connection (MBB), and output a command to the master unit via the device communication unit 130 and the surface vessel communication unit 250 to terminate the dual connection (MBB) and establish a single communication link when the reach rate, derived from the number of successfully received packets divided by the number of transmitted packets, etc., exceeds a predetermined threshold. Alternatively, the unmanned surface vessels 200 themselves may, without receiving an external command, decide to change the gap distance L, unit hierarchy, or communication topology, establish a communication link between the unmanned surface vessels 200 using dual connection (MBB), and terminate the dual connection (MBB) and establish a single communication link when the reach rate, derived from the number of successfully received packets divided by the number of transmitted packets, etc., exceeds a predetermined threshold. As an example of a communication connection method, (1) prior establishment of a new link (authentication and synchronization), (2) duplication of the data surface by packet duplication transmission for a certain period, and (3) when the reach rate exceeds a threshold (p thr The old link may be released when the threshold (p) is greater than or equal to the threshold (p) and the delay / jitter converges to a predetermined range. By establishing the link in advance in this way, uninterrupted handover of the control and data surfaces becomes possible, and continuity for observation, guidance, and safety communications can be guaranteed. thr ) may be set appropriately according to the type of radio and sea conditions, and the reason for switching and the period may be recorded in the log. Furthermore, instead of adopting a method in which the communication method is switched by first establishing a connection using a new communication method and then disconnecting the existing connection, such as the dual connection (MBB) method, the communication between the unmanned surface vessels 200 may remain connected without change (a state of constant connection using the same communication method) even when the gap distance L, unit hierarchy, or communication topology is changed, or communication between the unmanned surface vessels 200 may be performed intermittently, but the same communication method may be used without change.

[0043] When dual connectivity is adopted, as shown in Figure 3, the surface vessel group control device 100 may have a determination unit 110 that determines whether to link with dual connectivity based on the control content communicated by the unmanned surface vessels 200. Dual connectivity is secure but has high power costs. For this reason, an upper limit on the overlap period for dual connectivity may be set, and dual connectivity may be implemented only during that upper limit period. Dual connectivity may also be implemented according to control content such as QoS (Quality of Service). The upper limit on the overlap period may be a pre-set value, or an upper limit derived from a probabilistic reach rate model (for example, the upper confidence interval of the minimum time to reach the desired reach rate) may be set. Dual connectivity may be implemented at all times for high-priority information such as information related to the control and observation of the unmanned surface vessels 200. On the other hand, dual connectivity may not be implemented for low-priority information such as logs and delay-tolerant data. Dual connectivity may also be implemented only at the timing of switching when changing the gap distance L, unit hierarchy, or communication topology. Furthermore, dual connectivity within power budget constraints, including battery level (SoC: State of Charge), temperature, and transmission restrictions, may be scheduled by the scheduling unit 120 described later. By adopting this configuration, it is possible to achieve both communication continuity and energy saving.

[0044] As shown in Figure 3, the surface vessel group control device 100 may include a heave phase estimation unit 70 that estimates the heave phase from the attitude or acceleration of the unmanned surface vessel 200, and a scheduling unit 120 that prioritizes the transmission and reception of information or the replacement of master units in the unmanned surface vessel 200 based on the heave phase estimated by the heave phase estimation unit 70.

[0045] When a ship's hull tilts from side to side or rises and falls up and down on the sea surface, the communication quality (SNR, etc.) of radio waves and acoustic signals used for communication can fluctuate periodically. More specifically, radio waves reflect off the sea surface, and the direct wave (LOS: Line of Sight) and the reflected wave interfere with each other, causing the received signal strength to periodically increase or decrease as the antenna height changes. This interference pattern is called "fading," and it can cause communication to be interrupted or the signal quality to deteriorate rapidly.

