External status display system for autonomous navigation vehicles in waters, external status display system for a group of navigation vehicles, autonomous navigation vehicle for waters, and external status display method

Abstract

The present invention provides an external status display system, etc., that displays the autonomous driving level or operational authority status of an autonomous vehicle for use in waters in a way that can be identified from the outside while it is navigating or working. [Solution] The external status display system 1 includes a mode acquisition unit 21 that acquires mode information indicating the autonomous driving level or operational authority status in the navigation control or work control of the autonomous navigation body 10 for water areas, a status display unit 30 that is provided in a position where it can be observed from the outside while it is navigating or working, and a display control unit 22 that controls the external display mode output from the status display unit 30 based on the mode information. The autonomous driving level or operational authority status includes a state that distinguishes at least between a state in which a human judgment is made and a state in which a control device judgment is made, and the display control unit 22 makes the externally observable emission mode, display mode, reflection mode, sound mode, or a combination thereof different according to the difference.

Description

[Technical Field]

[0001] The present invention relates to an external status display system that externally identifiably displays the automatic operation level or navigation authority status of an autonomous water vehicle, an external status display system for a vehicle group, an autonomous water vehicle, and an external status display method. [Background Art]

[0002] In recent years, development of autonomous water vehicles that navigate or perform work without people on board has been advanced in fields such as oceanographic surveys, marine surveying, port and coastal monitoring, environmental monitoring, maritime transportation, inspection of offshore wind power generation facilities, and disaster response. Autonomous water vehicles include autonomous surface vessels (ASV) that navigate on the water, unmanned surface vessels (USV) including remotely controlled types, unmanned underwater vehicles (UUV), autonomous underwater vehicles (AUV), and remotely operated vehicles (ROV), etc. In addition, international discussions are also underway on the classification of autonomy levels for autonomous vessels, and autonomous water vehicles can be operated at multiple automatic operation levels ranging from manual maneuvering to fully autonomous navigation.

[0003] Development is also underway for digital data communication between vessels and between vessels and shore at sea. In addition to communication for automatic vessel identification that transmits vessel identification information and navigation status information, this type of maritime data communication enables the exchange of various application-specific information via terrestrial and satellite wireless communication paths.

[0004] As a technology for transmitting the status of a vessel to the outside, for example, Patent Document 1 discloses a vessel maneuvering display device including: detection means for detecting a maneuvering status in which the vessel is decelerating, moving backward, or changing course; and display means disposed at a position visible from outside the vessel, for transmitting the detected maneuvering status to maneuverers of surrounding vessels. In this maneuvering display device, the maneuvering status is detected based on the engine rotation speed, throttle opening, shift lever position, rotation angle of the steering device, or the like, and the maneuvering status is displayed by lighting or blinking of an indicator lamp provided on the hull or outboard motor. [Prior Art Documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2004-189073 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] Autonomous navigation systems for waters can be operated in multiple states, including manual operation, remote operation, limited autonomous navigation, fully autonomous navigation, navigation during communication failure, and minimum risk state. However, it may be difficult for crew members of surrounding vessels, port monitors, underwater workers, or remote controllers to determine the extent to which the autonomous navigation system is operating or working autonomously, or whether human intervention is possible, solely from its appearance. Displays such as those described in Patent Document 1 communicate maneuvering behaviors such as deceleration, reverse, or course change to the surroundings, but do not indicate externally whether the decision-making authority for maneuvering or working rests with a human or the control device, as in the case of an autonomous driving level or operating authority status.

[0007] In particular, when the navigation unit itself is navigating below the waterline or working underwater, the hull itself may not be visible from the water. Furthermore, even if the display unit is exposed above the waterline, it may be intermittently obscured by waves or positioned in a way that makes it difficult to observe from the outside. In addition, when multiple autonomous navigation units for a given water area are operated as a group, if the autonomous operation level of some units falls below that of others, those units may remain within the formation, making them difficult to see from surrounding vessels or remote controllers, and thus difficult to manage individually.

[0008] The present invention aims to display the autonomous driving level or operational authority status of an autonomous navigation system for waters in an externally identifiable manner while it is navigating or working, thereby improving external recognition and ease of management even under actual operating conditions such as underwater navigation or work, waves, or the presence of a mixture of autonomous levels among multiple autonomous navigation systems for waters. [Means for solving the problem]

[0009] An external status display system according to a first aspect of the present invention is an external status display system used for an autonomous vehicle for use in waters, comprising: a mode acquisition unit that acquires mode information indicating the level of autonomous driving or the operational authority status in the navigation control or operation control of the autonomous vehicle for use in waters; a status display unit that is provided or positioned at a location observable from the outside while the autonomous vehicle for use in waters is navigating or operating; and a display control unit that controls the external display mode output from the status display unit based on the mode information. The display control unit causes the observed emission mode, display mode, reflection mode, acoustic mode, or a combination thereof to differ from the outside depending on the difference in the level of autonomous driving or the operational authority status. This makes it possible to indicate the level of autonomous driving or the operational authority status, which is difficult to grasp from the appearance alone, in an identifiable manner from the outside.

[0010] In a first embodiment of the present invention, the display control unit may output a second external display mode different from the first external display mode if the first external display mode corresponding to the automatic driving level or the operational authority status falls under conditions that may cause confusion with legally mandated navigation lights, landmarks, or special signals. This allows for auxiliary external status display while avoiding confusion with legally mandated displays. The external status display system may further include a communication unit that enables the transmission of status notification information corresponding to the mode information or the external display mode via maritime data communication that can be received by at least one of a ship station, coastal station, port monitoring station, remote control station, or satellite station. This communication unit may adjust the transmission time, retransmission time, transmission power, or communication path based on wave-related information or the wave phase of the transmission destination so that the status notification information is received when it is near the wave crest or at a relatively high position on the receiving equipment.

[0011] An external status display system according to a second aspect of the present invention comprises: a mode acquisition unit that acquires mode information while the autonomous navigator for water is navigating or working underwater; a status change detection unit that detects when the mode information has changed from a first state to a second state; an exposure control unit that moves, surfaces, deploys, or exposes the navigator body of the autonomous navigator for water or a display unit, sensor unit, communication unit, antenna unit, mast, float, buoy-shaped unit, towing unit, or floating unit connected thereto to a displayable position that can be observed from the outside; and a display control unit that outputs an external display mode corresponding to the second state at the displayable position. As a result, even when the hull is underwater, the status can be displayed in an observable manner from the outside in response to a change in status.

