Autonomous navigation system, navigation control method, and autonomous navigation program

Abstract

In the operation of a group of autonomous ships, this technology provides a way to safely return any autonomous ship to base if it experiences a malfunction that prevents it from returning to base under its own power. [Solution] When the self-diagnostic unit installed in each autonomous vessel detects a malfunction that would hinder its return under its own power, a return group is formed with the autonomous vessel selected by the server (selected autonomous vessel) and the malfunctioning autonomous vessel. The complementary control unit performs the following actions depending on the type of malfunction: sending proxy information when the presence indication function fails, providing environmental information when the sensor system fails, leading the navigation when the propulsion system fails, and relaying server communications when the communication system fails. The return route control unit dynamically selects between escort navigation, towing navigation, and encirclement navigation based on the type and severity of the malfunction, traffic conditions, and sea conditions to control the navigation of the return group, and when towing navigation is performed it determines whether or not to display shapes in accordance with the International Regulations for Preventing Collisions at Sea and sends a display command.

Description

Technical Field

[0001] The present invention relates to an autonomous surface vessel group control system, a server device, an autonomous surface vessel device, a control method, and a program for operating a plurality of autonomous surface vessels (ASVs) as a group (fleet). In particular, it relates to a technique for safely returning an autonomous surface vessel when a failure occurs in any one of the autonomous surface vessels during navigation, while other autonomous surface vessels perform function complementation according to the type of failure.

Background Art

[0002] There is a known system that operates a plurality of autonomous surface vessels as a group and each autonomous surface vessel cooperates to perform a mission based on instructions from an onshore or offshore server. Each autonomous surface vessel has a self-diagnosis function for checking the status of its own equipment and functions during navigation, and has a function of transmitting the presence, action intention, ship speed, movement route, current state, etc. of the vessel itself to surrounding ships and related parties.

[0003] There is also a known system that operates a plurality of unmanned boats as a group and a centralized control system commands measurement operations and navigation operations for each unmanned boat (see Patent Document 1). In such a system, a squad with a hierarchical structure of a parent machine and child machines is formed, and the centralized control system monitors the status of each unmanned boat and issues operation commands and intervention commands to achieve efficient operation in a vast ocean area.

[0004] However, the above prior art mainly aims at improving the efficiency of detecting and tracking underwater objects, and does not disclose or suggest any control for dynamically complementing the lost functions of a failed autonomous surface vessel by other autonomous surface vessels while the group returns according to the type of failure when a failure occurs in any one of the autonomous surface vessels during group operation.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] In the operation of a group of autonomous vessels, if one of the autonomous vessels malfunctions, the conventional response has been for that vessel to either return to base alone or stop at sea and await recovery.

[0007] However, if the navigation lights, AIS (Automatic Identification System) transmitter, acoustic signaling device, or other functions that indicate the presence of the autonomous vessel to its surroundings malfunction, the autonomous vessel will not be recognized by surrounding vessels, and the risk of collision will increase dramatically. Furthermore, if the radar, cameras, LiDAR, or other sensor systems malfunction, the autonomous vessel will be unable to perceive its surroundings, making it difficult to take appropriate actions to avoid collisions.

[0008] Furthermore, if maneuverability is reduced due to a partial failure in the propulsion system, collision avoidance maneuvers will be limited, and if communication with the server is lost, coordinated action as a group will become impossible. On the other hand, stopping or waiting at sea creates a risk of drifting and becomes an obstacle for other vessels.

[0009] Thus, despite the fact that the lost functions and the resulting risks differ depending on the type of failure, a method has not yet been established to safely return a vessel to its destination while other autonomous vessels in the group perform appropriate complementary control according to the type of failure.

[0010] The present invention has been made in view of the above problems, and aims to provide an autonomous ship group control system, server device, autonomous ship device, control method, and program that, in the operation of a group of autonomous ships, if any of the autonomous ships experience a malfunction that hinders their ability to return to the base on their own, allows the group to return safely to the base by dynamically performing functional compensation according to the type of malfunction by other autonomous ships. [Means for solving the problem]

[0011] To solve the above problems, an autonomous ship fleet control system according to one aspect of the present invention comprises a fleet composed of a plurality of autonomous ships, and a server that communicates with the plurality of autonomous ships and centrally manages the operation of the fleet. Each autonomous ship is equipped with a self-diagnostic unit that diagnoses the status of its equipment and functions and detects malfunctions that would hinder its return to base under its own power.