[0046] The heave phase estimation unit 70 may estimate the heave phase from the IMU (Inertial Measurement Unit) and GNSS (Global Navigation Satellite System) installed on each unmanned surface vessel 200. Based on the heave phase, the scheduling unit 120 prioritizes scheduling information transmission / reception or master unit replacement on the unmanned surface vessel 200, thereby increasing the link margin even with the same transmission power, shortening the MBB (Dual Bounding) establishment time and reducing the failure rate. The heave phase estimation unit 70 may estimate the phase and amplitude using a Kalaman filter or particle filter and change the weight of the slotted transmission opportunities in a phase-dependent manner. In addition, in the event of competition, the safety / emergency system may be allowed to interrupt even outside the phase window.

[0047] For effective communication, it is beneficial to transmit the signal so that it arrives when the receiving unmanned surface vessel 200 is at the crest of a wave. At the crest, the antenna is at its highest point, radio waves are less affected by sea surface reflection, and line-of-sight communication is ensured. As a result, the received signal strength (RSSI) and signal-to-noise ratio (SNR) are maximized. It is even more effective if the transmitting unmanned surface vessel 200 also transmits at the crest, but since the success or failure of communication ultimately depends on the reception environment, it may be preferable to prioritize "matching the receiving side to the crest." As an example, the unmanned surface vessels 200 can share GNSS time and each vessel estimates its own wave period and phase using its IMU. Based on this information, the transmitting unmanned surface vessel 200 can adjust the arrival time of packets to match the receiving side's crest phase, significantly reducing the effects of sea surface fading and enabling stable communication.

[0048] When the receiving and transmitting unmanned surface vessels 200 are at the same height (in phase), the result is an intermediate state where the outcome can be good or bad depending on the conditions. If both are at the crest, the line of sight between the antennas is best, and the SNR is very high. However, if both are simultaneously at the trough, the antennas are low and close to the sea surface, so direct waves are blocked or interference with reflected waves becomes strong, making communication unstable. Therefore, even if they are in phase (at the same height), the phase at which they match is critically important. Ideally, when both are tuned near the crest (in phase at the crest), the maximum propagation distance and communication stability are obtained. For this reason, when performing MBB or handover, it is desirable to send control signals in accordance with this "in phase at the crest time window".

[0049] When both the receiving and transmitting unmanned surface vessels 200 have the lowest power levels, this combination is most likely to result in poor communication quality. Because the antenna of the receiving surface vessel 200 is submerged in the trough of the waves, interference with surface-reflected waves intensifies, making the received signal more susceptible to attenuation or cancellation. Therefore, attempting to communicate under these conditions is likely to result in link interruptions (momentary disconnections), consuming extra power for retransmission and re-establishment.

[0050] As mentioned above, the success of communication depends most strongly on the height of the receiving unmanned surface vessel 200. Therefore, it is beneficial to employ receiving-side peak synchronization while implementing transmitting-side correction control. In a group of unmanned surface vessels 200, each vessel may estimate its own heave phase using an IMU and GNSS, and the master unit may share the overall wave period. The transmitting unmanned surface vessel 200 may predict the peak time of the receiving unmanned surface vessel 200 and transmit packets so that they arrive at that time. By adopting this configuration, the signal arrives at the moment the receiving unmanned surface vessel 200 is on the peak, allowing for demodulation under the best possible channel conditions. When performing bidirectional communication, it is beneficial to sequentially correct each other's wave phases to maintain a "peak-in-phase window." In this way, by "emphasizing the receiving peak timing over transmitting" in communication between unmanned surface vessels 200, sea surface fading can be suppressed, and the stability and continuity of communication can be ensured. This wave peak phase synchronization is extremely useful, especially in situations where momentary interruptions are unacceptable, such as in group control or handovers.

[0051] The management unit 150 may manage logs of the gap distance L, update reason, link overlap period, power consumption, and communication topology type, which are linked to the identification information of the unmanned surface vessel 200. To ensure operational reproducibility and accountability, various information such as the change in gap distance L, the reason for the change (e.g., SeaState increase due to wind waves or swells, RSSI decrease), MBB overlap period, additional power, unit ID, and topology type may be recorded as logs. Tamper resistance may be ensured by time synchronization and signature, and post-analysis may enable weight / threshold retraining, anomaly detection, and incident review. The display unit 162, such as a dashboard, may visualize the differences in coverage, reach, and power before and after the change, allowing for continuous evaluation of the validity of the decision. By managing logs in the management unit 150, when searching the same sea area again, it is possible to conduct a search by a group of unmanned surface vessels 200 using the same gap distance L, the same unit hierarchy, and the same communication topology as before.