[0012] An external status display system according to a third aspect of the present invention comprises: a mode acquisition unit that acquires the mode information; a status display unit that can be observed from the outside; a wave-related information acquisition unit that acquires wave-related information indicating at least one of waves, swells, vertical movement, attitude, draft changes of the autonomous navigation body for water, the height of the status display unit relative to the water surface, or the exposure state of the status display unit; and a display control unit that controls the external display mode based on the mode information and the wave-related information. The display control unit outputs or emphasizes the external display mode during periods when the status display unit is in a relatively high position relative to the waves, is exposed above the water surface, or is oriented in a way that allows external observation. This improves external identifiability even under conditions where the display is intermittent due to waves. Furthermore, if the external status display system includes a communication unit, the wave-related information may include the wave phase or relative height of the receiving device for status notification information, and the communication unit may control the transmission timing so that the status notification information is received when the receiving device is near the wave crest or in a relatively high position.

[0013] An external status display system for a group of navigational vehicles according to a fourth aspect of the present invention comprises: an individual mode acquisition unit that acquires individual mode information indicating the autonomous driving level or operational authority status for each of a plurality of autonomous navigational vehicles for waters; a restricted state identification unit that identifies a restricted state navigational vehicle that is in a state such as having a lower autonomous driving level than other autonomous navigational vehicles for waters; a formation change unit that generates formation change information for moving the restricted state navigational vehicle to the outer edge of the formation of the group of navigational vehicles or to a position that can be individually managed; and a group display control unit that outputs an external display mode indicating the status of the restricted state navigational vehicle from the status display unit of the restricted state navigational vehicle or the representative display navigational vehicle. This makes it easier to visually identify autonomous navigational vehicles for waters with reduced autonomy from the outside and facilitates individual management.

[0014] An autonomous navigation vehicle for waters according to the fifth aspect of the present invention comprises a navigation vehicle body that navigates in waters or works underwater, a status display unit provided on the navigation vehicle body or a member connected thereto that can be observed from the outside while navigating or working, and an external status display system according to the first aspect described above.

[0015] An external status display method according to a sixth aspect of the present invention includes the steps of: acquiring mode information; varying the light emission mode, display mode, reflection mode, sound mode, or combination thereof output from an externally observable status display unit according to the difference in the autonomous driving level or the operational authority status; and, when the mode information changes from a first state to a second state while the autonomous navigator for water is navigating underwater or working underwater, moving the display unit, etc. to a displayable position, surfacing, deploying, or exposing it to output an external display mode corresponding to the second state. [Effects of the Invention]

[0016] According to the present invention, the autonomous driving level or operational authority status of an autonomous navigation system for waters can be indicated by an externally observable luminescence pattern, display pattern, reflection pattern, acoustic pattern, or a combination thereof. This makes it easier for surrounding vessels, port monitors, underwater workers, or remote controllers to understand the degree of autonomy of the autonomous navigation system for waters and whether human intervention is permitted from the outside.

[0017] Furthermore, even while navigating or working underwater, the status can be indicated to surrounding surface vessels, underwater equipment, divers, or monitoring equipment through underwater displays, displays on displays exposed above the water surface, or displays that surface when the status changes. Even if the display is intermittently obscured by waves, external visibility can be improved by outputting the display at a relatively high position or during periods when the display is exposed. In addition, by transmitting or retransmitting status notification information corresponding to the external display mode in accordance with the wave crest timing on the receiving end, it becomes easier to confirm the correspondence between the displayed content and the communication content externally, even in communication environments affected by surface reflection and obscuration due to waves.

[0018] Furthermore, in a group of navigation units including multiple autonomous navigation units for water areas, moving the autonomous navigation unit whose autonomous driving level has decreased to the outer edge of the formation or to a position where it can be individually managed makes the display of that unit easier to see and facilitates individual management. In addition, by associating the external display format with status notification information or monitoring image logs from maritime data communication, the operational status can be easily confirmed from the outside. [Brief explanation of the drawing]

[0019] [Figure 1] This figure shows the overall configuration of the external status display system according to the first embodiment. [Figure 2] This diagram shows the functional block of the external status display system according to the first embodiment. [Figure 3] This flowchart shows the processing flow of the control system of the external status display system according to the first embodiment. [Figure 4] This diagram shows the correspondence between status notification information via maritime data communication, external display methods, and monitoring image logs. [Figure 5] This diagram shows the arrangement of the status display unit in an autonomous navigation vehicle for use in waters. [Figure 6] This diagram shows the configuration and communication of an autonomous vehicle for underwater navigation. [Figure 7]This is a diagram showing the arrangement of a status indicator portion in a mode where a part of the watercraft main body is positioned below the water surface. [Figure 8] This is a flowchart showing the processing flow of an external status display method according to a second embodiment. [Figure 9] This is a timing chart showing the relationship between waves, the height of the status indicator portion, and the output timing of an external display mode in a third embodiment. [Figure 10] This is a flowchart showing the control flow of wave-linked display in a third embodiment. [Figure 11] This is a diagram showing the transition of formation change of a watercraft group in a fourth embodiment. [Figure 12] This is a flowchart showing the control flow of a watercraft group in a fourth embodiment. DETAILED DESCRIPTION OF EMBODIMENTS

[0020] Hereinafter, with reference to the drawings, an external status display system, an external status display system for a watercraft group, an autonomous water vehicle for water areas, and an external status display method according to embodiments of the present invention will be described. The present invention is not limited to the following embodiments, and various modifications can be made without departing from the scope of the gist of the present invention. The configurations, numerical values, materials, sensor types, communication methods, and display modes described in each embodiment are examples and do not limit the present invention.

[0021] As used herein, the term "autonomous water vehicle for water areas" refers to a mobile body that autonomously or semi-autonomously navigates or performs work in a water area. Autonomous water vehicles for water areas include, for example, autonomous surface vehicles (ASVs) that navigate on the water surface, unmanned surface vehicles (USVs) including remotely controlled types, unmanned underwater vehicles (UUVs), autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), semi-submersibles, submersible watercraft, and working underwater robots. Also included are watercraft in a mode where the watercraft main body is positioned below the water surface, and only at least a part of the sensor portion or communication portion is positioned on or near the water surface. The autonomous water vehicle for water areas is not limited to these.

[0022] In this specification, "autonomous operation level" refers to an index indicating the degree of autonomy in navigation control or work control. Autonomous operation levels include, for example, categories such as manual operation, remote operation, remotely assisted autonomous navigation, limited autonomous navigation, fully autonomous navigation, navigation during communication failure, minimum risk state, and work interruption state. Autonomous operation levels may, but are not limited to, the autonomy levels considered for autonomous vessels or any other arbitrary categories.

[0023] In this specification, “operational authority state” means a state indicating whether the authority to make maneuvering or operational decisions rests with a control device installed on the vessel, a remote device, a human operator, or a combination thereof. Operational authority states may include, for example, states in which maneuvering or operational decisions are made by a human, states in which maneuvering or operational decisions are made by a control device, states of standby for human intervention, and states of no human intervention.