[0012] The system of the present invention comprises a group configuration unit that forms a return group with a malfunctioning autonomous navigation vessel whose malfunction has been detected by the self-diagnosis unit and an autonomous navigation vessel selected from the fleet by the server (hereinafter referred to as the "selected autonomous navigation vessel"), a supplementary control unit that performs supplementary control in which the selected autonomous navigation vessel compensates for the lost functions of the malfunctioning autonomous navigation vessel according to the type of malfunction, and a return route control unit that generates a return route for the return group to the base and controls the navigation of the return group.

[0013] In another aspect of the present invention, the complementary control unit performs proxy information transmission when the failure is a failure of the presence notification function, provides ambient environment information when the failure is a failure of the sensor system, performs lead navigation when the failure is a partial failure of the propulsion system, and relays server communications when the failure is a failure of the communication system.

[0014] In a further aspect of the present invention, the return route control unit dynamically selects a navigation mode from escort navigation, towing navigation, and encirclement navigation based on the type and severity of the failure, the traffic conditions in the navigation area, and the oceanographic conditions. [Effects of the Invention]

[0015] According to the present invention, when a malfunction occurs in the operation of a group of autonomous ships, other autonomous ships dynamically perform appropriate functional compensation according to the type of malfunction, so that even if the malfunctioning autonomous ship cannot return safely on its own, the group can safely return to base.

[0016] Specifically, when the presence indication function fails, the recognition by surrounding ships is maintained by transmitting proxy information; when the sensor system fails, the collision avoidance ability is maintained by providing environmental information; when the propulsion system fails, the operating load is reduced by leading navigation; and when the communication system fails, the command system with the server is maintained by relaying. This can avoid the risk of stopping and drifting at sea and achieve a safe return regardless of the type of failure.

Brief Description of the Drawings

[0017] [Figure 1] It is an overall configuration diagram of an autonomous navigation ship group control system according to an embodiment of the present invention. [Figure 2] It is a block diagram showing the hardware configuration of an autonomous navigation ship. [Figure 3] It is a block diagram showing the hardware configuration of a server device. [Figure 4] It is a flowchart showing the processing procedure from failure detection to return completion. [Figure 5] It is a schematic diagram showing the complementary control when the presence indication function fails. [Figure 6] It is a schematic diagram showing the complementary control when the sensor system fails. [Figure 7] It is a schematic diagram showing the complementary control when the propulsion system fails. [Figure 8] It is a schematic diagram showing the complementary control when the communication system fails. [Figure 9] It is a flowchart showing the selection process of the navigation form of the return group.

Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following embodiments are examples of the present invention, and the present invention is not limited thereto. <1. Overall System Configuration>

[0019] Referring to Figure 1, the overall configuration of the autonomous ship convoy control system 1 according to this embodiment will be described. The autonomous ship convoy control system 1 comprises a convoy FL consisting of a plurality of autonomous ships 100 (100A, 100B, 100C, ...) and a server device 200. The server device 200 is installed at a base station on land, communicates with each autonomous ship 100 via a communication network NW, and centrally manages the operation of the convoy FL. Each autonomous ship 100 communicates with the server device 200 via the communication network NW and can also communicate directly with other autonomous ships 100 via a short-range communication module 132.

[0020] The server device 200 assigns missions to each autonomous vessel 100, directs its navigation route, and monitors its status. It also determines the configuration of the return group and the complementary control measures to be taken in the event of a failure, as described later. <2. Hardware configuration of autonomous ships>

[0021] Referring to Figure 2, the hardware configuration of each autonomous vessel 100 will be described. The autonomous vessel 100 comprises a control unit 110, a memory unit 120, a communication unit 130, a sensor unit 140, a presence notification unit 150, a propulsion unit 160, and a power supply unit 170.

[0022] The control unit 110 includes a processor (including a CPU or GPU) 111 and RAM 112. The processor 111 functions as a self-diagnosis unit 110A, a supplementary execution unit 110B, a supplemented navigation unit 110C, a return control unit 110D, and a navigation control unit 110E by executing programs stored in the memory unit 120. The memory unit 120 is a non-volatile storage device (e.g., flash memory, SSD) and stores programs, navigation data, chart data, and self-diagnosis history data, etc.

[0023] The communication unit 130 includes a communication module 131 responsible for communication with the server device 200 and a short-range communication module 132 for local communication with other autonomous vessels 100. The communication unit 130 further includes an AIS transponder 133 for sending and receiving AIS messages. The communication method with the server device 200 can be appropriately selected from known wireless communication technologies (e.g., satellite communication, wireless LAN, etc.). Similarly, the short-range communication method between autonomous vessels can also be appropriately selected from known wireless communication technologies.