[0052] The gap distance L may be defined as a monotonic function of the wind wave class, received signal strength index (RSSI), round-trip time (RTT), signal-to-noise ratio (SNR), and acoustic attenuation. It may also be defined such that the gap distance L increases when the quality of the radio or acoustics improves, and decreases when the wind wave or delay jitter worsens. Furthermore, if any of the wind wave class, received signal strength index (RSSI), round-trip time (RTT), signal-to-noise ratio (SNR), or acoustic attenuation falls below the minimum operating level, a maintenance update that maintains the previous gap distance L may be applied to prevent overreactions due to instantaneous disturbances or outliers.

[0053] The upper limit of the gap distance L determined by the determination unit 20 may be set based on the effective range of the acoustic meter side section 241 or the magnetometer side section 242, such as the acoustic sonar, mounted on the unmanned surface vessel 200, and the lower limit of the communication range of the surface vessel communication unit 250 mounted on the unmanned surface vessel 200. The lower limit of the gap distance L determined by the determination unit 20 may also be set from the perspective of collision. The lower limit may be set taking into account the obstacle avoidance radius, positioning error, and maneuverability. By adopting such an approach, it is possible to ensure reliable detection of the target object, suppress the occurrence of communication failures, and reduce proximity risks. Boundary values ​​profiled for each sea area and equipment may be used, and the margin may be adjusted to the maintenance side based on safety analysis. If there are other vessels other than the unmanned surface vessels 200 that constitute the group in the same sea area, the lower limit of the gap distance L may be set considering the position of those vessels.

[0054] The determination unit 20 may determine the gap distance L using a distance determination model that has been trained on detection information set to detect a predetermined object in or on the ocean and communication environment information related to wireless communication between unmanned surface vessels. In this case, the detection information and communication environment information may be used as input information as training data based on the past performance of the unmanned surface vessel 200 used, and the optimal gap distance L determined by verification, etc., may be used as output information to generate a distance determination model, which may be stored in the device storage unit 90. The determination unit 20 may then read the distance determination model from the device storage unit 90 and input the actual detection information and communication environment information into the distance determination model to determine the actual gap distance L. The distance determination model may be generated by training the machine learning model with ocean condition information included as a variable in the detection information or communication environment information. In addition to detection information and communication environment information, the distance determination model may be generated by training the machine learning model with power consumption information included as a variable.

[0055] When determining the gap distance L by the determination unit 20 and specifying the unit hierarchy and communication topology by the cell design unit 30, coverage evaluation may be performed by triangular cell packing (see Figure 5) or hexagonal lattice approximation (see the left side of Figure 6 and Figure 7), and disconnection evaluation may be performed by online estimation from link SNR, delay, retransmission rate, and sea conditions. The disconnection probability may be estimated online using actual operational logs such as link margin (SNR and RSSI), delay, jitter, retransmission rate, and SeaState as covariates, and updated sequentially using statistics of the moving window or a lightweight learner. By adopting such an approach, an index that is robust to outliers while following environmental changes can be obtained. It can be passed to the evaluation function to quantitatively support the selection of L and topology.

[0056] An example of the operating procedure is as follows: (1) The cell design unit 30 of the surface vessel group control device 100 takes in satellite data and prior information (sea conditions, weather, GNSS information, etc.) and generates an observation plan. (2) Based on instructions from the cell design unit 30, the group of 200 unmanned surface vessels is deployed to the sea according to the plan. (3) Each of the 200 unmanned surface vessels will perform roles such as measurement, relaying, and tracking. (4) Data acquired by each unmanned surface vessel 200 is transmitted in real time to the surface vessel group control device 100 via the master unit. If there are any missing indicators, the master unit receives a command from the update unit 40 of the surface vessel group control device 100 and automatically updates the formation and route of the unmanned surface vessels 200 that make up the group. (5) The 200 unmanned surface vessels constituting the group will cooperate with the underwater buoy system as needed to complement the communication of underwater equipment.