[0024] In this specification, "externally observable" means that an observing entity located outside the autonomous navigator for waters can observe the status display of said autonomous navigator for waters, and is not limited to visual observation from the water. Observing entities include, for example, crew members of surrounding vessels, port surveillance cameras, cameras on other vessels, coastal surveillance equipment, underwater cameras, other underwater navigators, ROVs, AUVs, divers, and underwater surveillance equipment. In this specification, "mode information" means information indicating the autonomous driving level or operational authority status, and "external display mode" means an observable mode output from the status display unit toward the outside.

[0025] (First Embodiment) Figure 1 is a diagram showing the overall configuration of the external status display system 1 according to the first embodiment. The external status display system 1 is used in an autonomous navigation vehicle 10 for waters. In the example of Figure 1, the autonomous navigation vehicle 10 for waters is an ASV that navigates on the water, and its hull, the navigation vehicle body 11, is equipped with a control device 20, a status display unit 30, a sensor unit 40, and a communication unit 50. Outside the autonomous navigation vehicle 10 for waters, there may be external observation devices 90 for observing the external display patterns, including a ship station 91, a coastal station 92, a port monitoring station 93, a remote control station 94, a satellite station 95, and an underwater observation device 96.

[0026] The external status display system 1 acquires mode information indicating the autonomous driving level or operational authority status of the autonomous navigation vehicle 10 for water areas, and outputs an external display mode from the status display unit 30 based on the mode information. This allows surrounding vessels, port monitors, underwater workers, or remote controllers to observe the appearance or display of the autonomous navigation vehicle 10 for water areas to understand from the outside what level of autonomous driving the vehicle 10 is operating or working at, and whether human intervention is possible.

[0027] Figure 2 shows the functional blocks of the external status display system 1. The control device 20 is composed of, for example, a computer having a processor, memory, and input / output interface, and functions as a mode acquisition unit 21, display control unit 22, status change detection unit 23, exposure control unit 24, and wave-related information acquisition unit 25 by the processor executing a program stored in the memory unit 26. Each of these units may be composed of a dedicated hardware circuit, or it may be composed of a combination of software and hardware. Furthermore, the functions of each unit may be distributed between the control device 20 mounted on the navigation body 11 and a remote device.

[0028] The mode acquisition unit 21 acquires mode information indicating the level of autonomous operation or operational authority status in the navigation control or work control of the autonomous navigation vehicle 10 for water areas. The mode acquisition unit 21 acquires the current control mode from, for example, the navigation control unit 27 or the work control unit 28 which is responsible for navigation control. The mode acquisition unit 21 may also generate or update mode information based on an authority delegation signal from the remote control station 94, a detection result of a communication interruption, or an operation input from a crew member or remote operator. For example, if communication is interrupted during remote operation, the mode acquisition unit 21 updates the mode information to a communication interruption navigation or minimum risk state. The acquired mode information is stored in the storage unit 26.

[0029] Mode information includes information that distinguishes at least two of the following as autonomous driving levels or operational authority states: manual operation, remote operation, remotely assisted autonomous navigation, limited autonomous navigation, fully autonomous navigation, navigation during communication loss, standby for human intervention, no human intervention, minimum risk state, manual operation, remote operation, autonomous operation, and operation interruption state. The number and combinations of distinguished states can be arbitrarily determined depending on the operation, and are not limited to these. Here, minimum risk state refers to a state in which the risk has shifted to a relatively low state, such as drifting, staying in place, or retreating to a safe body of water.

[0030] The sensor unit 40 detects the autonomous navigation vehicle 10's own position, attitude, surrounding environment, and state. The sensor unit 40 includes, for example, at least one of a positioning satellite system receiver, an inertial measurement unit (IMU), a gyro sensor, an acceleration sensor, a radar, a camera, a depth sonar, a water depth sensor, and a wave height sensor. The output of the sensor unit 40 is used for acquiring mode information by the mode acquisition unit 21, acquiring wave-related information by the wave-related information acquisition unit 25, and navigation control by the navigation control unit 27, etc.

[0031] The status display unit 30 is provided or positioned in a location that allows it to be observed from the outside while the autonomous navigation vehicle 10 for water is navigating or operating. The status display unit 30 includes, for example, at least one of a light-emitting unit 31, a reflecting unit 32, an acoustic output unit 33, and an underwater display unit 34. The light-emitting unit 31 is composed of, for example, an LED light source, a laser light source, an organic EL, a display panel, or a floodlight. The reflecting unit 32 is composed of, for example, a retroreflective material, a polarizing reflecting material, or a reflector whose orientation is mechanically changed. The acoustic output unit 33 is composed of, for example, an air speaker or an underwater acoustic generator.

[0032] The display control unit 22 controls the external display mode output from the status display unit 30 based on the mode information. Specifically, the display control unit 22 causes the externally observed emission mode, display mode, reflection mode, sound mode, or combination thereof to differ depending on the difference in the autonomous driving level or the operational authority state. Here, the autonomous driving level or operational authority state includes a state that distinguishes at least between a state in which a human makes a decision on ship handling or work and a state in which a ship handling or work decision is made by the autonomous navigation body 10 for water or the control device of a remote device. The display control unit 22 indicates at least these two states with different external display modes.

[0033] The external display mode is determined by, for example, at least one of the following: emission color, chromaticity range, flashing period, lighting time, emission intensity, emission direction, emission position, lighting order of multiple light-emitting parts, time-series lighting pattern, encoded lighting pattern, reflection pattern, polarization pattern, near-infrared pattern, display graphic, underwater light display, or acoustic pattern. As an example, the display control unit 22 assigns a pattern that can be identified for each state, such as setting the flashing period to 1 second (e.g., on 0.5 seconds, off 0.5 seconds) when indicating fully autonomous navigation, setting the flashing period to 2 seconds when indicating remote operation, and setting it to continuous lighting when indicating a state where human intervention is impossible. These values ​​are examples and are not limiting.

[0034] The display control unit 22 may determine the correspondence between the automated driving level or operational authority status and the external display mode by referring to a correspondence table stored in the storage unit 26. The correspondence table has a data structure that associates, for example, a status identifier with parameters such as emission color, flashing period, emission intensity, emission direction, and sound pattern. By using the correspondence table, the correspondence can be changed or updated via communication depending on the operating water area and applicable regulations.

[0035] The reflection pattern is determined, for example, by changing the exposed area of ​​the retroreflective material of the reflective section 32, the orientation of the reflector, or the polarization state, according to the automatic driving level or the operational authority status. This makes it possible to distinguish the way in which light from searchlights of other vessels is reflected by the reflective section 32 at night, depending on the state, so that the state can be identified from the outside even when the system does not emit light itself. The acoustic pattern is determined, for example, by varying the period, length, or frequency pattern of the sound output by the acoustic output section 33 depending on the state, and is used to provide supplementary status indication in situations where visibility is difficult.