[0024] The sensor unit 140 includes a radar 141, a camera 142, a LiDAR 143, an infrared sensor 144, a GNSS receiver 145, an IMU (Inertial Measurement Unit) 146, and a sea surface sensor 147. The radar 141, camera 142, LiDAR 143, and infrared sensor 144 are a group of sensors that detect other ships in the surrounding area, obstacles, and sea surface conditions. The GNSS receiver 145 acquires the ship's position, and the IMU 146 measures attitude and acceleration. The sea surface sensor 147 acquires sea surface information such as wave height and wind speed.

[0025] The presence indication unit 150 includes a navigation light 151, an AIS transmitter 152, an acoustic signaling device 153, a shape display device 155, and a radar reflector 154. The navigation light 151 optically indicates the presence and navigation status of the vessel to the surroundings. The AIS transmitter 152 works in conjunction with the AIS transponder 133 to broadcast the vessel's identification information, position, course, and speed to the surroundings. The acoustic signaling device 153 provides audible presence indication, such as fog signals. The shape display device 155 is a mechanism for displaying shapes (sphere, rhombus, cone, cylinder, etc.) and can automatically display predetermined shapes based on commands from the server device 200. The radar reflector 154 increases the reflection cross-section to other vessels' radars, improving detectability.

[0026] The propulsion unit 160 includes a propulsion motor 161, a thruster 162, and a rudder mechanism 163. The propulsion motor 161 generates the main thrust, and the thruster 162 generates lateral thrust. The rudder mechanism 163 controls the direction of travel. The power supply unit 170 includes a battery 171 and a power management circuit 172, which manages the power supply to each unit. <3. Details of the Self-Diagnosis Section>

[0027] The self-diagnosis unit 110A diagnoses the status of the equipment and functions of the autonomous ship 100 and detects malfunctions that would hinder its return to base under its own power. The self-diagnosis unit 110A diagnoses the following equipment groups:

[0028] (a) Presence indication function group: Monitors the operating status of the navigation lights 151, AIS transmitter 152, acoustic signaling device 153, image display device 155, and radar reflector 154. Failure of these devices increases the risk of collision because the autonomous vessel will not be recognized by surrounding vessels, and is therefore detected as a failure that hinders the vessel's return to base under its own power.

[0029] (b) Sensor function group: Monitors the operating status of radar 141, camera 142, LiDAR 143, and infrared sensor 144. Failure of these sensors is detected as a failure that hinders the ability to return to base under its own power, as it causes a loss of the ability to recognize the surrounding environment and makes it impossible to take appropriate action to avoid collisions.

[0030] (c) Propulsion System: Monitors the operating status of the propulsion motor 161, thruster 162, and rudder mechanism 163. Partial failure of the propulsion system limits collision avoidance maneuvers due to reduced maneuverability, and is detected as a failure that would hinder the aircraft's ability to return to base under its own power if it meets a predetermined criterion (for example, if the maximum turning angular velocity falls to 50% or less of the normal value).

[0031] (d) Communication function group: Monitors the operating status of the communication module 131. A loss of communication with the server device 200 makes coordinated action as a group impossible and is therefore detected as a failure that hinders the group's ability to return to the base on its own.

[0032] The self-diagnosis unit 110A determines a malfunction for each of the above-mentioned equipment groups based on detection criteria such as the presence or absence of a signal response, deviation of the output value from the normal range, generation of an internal error code, and interruption of the operation confirmation signal. If a malfunction is detected, the self-diagnosis unit 110A generates malfunction information including the type of malfunction (presence notification function, sensor system, propulsion system, communication system) and identification information of the malfunctioning equipment. <4. Hardware configuration of the server device>

[0033] Referring to Figure 3, the hardware configuration of the server device 200 will be described. The server device 200 comprises a server control unit 210, a server storage unit 220, and a server communication unit 230. The server control unit 210 includes a processor 211 and RAM 212. The processor 211 functions as a fault identification unit 210A, a selection unit 210B, a supplementary control command unit 210C, a return path generation unit 210D, and a mission management unit 210E by executing programs stored in the server storage unit 220.

[0034] The server memory unit 220 is a non-volatile storage device that stores programs, a database of the status of all autonomous ships in the convoy FL, nautical chart data, traffic information data, and mission management data. The server communication unit 230 communicates with each autonomous ship 100 via the communication network NW. <5. Processing procedure from fault detection to completion of return>

[0035] Referring to Figure 4, the processing procedure from fault detection to completion of return will be explained.