[0057] As described above, the group of unmanned surface vessels 200 may collect marine environmental data (CTD, images, etc.) at high density and frequency based on commands from the surface vessel group control device 100, using cellular, satellite, VHF / UHF (including VDES, etc.), and inter-vehicle radio communication as appropriate.

[0058] In this embodiment, an example of an evaluation function used when acoustic information is utilized will be described.

[0059] [Environmental indicator vector] The environmental indicator vector x can be expressed as follows: x={SeaState, roll rms RSSI, RTT jitter , SNR ac , …} x is a vector determined by variables such as SeaState (wind, waves, swells, etc.), hull roll statistics, radio RSSI, RTT jitter (round-trip delay time), acoustic SNR, etc., which represent the propagation conditions in the environment in which each unmanned surface vessel 200 is operating.

[0060] [Upper limit constraint: Assuming triangular cells] The upper limit length L of the triangular cell formed by the unmanned surface vessel 200 based on the environmental indicator vector x. UP (x) is L below RF (x) and L AC We estimate using (x).

number

number

[0062] [Optimal cell length] The optimal cell length is given by the following formula: L min This is set, for example, based on the safety distance from the perspective of collision.

number

[0063] [Updated] When updating by the update unit 40, the following formula applies:

number

[0064] [Formation command] L was selected cmdThe following formula converts the command into a formation command (Cmd), and the target position, role (parent / relay / terminal), and transition procedure (MBB overlap time, priority-based replication, etc.) of each unmanned surface vessel 200 are sent as specific commands from the surface vessel group control device 100 to the parent unit of the unmanned surface vessel 200. Then, the command is expanded from the parent unit to the child units. Cmd=F(L cmd )

[0065] Although the above explanation uses the evaluation function J(L|x), the gap distance L may also be determined by a simple rule-based method that performs threshold comparisons on at least a portion of the environmental index vector x, without using such an evaluation function J(L|x). For example, the gap distance L may be determined based on a predetermined table, such as adopting a fixed value L1 when the wind wave class is above a predetermined value, and adopting a fixed value L2 when the wind wave class is below a predetermined value and the RSSI is above a predetermined value.

[0066] Next, we will describe an example of an evaluation function used when magnetic information is utilized in this embodiment.

[0067] [Environmental indicator vector] The environmental indicator vector x can be expressed as follows: x={SeaState, roll rms RSSI, RTT jitter , N mag , …} N mag This variable indicates the level of electromagnetic noise caused by geomagnetic disturbances (such as solar activity) and ship motion.

[0068] [Upper limit constraint] Effective magnetic detection radius R based on environmental indicator vector x MAG This can be modeled as follows, for example.

number

number

[0069] The subsequent processing is the same as when using acoustic information, so the details will be omitted, but in short, the value of the evaluation function J(L|x) is calculated using the following formula. J(L|x)=αp disc (L) + βE(L) / E ref -γCover(L) / L 2 max The optimal cell length is then derived using the following formula.

number

[0070] The state determination unit 211, communication determination unit 212, surrounding situation determination unit 213, and acoustic measurement unit 241, etc. may be implemented by a single unit (control unit) or by different units. Furthermore, the state determination unit 211, communication determination unit 212, surrounding situation determination unit 213, and acoustic measurement unit 241, etc. may be implemented by a circuit configuration. A computer such as a personal computer installed on the unmanned surface vessel 200 may have a processor, and the various functions of the state determination unit 211, communication determination unit 212, surrounding situation determination unit 213, and acoustic measurement unit 241, etc., may be implemented by the processor executing a program. Similarly, the acquisition unit 10, determination unit 20, cell design unit 30, update unit 40, estimation unit 50, prediction unit 60, heave phase estimation unit 70, calculation unit 80, judgment unit 110, schedule unit 120, management unit 150, etc. may be implemented by a single unit (control unit) or by different units. Furthermore, the acquisition unit 10, decision unit 20, cell design unit 30, update unit 40, estimation unit 50, prediction unit 60, heave phase estimation unit 70, calculation unit 80, judgment unit 110, schedule unit 120, management unit 1501, etc. may be realized by circuit configuration. A computer such as a personal computer may have a processor, and the various functions of the acquisition unit 10, decision unit 20, cell design unit 30, update unit 40, estimation unit 50, prediction unit 60, heave phase estimation unit 70, calculation unit 80, judgment unit 110, schedule unit 120, management unit 150, etc. may be realized by the processor executing a program.