[0036] Figure 3 is a flowchart showing the processing flow in the control system of the external status display system 1. This process is repeatedly executed at a predetermined control cycle (e.g., a 1-second cycle) while the autonomous navigation vehicle 10 for water is navigating or performing operations. In step S1, the mode acquisition unit 21 acquires mode information indicating the autonomous driving level or operational authority status based on at least one of the signals from the navigation control unit 27 or the operation control unit 28, the remote control station 94, the communication status, and the operation input. In step S2, the display control unit 22 determines the external display mode corresponding to the acquired mode information by referring to the correspondence table stored in the storage unit 26.

[0037] In step S3, the display control unit 22 determines whether the determined external display mode (first external display mode) falls under the conditions for being confused with legal navigation lights, landmarks, or special signals in the jurisdictional waters to which the current position belongs. If the conditions for confusion are met (step S3: Yes), in step S4, the display control unit 22 changes to a second external display mode that is different from the first external display mode. If the conditions for confusion are not met (step S3: No), the first external display mode is maintained. In step S5, the display control unit 22 outputs the external display mode from the status display unit 30.

[0038] In step S6, the communication unit 50 transmits status notification information corresponding to the mode information or external display mode via maritime data communication. In step S7, the mode acquisition unit 21 determines whether the mode information has been updated. If it has been updated (step S7: Yes), it returns to step S1 to update the external display mode; if it has not been updated (step S7: No), it continues to output the current external display mode. The transmission in step S6 may be performed before the output in step S5, or in parallel with the output.

[0039] If the display control unit 22 determines that the first external display mode corresponding to the autonomous driving level or operational authority status is likely to be confused with legal navigation lights, landmarks, light signals, emergency ship lights, special signals, or lights restricted in the jurisdictional waters, it will output a second external display mode from the status display unit 30 that is different from the first external display mode. For example, if the first external display mode is a steady red light and there is a risk of it being confused with legal navigation lights, the display control unit 22 will switch to a second external display mode such as blue light or a specific flashing pattern. This makes it possible to provide an auxiliary external status display indicating the autonomous driving level while avoiding confusion with legal displays stipulated in laws or regulations concerning maritime traffic.

[0040] The external display mode of this embodiment is not a substitute for legal navigation lights, landmarks, or audible / light signals, but rather an auxiliary external status indicator showing the autopilot level or operational authority status. The display control unit 22 sets at least one of the following: light color, flashing cycle, light direction, display position, brightness, display time period, and viewing angle, so as to distinguish it from legal navigation lights or special lights. Whether or not the conditions for confusion are met is determined, for example, by comparing the rules of the jurisdictional waters to which the current position belongs with the external display mode to be output.

[0041] The communication unit 50 enables the transmission of status notification information corresponding to mode information or external display mode via maritime data communication that can be received by at least one of the ship station 91, coastal station 92, port monitoring station 93, remote control station 94, or satellite station 95. The status notification information includes at least one of the following: identification information of the autonomous navigation body 10 for water areas, location information, time information, status identification information indicating the autonomous driving level or operational authority status, and display mode identification information indicating the external display mode. The location information and time information are acquired, for example, from a receiver of a positioning satellite system, and positioning correction is applied as necessary. The communication unit 50 may estimate the relative height, wave phase, or exposure state of the receiving equipment with respect to the waves, based on the position information, attitude information, vertical movement information, wave information, response signal, or shared time information of the receiving equipment, such as a ship station 91, coastal station 92, port monitoring station 93, remote control station 94, satellite station 95, other autonomous navigation units 10 for water areas, or representative display navigation unit 81, which are destinations or relay destinations for status notification information.

[0042] The status notification information has a data structure that includes, for example, a ship identification number as identification information for the autonomous navigation body 10 for water areas, location information such as latitude and longitude, time information, status identification information, display mode identification information, and display failure information. The status identification information is a code that uniquely identifies the autonomous driving level or operating authority status, and enables the receiving side to restore the autonomous driving level or operating authority status. The display mode identification information is a code that identifies the external display mode (light emission color, flashing period, etc.) output by the status display unit 30, and enables the correspondence between the externally observed display and the communication content.

[0043] For maritime data communication, for example, inter-ship data communication, ship-to-shore data communication, communication using terrestrial radio communication paths, or communication using satellite radio communication paths can be used. Status notification information may also be transmitted as application-specific information (application-specific messages), in which case an identifier indicating the type of message may be used so that it can be interpreted by the receiving end as a different type of information from standard ship auto-identification information or navigation status information. This makes it possible to transmit information about the level of autonomous operation without interfering with notifications regarding the safety of the ship.

[0044] The communication unit 50 may transmit status notification information by unicast to a specific destination, broadcast to an unspecified number of recipients, geocast specifying a geographical range, or multicast to a group of ships. The communication path may be selected according to the communication distance, communication capacity, delay, and channel occupancy rate, for example, prioritizing terrestrial radio communication paths in coastal waters and satellite radio communication paths in the open ocean. The communication unit 50 may also add authentication information using a signature, hash, or symmetric key to the status notification information to suppress tampering, impersonation, or replay. Furthermore, the communication unit 50 may control the transmission time, retransmission time, number of transmissions, transmission power, directivity, communication path, or relay destination so that the status notification information arrives at an optimal reception time when the receiving equipment is near the wave crest, at a relatively high position relative to the waves, or exposed above the water surface. If the wave phase of the receiving side is unknown, the transmission may be prioritized for the period when the transmitting side's antenna unit 62 or status display unit 30 is at a relatively high position, and this may be supplemented by reception confirmation, multiple transmissions, or retransmissions.

[0045] Figure 4 shows the correspondence between status notification information via maritime data communication, the external display mode of the status display unit 30, and the monitoring image log. The communication unit 50 transmits the status notification information within a predetermined period before, during, or after the output of the external display mode (for example, within 5 seconds before or after the start of output). By associating the image log of the external display mode captured by the port monitoring station 93's CCTV or a camera on another vessel with the communication log using time information, it becomes possible to verify the implementation status from the outside. This predetermined period may be set to match the period near the wave crest of the receiving equipment, the period near the wave crest of the transmitting equipment, or a period in which the wave phases of both are suitable for communication.

[0046] If the status display unit 30 cannot be observed from the outside, the display control unit 22 may generate display failure information indicating that the display unit is not observable from the outside, submerged in water, shielded, or malfunctioning, and transmit it via the communication unit 50 or record it as a log in the storage unit 26. This allows the status to be understood from the outside even when the display cannot be observed.

[0047] The autonomous navigation vehicle 10 for waters according to this embodiment comprises a navigation vehicle body 11 that navigates in waters or works underwater, a status display unit 30 provided on the navigation vehicle body 11 or a member connected to the navigation vehicle body 11 and observable from the outside while navigating or working, and the external status display system 1 described above. The status display unit 30 is positioned in a location observable from the outside, either underwater, on the water surface, near the water surface, or via the water surface, when at least a part of the navigation vehicle body 11 is navigating below the water surface or working underwater.