[0036] In step S1, the self-diagnostic unit 110A of each autonomous vessel 100 diagnoses the status of its equipment and functions. The diagnosis results are transmitted to the server device 200 via the communication unit 130.

[0037] In step S2, if the self-diagnosis unit 110A detects a malfunction that would hinder the autonomous vessel's return to base under its own power, the malfunction information is transmitted to the server device 200. The malfunction identification unit 210A of the server device 200 identifies the malfunctioning autonomous vessel based on the received malfunction information. If the communication system with the server device 200 itself malfunctions, the malfunction information is transmitted to an adjacent autonomous vessel via the short-range communication module 132, and the adjacent autonomous vessel relays the information to the server device 200.

[0038] In step S3, the selection unit 210B of the server device 200 selects autonomous vessels from the convoy FL to form a return group with the disabled autonomous vessel. The selection is made based on the following evaluation items: (i) Distance from the disabled autonomous vessel: Priority is given to autonomous vessels that are closer in distance to minimize the time until rendezvous. (ii) Navigation risk on the return route: Traffic density, complexity of the route, presence of obstacles, etc. on the return route are evaluated, and if the risk is high, an autonomous vessel with higher capabilities is selected. (iii) Impact on the overall mission continuity of the convoy: The impact of the departure of the candidate vessel on mission execution is evaluated, and an autonomous vessel with the least impact is given priority. (iv) Remaining capabilities of the candidate autonomous vessel: Remaining power amount, equipment integrity, etc. are evaluated, and an autonomous vessel with sufficient capabilities to support the return is selected.

[0039] The selection unit 210B comprehensively scores the above evaluation items and selects the most appropriate autonomous vessel. The selection result is notified to both the selected autonomous vessel and the faulty autonomous vessel via the complementary control command unit 210C, which functions as a group component.

[0040] In step S4, the supplementary control command unit 210C determines the content of the supplementary control according to the type of failure and transmits a command to execute the supplementary control to the selected autonomous navigation vessel. The specific details of the supplementary control will be explained later in <6. Supplementary Control by Failure Type>.

[0041] In step S5, the return route generation unit 210D generates a return route to return the return group to the base. When generating the return route, the type and severity of the failure, traffic conditions in the navigation area, oceanographic conditions, and the remaining capabilities of the failed autonomous vessel are taken into consideration.

[0042] In step S6, the return group begins sailing according to the generated return path. The complementary execution unit 110B of the selected autonomous vessel sails along the return path while performing complementary control. The complemented navigation unit 110C of the malfunctioning autonomous vessel continues sailing based on the complementary control provided by the selected autonomous vessel.

[0043] In step S7, the return route control unit monitors changes in conditions during the return journey (changes in traffic, deterioration of sea conditions, progression of malfunctions, etc.) and modifies the return route and switches the navigation mode as necessary. In step S8, the return group arrives at the base and the return is completed. After the return is complete, the selected autonomous vessel returns to the convoy FL and resumes its mission. <6. Compensatory control by failure type>

[0044] The following details the complementary control measures for each type of failure. <6.1 Compensatory control in case of failure of presence notification function>

[0045] Refer to Figure 5. If the presence indication function, which includes at least one of the navigation lights 151, AIS transmitter 152, acoustic signaling device 153, image display device 155, and radar reflector 154, fails, the supplementary execution unit 110B of the selected autonomous vessel will perform proxy information transmission.

[0046] Proxy information transmission is the process by which a selected autonomous vessel transmits information regarding the operational status of a malfunctioning autonomous vessel to its surroundings on behalf of the malfunctioning vessel. The selected autonomous vessel obtains information from the malfunctioning autonomous vessel primarily through short-range communication via the short-range communication module 132.

[0047] If short-range communication is not possible, the selected autonomous vessel can obtain information by one of the following two alternative means. The first alternative is for the selected autonomous vessel to observe the malfunctioning autonomous vessel using its own sensor unit 140 (radar 141, camera 142, etc.) and obtain information regarding its operating status. The second alternative is for the selected autonomous vessel to take advantage of its proximity to the malfunctioning autonomous vessel and substitute its own operating information (position, course, speed, etc.) for the operating information of the malfunctioning autonomous vessel. Since the selected autonomous vessel and the malfunctioning autonomous vessel are sailing parallel to each other in close proximity, their operating information can be considered almost equivalent.