[0071] The above-described embodiments and the disclosure of drawings are merely examples for illustrating the invention described in the claims, and the above-described embodiments or the disclosure of drawings do not limit the invention described in the claims.

[0072] In this embodiment, a group consisting of multiple unmanned surface vessels 200 was described as an example, but the invention is not limited thereto. The medium in which the object exists may be a body of water, a land area, or an air area, and the invention can be applied as a mobile body group control device that controls the gap distance between multiple mobile bodies. The mobile bodies may include unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), manned vessels, or a combination thereof.

[0073] In this embodiment, acoustic information or magnetic information is given as examples of detection information, but the invention is not limited to these. The detection information may be any information that indicates the presence of an object or a candidate area for an object, such as image information from an optical camera, infrared camera information, radar information, LiDAR information, water quality information such as electrical conductivity, temperature, or dissolved oxygen content. The predetermined object to be detected is not limited to submarines or mines, but may also be an abnormal area in the marine environment, oil slicks, floating debris, schools of fish, red tides, etc. When such an embodiment is adopted, it can be applied not only to military applications but also to civilian applications such as environmental monitoring, fisheries resource surveys, and ocean observations.

[0074] In this embodiment, the description is given in a configuration in which a surface vessel group control device 100 is provided. However, even without the surface vessel group control device 100, each unmanned surface vessel 200 may acquire detection information and communication environment information and autonomously calculate the gap distance L. In this case, each unmanned surface vessel 200 locally adjusts the gap distance L based on information exchange with nearby unmanned surface vessels, and as a result, a formation is formed that satisfies the desired coverage rate and communication accuracy for the entire group.

[0075] Since there are no restrictions on where the surface vessel group control device 100 is installed, for example, the surface vessel group control device 100 may be installed on one or more of the unmanned surface vessels 200, and the other unmanned surface vessels 200 may be controlled by the surface vessel group control device 100 installed on the unmanned surface vessel 200. Alternatively, the surface vessel group control device 100 may be installed on a vessel other than the unmanned surface vessels 200, and multiple unmanned surface vessels 200 may be controlled by the surface vessel group control device 100 installed on the vessel. [Explanation of Symbols]

[0076] 10 Acquisition Department 20 Decision Section 30 Cell Design Department 40 Update section 50 Guessing part 60 Prediction Section 70. Heave Phase Estimation Unit 80 Calculation Unit 100 Surface Vessel Group Control Device 110 Judgment Department 120 Schedule Department 200 Unmanned surface craft

Claims

1. A surface vessel group control device for controlling a plurality of unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit that determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, The update unit updates the gap distance L, Equipped with, The update unit is a surface vessel group control device that updates the gap distance L only when the difference between the gap distance L before the update and the gap distance L after the update exceeds a difference threshold ΔL.

2. A surface vessel group control device for controlling a plurality of unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit that determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, A prediction unit that predicts the gap distance L primarily and secondarily, Equipped with, The determination unit is a surface vessel group control device that determines the final gap distance L using the first predicted gap distance L1 and the second predicted gap distance L2.

3. A surface vessel group control device for controlling a plurality of unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit that determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, Equipped with, The cell design unit is a surface vessel group control device that establishes a dual connection for communication links when changing the gap distance L, unit hierarchy, or communication topology, and outputs a command to the unmanned surface vessel to terminate the dual connection and establish a single communication link when the reachability exceeds a predetermined threshold.