[0048] (In the case of an autonomous vehicle navigating on water) Next, the configuration and operation of the autonomous vehicle 10 for water use when it is an autonomous vehicle navigating on water will be described. Figure 5 is a diagram showing the arrangement of the status display unit 30 in the autonomous vehicle 10 for water use navigating on water. In this case, the autonomous vehicle 10 for water use is, for example, an ASV or USV having a monohull, catamaran or trimaran hull, and the status display unit 30 is arranged on the upper part of the vehicle body 11, the upper part of the wheelhouse, the upper end of the mast 61, or the side of the hull. The status display unit 30 may have multiple light-emitting units 31 arranged circumferentially so that it is visible all around, or it may be arranged facing a specific direction (for example, the rear or the direction in which other vessels are present).

[0049] The autonomous vehicle 10 for waters that navigates on the water is equipped with a navigation control unit 27. The navigation control unit 27 recognizes its own position and surrounding environment based on the output of, for example, a receiver of a positioning satellite system, IMU, radar, camera, and depth sonar included in the sensor unit 40, performs route planning and route following, and controls the propulsion unit 42 and the steering unit 43. The propulsion unit 42 is composed of, for example, a screw propeller, thruster, or water jet, and the steering unit 43 is composed of a rudder or thrust direction changing mechanism. The mode acquisition unit 21 acquires the current autonomous driving level from the navigation control unit 27.

[0050] In a water-based autonomous navigation vehicle 10 navigating on the water, the level of autonomous operation or operational authority state transitions, for example, from manual or remote operation near a quay or mother ship, through limited autonomous navigation after departure, to fully autonomous navigation in the open ocean, and also transitions to communication-out-of-communication navigation or minimum-risk state if communication is lost. The display control unit 22 updates the external display pattern according to these transitions using the control system processing shown in Figure 3. For example, a green steady light is output during manual operation, a green flashing light during remote operation, a blue flashing light during fully autonomous navigation, and an orange steady light when communication-out-of-communication navigation or when human intervention is impossible. Different external display patterns are output for each state. These colors and patterns are examples and are not limited to those mentioned above.

[0051] Since the autonomous navigation vehicle 10 for waterways navigating on the water has its status display unit 30 always located above the water surface, it can output an external display pattern without performing the surfacing or exposure control according to the second embodiment. On the other hand, if the hull is rocking due to waves, the wave-linked display according to the third embodiment, which will be described later, may be applied. Furthermore, the autonomous navigation vehicle 10 for waterways navigating on the water can transmit status notification information via the communication unit 50, and the external display pattern can be observed by CCTV or the like at the port monitoring station 93, thereby further enhancing its visibility from the outside.

[0052] The autonomous navigation vehicle 10 for waterways, navigating on the water, can act as a swerving vessel or a holding vessel in a facing situation (meeting, crossing, or overtaking) based on maritime traffic regulations. The display control unit 22 outputs an external display mode indicating the level of autonomous operation when the autonomous navigation vehicle 10 is performing a swerving maneuver through fully autonomous navigation, making it easier for operators of surrounding vessels to predict the behavior of the autonomous navigation vehicle 10. This reduces the risk of collision in facing situations. Note that this external display mode is an auxiliary output separate from legally mandated lights and shapes.

[0053] (In the case of an autonomous vehicle navigating underwater) Next, the configuration and operation of the autonomous vehicle 10 for water areas when it is an autonomous vehicle navigating underwater will be described. Figure 6 is a diagram showing the configuration and communication of the autonomous vehicle 10 for water areas navigating underwater. In this case, the autonomous vehicle 10 for water areas is, for example, a UUV, AUV, or ROV, and it navigates or performs operations with all or part of the vehicle body 11 located below the water surface. The autonomous vehicle 10 for water areas navigating underwater is equipped with at least one of an underwater acoustic communication unit 51 and an underwater optical communication unit 52, and transmits and receives information with other autonomous vehicles 10 for water areas navigating on the water surface, a mother ship, or an underwater monitoring device 96.

[0054] Since wireless communication over the water surface hardly propagates underwater, the autonomous navigation vehicle 10 for underwater use underwater acoustic communication via the underwater acoustic communication unit 51. Underwater acoustic communication is slow and has high latency, and is susceptible to multipath and Doppler effects, so the information transmitted may be limited to status identification information indicating the autonomous driving level or operational authority status, or retransmission control or error correction may be performed. For short distances, underwater optical communication via the faster underwater optical communication unit 52 may be used.

[0055] As shown in Figure 6, an autonomous navigation system 10 for water areas navigating underwater may perform underwater acoustic communication with another autonomous navigation system 10 for water areas navigating on the surface (for example, a representative display navigation system 81), and the representative display navigation system 81 may relay status notification information based on the received status identification information to the outside via maritime data communication on the water surface. This makes it possible to transmit the autonomous driving level or operational authority status of the underwater autonomous navigation system 10 to a surface ship station 91, coastal station 92, or satellite station 95, etc. In other words, a configuration can be made in which the navigation system that grasps the status on the underwater side and the navigation system that communicates to the outside on the surface side are separated.

[0056] The arrangement of the status display unit 30 in the autonomous navigation vehicle 10 for underwater navigation will be described. Figure 7 shows the arrangement of the status display unit 30 in a configuration in which at least a part of the navigation vehicle body 11 is located below the water surface. When the autonomous navigation vehicle 10 for underwater navigation is navigating underwater or working underwater, the status display unit 30 is provided underwater as an underwater display unit 34 and outputs an external display mode that can be observed by an underwater external observation device, another underwater navigation vehicle, ROV, AUV, diver, or underwater monitoring device 96. The underwater display unit 34 is composed of, for example, an underwater LED that emits light in the blue-green wavelength range which has relatively little attenuation underwater, or an underwater sound generator.

[0057] Furthermore, in navigation or operation states where at least a portion of the navigation body 11 is submerged, the status display unit 30 may be positioned on the water surface, near the water surface, or in a location observable from the outside via the water surface. Specifically, the status display unit 30 is provided on the sensor unit 40, communication unit 50, antenna unit 62, mast 61, float 63, buoy-shaped unit 64, towing unit 65, floating unit 66, or external display unit, which are located on or near the water surface. For example, while the navigation body 11 remains submerged, only the tip of the mast 61 is exposed above the water surface, and an external display mode is output from the light-emitting unit 31 provided on the mast 61.