[0048] The proxy information transmission is performed in different information formats depending on the type of recipient. For example, information regarding the presence and location of the malfunctioning autonomous vessel can be transmitted to the surrounding area via broadcast through the AIS transponder 133, while data regarding the malfunctioning autonomous vessel's planned route and remaining avoidance capabilities can be transmitted to other autonomous vessels 100 via the short-range communication module 132, and status information of the malfunctioning autonomous vessel can be transmitted to the server device 200 via the communication module 131. <6.2 Compensatory control in case of sensor system failure>

[0049] Refer to Figure 6. If a sensor system including at least one of the radar 141, camera 142, LiDAR 143, and infrared sensor 144 fails, the selected autonomous vessel's complementary execution unit 110B provides the failed autonomous vessel with surrounding environment information acquired by its own sensor unit 140. Specifically, the selected autonomous vessel transmits information acquired by its own sensors, such as the position of other vessels, the position of obstacles, and sea conditions, to the failed autonomous vessel via the short-range communication module 132. The failed autonomous vessel's complemented navigation unit 110C performs its own navigation control based on the received surrounding environment information. In other words, the selected autonomous vessel functions as the "eyes" of the failed autonomous vessel, complementing the failed autonomous vessel's environmental awareness capabilities. <6.3 Compensatory control in the event of partial failure of the propulsion system>

[0050] Refer to Figure 7. If a partial failure occurs in the propulsion system (propulsion motor 161, thruster 162, rudder mechanism 163), the complementary execution unit 110B of the selected autonomous navigation vessel will perform lead navigation, leading the route ahead of the failed autonomous navigation vessel. In lead navigation, the selected autonomous navigation vessel will navigate ahead of the failed autonomous navigation vessel, and the failed autonomous navigation vessel will follow the selected autonomous navigation vessel's track. This will allow the failed autonomous navigation vessel to return with simple control, only track following, without requiring it to make complex steering decisions. <6.4 Compensatory control in the event of a communication system failure>

[0051] Refer to Figure 8. If the communication system (communication module 131) with the server device 200 fails, the supplementary execution unit 110B of the selected autonomous vessel performs relay of server communication. Specifically, the selected autonomous vessel forwards instructions received from the server device 200 to the faulty autonomous vessel via the short-range communication module 132, and also receives status information of the faulty autonomous vessel via the short-range communication module 132 and relays it to the server device 200. This maintains the command system and status reporting system between the faulty autonomous vessel and the server device 200. <7. Selection of Navigation Pattern for the Returning Group>

[0052] Referring to Figure 9, the process for selecting the navigation mode of the return group will be explained. The return route control unit (controlled by the return route generation unit 210D of the server device 200) selects from the following navigation modes based on the type and severity of the failure, the traffic conditions in the navigation area, and the sea conditions.

[0053] (a) Escort Navigation: This configuration involves a selected autonomous vessel sailing alongside or in front of a malfunctioning autonomous vessel at an appropriate distance depending on the type of malfunction and sea conditions. This is selected when the malfunctioning autonomous vessel is able to navigate under its own power but requires some form of functional support. (b) Towing Navigation: This configuration involves a selected autonomous vessel towing the malfunctioning autonomous vessel. This is selected when the propulsion system of the malfunctioning autonomous vessel has completely stopped or when its maneuverability is significantly reduced, making it difficult to track its course. (c) Surrounding Navigation: This configuration involves multiple autonomous vessels surrounding a malfunctioning autonomous vessel. This is selected when navigating in areas with high traffic density or when a high level of protection is required, such as when both the presence indication function and sensor system of the malfunctioning autonomous vessel have failed.

[0054] When performing towing navigation, it may be necessary to display symbols. Specifically, if the length of the tow rope exceeds 200m, both the selected autonomous vessel (towing vessel) and the malfunctioning autonomous vessel (towed object) may be obligated to display a diamond-shaped symbol in the most visible location. In addition, a malfunctioning autonomous vessel with significantly reduced maneuverability may be classified as a vessel with restricted maneuverability, and may be obligated to display spherical, diamond-shaped, and spherical symbols. In this embodiment, the return route generation unit 210D determines whether or not symbols are necessary considering the towing length and malfunction status, and if it determines that symbols are necessary, it transmits a symbol display command to the malfunctioning autonomous vessel and the selected autonomous vessel. The symbolic devices 155 of each autonomous vessel automatically display the predetermined symbols based on the command.