4. A surface vessel group control device for controlling a plurality of unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit that determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, Equipped with, The cell design unit determines a formation command specifying the unit hierarchy or communication topology based on the determined gap distance L. A surface vessel group control device equipped with a determination unit that determines whether to link with a dual connection based on the control content being communicated.

5. A surface vessel group control device for controlling a plurality of unmanned surface vessels, An acquisition unit that acquires detection information set to detect a predetermined object in or on the ocean, and communication environment information related to wireless communication between unmanned surface vessels, A determination unit that determines the gap distance L between multiple unmanned surface vessels in a group of multiple unmanned surface vessels, based on the detection information and the communication environment information, A cell design unit that determines the formation command to be output to the unmanned surface vessel based on the determined gap distance L, A heave phase estimation unit that estimates the heave phase from the attitude or acceleration of an unmanned surface vessel, A scheduling unit schedules the transmission and reception of information or the replacement of the master unit on an unmanned surface vessel based on the heave phase estimated by the heave phase estimation unit. A surface vessel group control system equipped with the following:

6. The surface vessel group control device according to any one of claims 1 to 5, wherein the detection information includes acoustic information or magnetic information for detecting a predetermined object.

7. The acquisition unit acquires sea condition information from multiple unmanned surface vessels. The surface vessel group control device according to any one of claims 1 to 5, wherein the determination unit determines the gap distance L using the sea condition information as the detection information or the communication environment information.

8. The acquisition unit acquires power consumption information from multiple unmanned surface vessels. The surface boat group control device according to any one of claims 1 to 5, wherein the determination unit determines the gap distance L using power consumption information.

9. It is equipped with a calculation unit that calculates coverage rate information from multiple unmanned surface vessels, The surface boat group control device according to any one of claims 1 to 5, wherein the determination unit determines the gap distance L using coverage rate information.

10. It includes an update unit that updates the gap distance L, The surface vessel group control device according to any one of claims 2 to 5, wherein the update unit updates the gap distance L only when the difference between the gap distance L before the update and the gap distance L after the update exceeds a difference threshold ΔL.

11. It is equipped with an estimation unit that estimates the environmental conditions of the sea area being explored by a group of multiple unmanned surface vessels. The surface vessel group control device according to claim 10, wherein the update unit changes the update cycle of the gap distance L according to the environmental conditions estimated by the estimation unit.

12. It comprises a prediction unit that predicts the gap distance L primarily and secondarily, A surface vessel group control device according to any one of claims 1, 3, 4, and 5, wherein the determination unit determines the final gap distance L using the first predicted gap distance L1 and the second predicted gap distance L2.

13. A surface vessel group control device according to any one of claims 1, 2, 3, and 5, wherein the cell design unit determines a formation command specifying a unit hierarchy or communication topology based on the determined gap distance L.

14. A surface vessel group control device according to any one of claims 1, 2, 4, and 5, wherein the cell design unit establishes a dual connection for communication links when changing the gap distance L, unit hierarchy, or communication topology, and outputs a command to the unmanned surface vessel to terminate the dual connection and establish a single communication link when the reachability reaches a predetermined threshold or higher.

15. A surface vessel group control device according to claim 13, further comprising a determination unit that determines whether to link in a dual connection based on the control content being communicated.

16. A surface vessel group control device according to any one of claims 1 to 4, comprising a heave phase estimation unit for estimating the heave phase from the attitude or acceleration of an unmanned surface vessel.

17. A surface vessel group control device according to claim 16, further comprising a scheduling unit that schedules the transmission and reception of information or the replacement of the master unit in an unmanned surface vessel based on the heave phase estimated by a heave phase estimation unit.

18. A surface vessel group control device according to any one of claims 1 to 5, comprising a management unit that manages as a log at least one of the following, linked to the identification information of an unmanned surface vessel: gap distance L, reason for update, link overlap period, power consumption, and type of communication topology.

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