[0058] When the autonomous navigation vehicle 10 for underwater navigation is performing work underwater, the status display unit 30 may display the operational authority status, indicating whether the authority to perform the work rests with the human or the control device, to divers, ROVs, or other underwater vehicles. For example, the underwater display unit 34 outputs different external display modes depending on the work authority status, such as a blue flashing light during autonomous work, a green flashing light during remote work, and a steady orange light when work is suspended. This makes it easier for workers underwater to determine from the outside whether they are allowed to approach or cooperate with the autonomous navigation vehicle 10 for underwater navigation.

[0059] In an autonomous navigation system 10 operating underwater, if the status display unit 30 is submerged, obscured, or malfunctions and cannot be observed from the outside, the display control unit 22 generates display failure information indicating the submerged state, the obscured state, or the malfunction state of the display unit, and transmits it to the autonomous navigation system 10 on the water via the underwater acoustic communication unit 51, or records it as a log in the storage unit 26. The autonomous navigation system 10 on the water may relay the display failure information to the outside via maritime data communication.

[0060] (Second Embodiment) Next, an external status display system 1 according to the second embodiment will be described. This embodiment is characterized in that, while the autonomous navigation body 10 for water areas is navigating or working underwater, if the autonomous driving level or operational authority status changes, the display unit and the like will be raised or exposed to a displayable position to display the information. The configuration that is common with the first embodiment will not be described.

[0061] In this embodiment, the mode acquisition unit 21 acquires mode information indicating the autonomous driving level or operational authority status while the autonomous navigation body 10 for water areas is navigating or working underwater. The state change detection unit 23 detects when the mode information has changed from a first state to a second state. For example, the state change detection unit 23 compares the immediately preceding mode information held in the storage unit 26 with the mode information newly acquired by the mode acquisition unit 21, and detects a state change if the two are different.

[0062] When a change in state is detected, the exposure control unit 24 moves, surfaces, deploys, or exposes the main body 11 of the autonomous navigation body 10 for water areas, or the display unit, sensor unit 40, communication unit 50, antenna unit 62, mast 61, float 63, buoy-shaped unit 64, towing unit 65, or floating unit 66 connected to the main body 11, to a displayable position that can be observed from the outside on the water surface, near the water surface, underwater, or via the water surface. These movements, surfaces, deployments, or exposures are performed, for example, by an exposure mechanism 60. The exposure mechanism 60 is composed of, for example, a lifting winch, a winding mechanism, a buoyancy adjustment mechanism (ballast tank), a telescopic mast, or a deployable arm.

[0063] The display control unit 22 outputs an external display mode corresponding to the second state so that it can be observed from the outside at a displayable position. For example, if the operational authority state of the autonomous navigation body 10 for waters that was navigating underwater changes from fully autonomous navigation to a state where human intervention is impossible, the exposure control unit 24 causes the buoy-shaped part 64 to float above the water surface, and the display control unit 22 outputs an external display mode indicating the state where human intervention is impossible from the light-emitting part 31 provided on the buoy-shaped part 64.

[0064] When the second state is a predetermined state, the exposure control unit 24 moves, raises, deploys, or exposes the display unit, sensor unit 40, communication unit 50, antenna unit 62, mast 61, float 63, buoy-shaped unit 64, towing unit 65, or floating unit 66 to a displayable position. Here, the predetermined state includes, for example, fully autonomous navigation, switching to remote control, switching from remote control to autonomous navigation, navigation during communication loss, state where human intervention is impossible, minimum risk state, work interruption state, or emergency evacuation state. The predetermined state is predetermined as a state in which there is a high need to notify the outside in terms of operation and is registered in the memory unit 26. The predetermined state is not limited to these and may be added or changed depending on the operation.

[0065] The display control unit 22 outputs an external display mode corresponding to the second state for a predetermined period of time, and then returns the main body of the navigation unit 11, or the display unit, sensor unit 40, communication unit 50, antenna unit 62, mast 61, float 63, buoy-shaped unit 64, towing unit 65, or floating unit 66 to its underwater navigation or working position, or reduces the output of the external display mode. The predetermined period can be, for example, 30 seconds, or it may be the period until reception confirmation is obtained by an external observation device. This makes it possible to display only for the necessary period of time while suppressing the increase in resistance and power consumption associated with surfacing and exposure for display.

[0066] Figure 8 is a flowchart showing the processing flow of the external status display method according to the second embodiment. This process is performed while the autonomous navigation body 10 for water is navigating or working underwater. In step S11, the mode acquisition unit 21 acquires mode information indicating the autonomous driving level or operational authority status. In step S12, the status change detection unit 23 determines whether the mode information has changed from the first state to the second state. If it has not changed (step S12: No), the process returns to step S11.

[0067] If the mode information changes to the second state (step S12: Yes), in step S13, the exposure control unit 24 determines whether the second state corresponds to a predetermined state. If it does not correspond to a predetermined state (step S13: No), the process returns to step S11. If it corresponds to a predetermined state (step S13: Yes), in step S14, the exposure control unit 24 moves, raises, deploys, or exposes the display unit, sensor unit 40, communication unit 50, antenna unit 62, mast 61, float 63, buoy-shaped unit 64, towing unit 65, or floating unit 66 to a displayable position.

[0068] In step S15, the display control unit 22 outputs an external display mode corresponding to the second state at a displayable position. In step S16, the display control unit 22 determines whether the external display mode has been output for a predetermined period of time, or whether confirmation of reception by an external observation device has been obtained. If the conditions are not met (step S16: No), the display continues. If the conditions are met (step S16: Yes), in step S17, the display control unit 22 returns the display unit etc. to the underwater navigation position or working position, or reduces the output of the external display mode and terminates the process.

[0069] As described above, the external status display method according to this embodiment includes the steps of: acquiring mode information; varying the light emission mode, display mode, reflection mode, sound mode, or combination thereof output from the externally observable status display unit 30 according to the difference in the automatic driving level or operational authority status; and moving, surfacing, deploying, or exposing the display unit, etc., to a displayable position and outputting an external display mode corresponding to the second state when the mode information changes from the first state to the second state while navigating underwater or working underwater. Each step may be implemented as a program executed by the control device 20 or a remote device.

[0070] (Third Embodiment) Next, an external status display system 1 according to the third embodiment will be described. This embodiment is characterized by controlling the external display mode according to wave conditions, etc. In addition to the configuration of the first embodiment, the external status display system 1 of this embodiment includes a wave-related information acquisition unit 25.

[0071] The wave-related information acquisition unit 25 acquires wave-related information indicating at least one of the following: waves, swells, vertical movement of the autonomous navigation body 10 for water areas, attitude, draft change, height of the status display unit 30 relative to the water surface, or the exposure status of the status display unit 30. The wave-related information acquisition unit 25 generates wave-related information based, for example, on the output of an IMU, acceleration sensor, gyro sensor, wave height sensor, draft sensor, water pressure sensor, or a water level sensor or camera that detects the exposure status display unit 30. These sensors are included in the sensor unit 40. The wave-related information may also include the relative height of the status notification information receiving device to the waves, wave phase, vertical movement, attitude, or exposure status.