[0055] The return route control unit dynamically switches the navigation mode if the situation changes during the return journey (for example, increased traffic density, worsening sea conditions, or progression of a malfunction). <8. Mission Management After Formation of Return Group>

[0056] The mission management unit 210E of the server device 200 determines whether the mission can be continued by the autonomous ships remaining in the convoy FL, based on the configuration of the return group. If it determines that continuation is possible, the mission management unit 210E rearranges the positions of the remaining autonomous ships to maximize mission execution. If it determines that continuation is not possible, it either suspends the mission or reduces the mission objectives. <9. Variation>

[0057] In the embodiments described above, the server device 200 is installed on land, but the server device 200 may also be installed on a mother ship at sea. Furthermore, some or all of the functions of the server device 200 may be distributed among specific autonomous ships within the fleet FL.

[0058] The number of autonomous vessels constituting the return group is not limited to one; two or more may be selected depending on the type and severity of the malfunction. For example, if both the presence notification function and the sensor system fail, an autonomous vessel responsible for sending proxy information and an autonomous vessel responsible for providing environmental information may be selected separately.

[0059] Although the autonomous vessel in the above embodiment was described as a vessel navigating on the water, the present invention is also applicable to the swarm operation of autonomous underwater vehicles (AUVs) navigating underwater. Each of the processes in the above embodiment is realized by a processor executing a program, but some or all of them may be realized by hardware circuits such as FPGAs and ASICs. Furthermore, the above program may be provided by storing it on a computer-readable non-temporary recording medium (e.g., semiconductor memory, magnetic disk, optical disk), or it may be provided so that it can be downloaded via a communication network. [Explanation of Symbols]

[0060] 1…Autonomous Navigation Fleet Control System, 100 (100A, 100B, 100C)…Autonomous Navigation Ship, 110…Control Unit, 110A…Self-Diagnosis Unit, 110B…Complementary Execution Unit, 110C…Complementary Navigation Unit, 110D…Return Control Unit, 110E…Navigation Control Unit, 111…Processor, 112…RAM, 120…Storage Unit, 130…Communication Unit, 131…Communication Module, 132…Short-Range Communication Module, 133…AIS Transponder, 140…Sensor Unit, 141…Radar, 142…Camera, 143…LiDAR, 144…Infrared Sensor, 145…GNSS Receiver, 146…IMU, 147…Sea Conditions Sensor, 15 0...Presence indication unit, 151...Navigation lights, 152...AIS transmitter, 153...Acoustic signaling device, 154...Radar reflector, 155...Image device, 160...Propulsion unit, 161...Propulsion motor, 162...Thruster, 163...Rudder mechanism, 170...Power supply unit, 171...Battery, 172...Power management circuit, 200...Server device, 210...Server control unit, 210A...Fault identification unit, 210B...Selection unit, 210C...Complementary control command unit, 210D...Return route generation unit, 210E...Mission management unit, 211...Processor, 212...RAM, 220...Server memory unit, 230...Server communication unit, FL...Convoy, NW...Communication network

Claims

1. An autonomous ship convoy control system comprising a convoy composed of multiple autonomous ships, and a server that communicates with the multiple autonomous ships and centrally manages the operation of the convoy, Each autonomous vessel is equipped with a self-diagnostic unit that diagnoses the status of the vessel's equipment and functions and detects malfunctions that would hinder its return to base under its own power. A group configuration unit that forms a return group with a faulty autonomous navigation vessel whose fault has been detected by the self-diagnostic unit and one or more selected autonomous navigation vessels selected from the convoy by the server, Depending on the type of failure, the selected autonomous navigation vessel performs complementary control to compensate for the lost functions of the faulty autonomous navigation vessel, A return route control unit generates a return route for the return group to the base and controls the navigation of the return group, An autonomous fleet control system equipped with [the following features].

2. In the autonomous ship group control system according to claim 1, If the failure is a failure of a presence indication function including at least one of a navigation light, AIS transmitter, acoustic signaling device, image display device, and radar reflector, the complementary control unit shall perform proxy information transmission, in which the selected autonomous vessel transmits information regarding the operating status of the failed autonomous vessel to the surrounding area on behalf of the failed autonomous vessel. Autonomous ship group control system.

3. In the autonomous ship group control system according to claim 2, The aforementioned proxy information transmission is performed based on information obtained through short-range communication between the malfunctioning autonomous vessel and the selected autonomous vessel. Autonomous ship group control system.

4. In the autonomous ship group control system described in claim 3, If the aforementioned short-range communication cannot be performed, the proxy information transmission will be performed based on information obtained by observing the malfunctioning autonomous vessel using sensors installed on the selected autonomous vessel. Autonomous ship group control system.

5. In the autonomous ship group control system described in claim 3, If the aforementioned short-range communication cannot be performed, the proxy information transmission will be performed based on the operational information of the selected autonomous vessel. Autonomous ship group control system.