[0072] The display control unit 22 controls the external display mode output from the status display unit 30 based on mode information and wave-related information. Specifically, the display control unit 22 outputs or enhances the output of an external display mode corresponding to the difference in the automatic driving level or operating authority status during the period when the status display unit 30 is in a relatively high position relative to the waves, the period when the status display unit 30 is exposed above the water surface, or the period when the status display unit 30 is oriented in a way that allows external observation. The communication unit 50 may cooperate with the display control unit 22 or the wave-related information acquisition unit 25 to associate the output period of the external display mode with the optimal reception period when the status notification information is easily demodulated on the receiving side.

[0073] Figure 9 is a timing chart showing the relationship between wave conditions, the height of the status display unit 30, and the output timing of the external display mode. As shown in Figure 9, the height of the status display unit 30 detected by the wave-related information acquisition unit 25 fluctuates periodically in accordance with the wave conditions. The display control unit 22 identifies the period during which the height exceeds a predetermined standard (for example, 0.3 m or more above the still water surface, or above the most recent moving average height) as the period during which the status display unit 30 is in a relatively high position, and outputs or emphasizes the external display mode during that period.

[0074] When the status display unit 30 is intermittently obscured by waves, the display control unit 22 outputs the external display mode as a time-series display mode that can be identified as the same automatic driving level or operational authority state over multiple exposure periods. For example, the display control unit 22 divides an encoded lighting pattern that cannot be completed in a single exposure period into multiple exposure periods and outputs them, and the external observation device integrates the lighting over multiple exposure periods to make it identifiable as a single state. This ensures that external identification is maintained even if the display is intermittently obscured by waves.

[0075] The display control unit 22 changes at least one of the external display mode's light intensity, illumination time, flashing cycle, light emission direction, display surface orientation, acoustic output, or reflective surface exposure state during periods when the status display unit 30 is in a relatively high position relative to the waves. For example, the display control unit 22 increases the light emission intensity (e.g., to 1.5 times the normal level) or directs the light emission direction outward in the horizontal direction when the status display unit 30 is at the crest of a wave, thereby improving visibility from distant surrounding vessels and port surveillance cameras. The larger the waves, the greater the adjustment amount for illumination time, brightness, light emission direction, acoustic output, or display frequency may be increased. The communication unit 50 may also transmit status notification information in synchronization with the enhanced output of the status display unit 30, or immediately before or after said enhanced output. In this case, by prioritizing not only the timing when the transmitting status display unit 30 is at the crest of a wave, but also the timing when the receiving equipment is expected to be near the wave crest or in a relatively high position, a decrease in reception quality due to sea surface reflection, shielding, or fading can be suppressed.

[0076] Figure 10 is a flowchart showing the control flow of the wave-linked display in the third embodiment. In step S21, the mode acquisition unit 21 acquires mode information, and the display control unit 22 determines the external display mode corresponding to the mode information. In step S22, the wave-related information acquisition unit 25 acquires wave-related information indicating the height or exposure state of the status display unit 30 relative to the water surface. In step S23, the display control unit 22 determines, based on the wave-related information, whether the status display unit 30 is in a relatively high position or exposed above the water surface.

[0077] If the status display unit 30 is in a relatively high position or exposed (step S23: Yes), in step S24, the display control unit 22 outputs an external display mode, or increases its light intensity, illumination time, or number of displays to enhance the output. If the status display unit 30 is in a low position or shielded (step S23: No), in step S25, the display control unit 22 suppresses the output of the external display mode and holds the intermediate state of the time-series display mode in preparation for the next exposure period. After steps S24 and S25, the process returns to step S21 and is repeated. In step S24, the communication unit 50 may transmit or retransmit status notification information corresponding to the external display mode in accordance with the appropriate reception time for the receiving device. In step S25, the communication unit 50 may withhold transmission if it is estimated that the receiving device is in a low position and hold the status notification information until the next appropriate reception time.

[0078] (Fourth Embodiment) Next, an external status display system 2 for a group of navigational vehicles according to the fourth embodiment will be described. This embodiment is intended for a group of navigational vehicles 200 including a plurality of autonomous navigational vehicles 10 for use in waters, and is characterized by its ability to move an autonomous navigational vehicle 10 for use in waters whose autonomous driving level has decreased within the convoy to facilitate display and management.

[0079] Figure 11 shows the transition of formation changes in the group of navigation units 200. The external status display system 2 of the group of navigation units comprises an individual mode acquisition unit 71, a restricted state identification unit 72, a formation change unit 73, and a group display control unit 74. Each of these units may be implemented as a group management device 70 mounted on any of the autonomous navigation units 10 for water areas (for example, a representative display navigation unit 81) included in the group of navigation units 200, or it may be located in a remote device such as a remote control station 94, or it may be distributed and located on multiple autonomous navigation units 10 for water areas.

[0080] The individual mode acquisition unit 71 acquires individual mode information indicating the autonomous driving level or operational authority status for each of the multiple autonomous navigation units 10 for water areas. The individual mode information is collected, for example, from each autonomous navigation unit 10 for water areas via maritime data communication or inter-unit communication. If the unit group 200 includes an underwater autonomous navigation unit 10 for water areas, the individual mode information of that underwater autonomous navigation unit 10 may be transmitted to the surface autonomous navigation unit 10 for water areas via underwater acoustic communication before being collected.

[0081] The restricted state identification unit 72 identifies a restricted state navigator 80 among the multiple autonomous navigators 10 for water areas that is in a state with a lower autonomous driving level than the other autonomous navigators 10, a state requiring remote intervention, a state with low communication reliability, or a state in a safe transition state. For example, the restricted state identification unit 72 compares the autonomous driving levels of each autonomous navigator 10 for water areas and identifies the autonomous navigator 10 with the lowest level as the restricted state navigator 80. A state of low communication reliability is determined, for example, when the received signal strength (RSSI) falls below a predetermined value (e.g., -100 dBm) or when the packet delivery rate falls below a predetermined value (e.g., 90%).

[0082] The formation change unit 73 generates formation change information to move the restricted-state navigational body 80 to the outer edge of the formation of the navigational body group 200, to a side that is easily visible to surrounding vessels, or to a position that can be separated from the navigational body group 200 and managed individually. The formation change information includes, for example, the target position, target course, target speed, or position within the formation of the restricted-state navigational body 80, and is transmitted to the restricted-state navigational body 80 or each autonomous navigational body 10 for the water area. Here, a position that can be managed individually means, for example, a position that is separated by a predetermined distance or more from other autonomous navigational bodies 10 for the water area in the navigational body group 200 and that can be easily monitored and controlled by the remote control station 94 alone.