6. In the autonomous ship group control system according to claim 2, The aforementioned proxy information transmission is performed in different information formats depending on the recipient. Autonomous ship group control system.

7. In the autonomous ship group control system according to claim 1, If the failure is a failure of a sensor system including at least one of a radar, camera, LiDAR, and infrared sensor, the complementary control unit provides the faulty autonomous vessel with any surrounding environment information related to the position of other vessels, the position of obstacles, and sea conditions acquired by the selected autonomous vessel's own sensors. The malfunctioning autonomous vessel performs its own navigation control based on the surrounding environment information. Autonomous ship group control system.

8. In the autonomous ship group control system according to claim 1, The complementary control unit, in the event that the failure is a partial failure of the propulsion system, has the selected autonomous vessel lead the route ahead of the faulty autonomous vessel, and the faulty autonomous vessel follow the track of the selected autonomous vessel. Autonomous ship group control system.

9. In the autonomous ship group control system according to claim 1, If the failure is due to a failure in the communication system with the server, the supplementary control unit will forward the instructions received by the selected autonomous vessel from the server to the faulty autonomous vessel via short-range communication, The status information of the malfunctioning autonomous vessel is relayed to the server. Autonomous ship group control system.

10. In the autonomous ship group control system according to claim 1, The return route control unit selects a navigation mode from among the following, based on the type and severity of the failure, the traffic conditions in the navigation area, and the sea conditions: escort navigation in which one or more selected autonomous vessels sail alongside or in front of the faulty autonomous vessel; towing navigation in which one or more selected autonomous vessels tow the faulty autonomous vessel; and encirclement navigation in which multiple autonomous vessels surround the faulty autonomous vessel. Autonomous ship group control system.

11. In the autonomous navigation fleet control system according to claim 10, The return route control unit, when towing is selected, determines whether or not to display an ideogram based on the towing length and the type of malfunction, and if it determines that display is necessary, transmits a command to display a predetermined ideogram to the selected autonomous vessel and the malfunctioning autonomous vessel. Autonomous ship group control system.

12. In the autonomous ship group control system according to claim 1, The group component selects the candidate autonomous vessel based on at least one of the following: the distance from the malfunctioning autonomous vessel, the navigation risk on the return route, the impact on the overall mission continuity of the convoy, and the remaining capacity including the remaining power of the candidate autonomous vessel. Autonomous ship group control system.

13. In the autonomous ship group control system according to claim 1, The server, in accordance with the configuration of the return group, determines whether the mission can be continued by the autonomous vessels remaining in the convoy, and if it determines that continuation is possible, it rearranges the arrangement of the remaining autonomous vessels. Autonomous ship group control system.

14. An autonomous ship convoy control system comprising a convoy composed of multiple autonomous ships, and a management device capable of communicating with the multiple autonomous ships, An anomaly identification unit that identifies the target autonomous vessel in an abnormal state, A selection unit for selecting one or more support autonomous vessels to support the aforementioned target autonomous vessel, A support control unit that, depending on the type of abnormality of the target autonomous navigation vessel, selectively causes the support autonomous navigation vessel to perform at least one of the following: proxy transmission of presence information, provision of surrounding environment information, route guidance, and communication relay, thereby supplementing or substituting at least a part of the target autonomous navigation vessel's external recognition function, surrounding recognition function, navigation support function, or communication function, The aforementioned target autonomous navigation vessel and the aforementioned support autonomous navigation vessel constitute a return group, and a route control unit determines a route or navigation pattern for returning the return group to a predetermined base, An autonomous fleet control system equipped with [the following features].

15. In the autonomous navigation fleet control system according to claim 14, If communication with the management device becomes impossible, at least one of the multiple autonomous ships will select a support autonomous ship and make a decision on support control based on pre-shared selection rules. Autonomous ship group control system.

16. A server device that centrally manages the operation of a fleet consisting of multiple autonomous ships, A communication unit that receives diagnostic information regarding the equipment and function status of each of the aforementioned multiple autonomous vessels, Based on the aforementioned diagnostic information, a fault identification unit identifies a malfunctioning autonomous vessel that has experienced a failure that would hinder its return to base under its own power, and A selection unit that selects one or more autonomous vessels from the convoy to form a return group with the faulty autonomous vessel, based on at least one of the distance to the faulty autonomous vessel, the navigation risk on the return route, the impact on the mission continuity of the entire convoy, or the remaining capacity including the remaining power of the candidate autonomous vessels, A supplementary control command unit determines the content of supplementary control according to the type of failure and transmits a command to execute the supplementary control to the autonomous navigation vessel, A return route generation unit generates a return route for the return group to the base and transmits a navigation command to the return group, A server device equipped with the following features.

17. An autonomous navigation system installed on an autonomous navigation vessel belonging to a convoy of multiple autonomous navigation vessels, comprising a self-diagnostic unit that diagnoses the status of the equipment and functions of the autonomous navigation vessel and detects malfunctions that would hinder its return to base under its own power, A server that centrally manages the operation of the aforementioned convoy, and a communications unit that communicates with other autonomous vessels, A feedback control unit transmits fault information to the server when the self-diagnosis unit detects the fault, and receives the configuration command for the feedback group and the contents of the supplementary control from the server. When the autonomous vessel is selected in the return group to compensate for the lost functions of the malfunctioning autonomous vessel, the system includes a compensation execution unit that performs compensation control according to the type of malfunction, When the autonomous vessel is identified as a malfunctioning autonomous vessel, the complemented navigation unit continues navigation based on complementary control provided by another autonomous vessel, An autonomous navigation system for ships equipped with [the following features].

18. A device installed on a support autonomous navigation vessel that belongs to a convoy composed of multiple autonomous navigation vessels and assists other autonomous navigation vessels, A communications unit that receives abnormal information or support commands regarding the target autonomous vessel, A support control unit that, depending on the type of abnormality of the target autonomous navigation vessel, selectively causes the support autonomous navigation vessel to perform at least one of the following: proxy transmission of presence information, provision of surrounding environment information, route guidance, and communication relay, thereby supplementing or substituting at least a part of the target autonomous navigation vessel's external recognition function, surrounding recognition function, navigation support function, or communication function, The aforementioned target autonomous navigation vessel and the aforementioned support autonomous navigation vessel constitute a return group, and a route control unit determines a route or navigation pattern for returning the return group to a predetermined base, A support autonomous navigation system for ships equipped with the following features.

19. Belonging to a convoy consisting of multiple autonomous vessels, A device installed on an autonomous vessel that receives support from other autonomous vessels, A communication unit that receives surrounding environment information, guidance information, or relayed commands from the aforementioned other autonomous vessel or management device, A support receiving unit that complements or replaces at least a part of the external perception function, surrounding perception function, navigation support function, or communication function of the target autonomous vessel by receiving selective complementary control according to the type of abnormality of the target autonomous vessel, A route control unit that forms a return group with the aforementioned other autonomous vessels and determines a route or navigation pattern for returning the return group to a predetermined base, An autonomous navigation system for target ships equipped with the following features.

20. A computer, A fault identification method that identifies a faulty autonomous vessel that has experienced a malfunction that would hinder its return to base under its own power, based on diagnostic information received from each of multiple autonomous vessels. Selection means for selecting the malfunctioning autonomous vessel and the autonomous vessels that constitute the return group from a convoy composed of the aforementioned multiple autonomous vessels, Complementary control command means that determines the content of the complementary control according to the type of failure and transmits a command to execute the complementary control to the autonomous navigation vessel. A return route generation means that generates a return route for the return group to return to the base and transmits a navigation command to the return group. A program designed to function as such.

21. A computer, Self-diagnostic means for diagnosing the equipment and function status of the autonomous ship on which the computer is installed and detecting malfunctions that would hinder its return to base under its own power; return control means for transmitting malfunction information to a server when such malfunction is detected and receiving the configuration commands for the return group and the contents of the supplementary control from the server. A program for causing an autonomous vessel equipped with the computer to function as a complementary execution means that performs complementary control according to the type of failure when the autonomous vessel equipped with the computer is selected in the return group to complement the lost functions of a faulty autonomous vessel, and as a complemented navigation means that continues navigation based on complementary control provided by other autonomous vessels when the autonomous vessel equipped with the computer is identified as a faulty autonomous vessel.

22. A method for controlling a fleet of autonomous ships, which is executed by a server that centrally manages the operation of a fleet composed of multiple autonomous ships, The steps include receiving diagnostic information regarding the equipment and functional status of each of the aforementioned multiple autonomous vessels, Based on the aforementioned diagnostic information, the steps include identifying a malfunctioning autonomous vessel that has experienced a failure that would hinder its return to base under its own power, The steps include selecting the malfunctioning autonomous vessel and the autonomous vessels that constitute the return group from the aforementioned convoy, The steps include determining the content of the supplementary control according to the type of failure and transmitting a command to execute the supplementary control to the selected autonomous vessel, The steps include generating a return route to return the return group to the base and transmitting a navigation command to the return group, A method for controlling a group of autonomous ships, including [specific ships].

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