[0083] The group display control unit 74 outputs an external display mode indicating the autonomous driving level or operational authority status of the restricted state navigation body 80 from the status display unit 30 of the restricted state navigation body 80 or the representative display navigation body 81 included in the navigation body group 200, making it externally observable. This allows surrounding vessels or remote controllers to grasp the presence and status of the autonomous navigation body 10 for water areas whose degree of autonomy has decreased among the navigation body group 200.

[0084] The formation change unit 73 may generate formation change information to move the restricted-state navigation body 80 to the outer edge in the left-right direction relative to the direction of travel of the navigation body group 200, to the outer edge opposite to the side from which other vessels are approaching, to the side that is easily monitored by the remote control device, or to the rear of the navigation body group 200. For example, if another vessel is approaching from the starboard side, the formation change unit 73 moves the restricted-state navigation body 80 to the outer edge on the port side to reduce the risk of interference between the other vessel and the restricted-state navigation body 80.

[0085] After the restricted-state navigational vehicle 80 moves to the outer edge of the formation or to a position where it can be individually managed, the group display control unit 74 outputs an external display mode from the status display unit 30 of the restricted-state navigational vehicle 80 indicating the reduced automatic driving level or operational authority status. This makes the restricted-state navigational vehicle 80 easier to see from the outside after it has moved, facilitating individual monitoring and management.

[0086] The external status display system 2 for the group of navigational bodies may further include a group communication unit 75. The group communication unit 75 enables the transmission of at least one of the following via maritime data communication that can be received by at least one of the ship station 91, coastal station 92, port monitoring station 93, remote control station 94, or satellite station 95: identification information of the restricted navigational body 80, the automatic driving level or operational authority status of the restricted navigational body 80, formation change information, the position of the restricted navigational body 80 within the formation or the position after movement, and identification information of the representative display navigational body 81.

[0087] If the restricted-state navigation body 80 is in the water or in a situation where the display is difficult to observe, and therefore cannot output an external display mode from its own status display unit 30, the group display control unit 74 may output an external display mode from the status display unit 30 of the representative display navigation body 81 that associates the identification information of the restricted-state navigation body 80 with its state after degradation, thereby performing a proxy display. The representative display navigation body 81 is, for example, a water-based autonomous navigation body 10 that is located on the water and has high visibility from the outside, selected from the navigation body group 200.

[0088] When the group display control unit 74 displays the status of the group of navigation units 200 to the outside, it may display the most restrictive or conservative state among the autonomous navigation units 10 for water areas included in the group of navigation units 200 as the group representative state, rather than the highest level of autonomous driving. This makes it possible to conservatively predict the behavior of the entire group of navigation units 200 from the outside.

[0089] The group of navigational units 200 may, for example, take a leader-follower formation with one representative display navigational unit 81 as the leader and other autonomous navigational units 10 for water areas as followers, or it may take a formation divided into multiple platoons. When a restricted navigational unit 80 occurs, the formation change unit 73 may change the formation of only the platoon containing the restricted navigational unit 80, or remove the restricted navigational unit 80 from the followers and move it to a position where it can be individually managed. The type of formation and the unit of change can be arbitrarily determined according to the operation and are not limited to these.

[0090] Figure 12 is a flowchart showing the control flow of the navigation group 200 in the fourth embodiment. In step S31, the individual mode acquisition unit 71 acquires individual mode information for each of the multiple autonomous navigation units 10 for water areas. In step S32, the restriction state identification unit 72 determines whether or not a restricted state navigation unit 80 exists based on at least one of the autonomous driving level, the necessity of remote intervention, communication reliability, and safety transition state of each autonomous navigation unit 10 for water areas. If no restricted state navigation unit 80 exists (step S32: No), the process returns to step S31.

[0091] If a restricted navigation object 80 exists (step S32: Yes), in step S33, the formation change unit 73 generates formation change information to move the restricted navigation object 80 to the outer edge of the formation or to a position that can be individually managed. In step S34, the restricted navigation object 80 moves based on the formation change information. In step S35, the group display control unit 74 causes the status display unit 30 of the restricted navigation object 80 or the representative display navigation object 81 to output an external display mode indicating the reduced automatic operation level or operational authority status. In step S36, the group communication unit 75 transmits at least one of the identification information of the restricted navigation object 80, the reduced state, the formation change information, and the position after movement via maritime data communication, and then the process returns to step S31.

[0092] (Modification) The embodiments described above can be combined as appropriate. For example, the surfacing display of the second embodiment, the wave-linked display of the third embodiment, and the group control of the fourth embodiment can be combined so that when the underwater restricted state navigation body 80 changes state, the buoy-shaped part 64 surfaces, is highlighted at the timing of the wave crest, and the state is transmitted by the group communication unit 75. In this case, the group communication unit 75 may adjust the transmission time or retransmission time so that the status notification information arrives when the receiving equipment such as the representative display navigation body 81 or ship station 91 is near the wave crest.

[0093] The communication path used for maritime data communication may be selected from inter-ship data communication, ship-to-shore data communication, terrestrial radio communication paths, satellite radio communication paths, satellite communication, cellular communication, and other radio communications, depending on the communication distance, communication capacity, delay, and channel occupancy rate, and is not limited to a specific standard. Furthermore, when the autonomous navigation body 10 for water areas is underwater, radio communication over the water surface experiences significant attenuation, so underwater acoustic communication, underwater optical communication, or electromagnetic induction communication may be used for communication between the underwater autonomous navigation body 10 and equipment on the water surface. Underwater acoustic communication is slow and has high delay and is susceptible to multipath and Doppler effects, so the amount of information transmitted may be reduced or retransmission control may be implemented. When radio communication is performed via an antenna unit 62 on or near the water surface, the communication unit 50 or the group communication unit 75 may control at least one of the transmission time, retransmission time, transmission power, number of transmissions, or communication path of the status notification information or the information transmitted by the group communication unit, according to the receiving side wave information indicating the wave phase, relative height, or exposure state of at least one of the transmitting and receiving sides.

[0094] The functions of each part may be realized by dedicated hardware, software running on a general-purpose processor, or a combination thereof. The light-emitting part 31 of the status display unit 30 is not limited to LEDs, but may be an organic EL, laser, display panel, or floodlight. The type and number of sensors included in the sensor unit 40 may also be arbitrarily selected according to the operation. The correspondence table and program stored in the memory unit 26 may be updated via communication.

[0095] The application of the present invention is not limited to ASVs or USVs that navigate on the water, but also includes UUVs, AUVs, ROVs, semi-submersible vehicles, and underwater robots for work. Furthermore, the external observation device 90 includes, but is not limited to, ships, coastal facilities, port facilities, satellites, aircraft, unmanned aerial vehicles, other autonomous vehicles for use in waters, and divers.

[0096] The present invention can be applied, for example, to display the autonomous driving level of a water-based autonomous navigation vehicle 10 to surrounding vessels and port monitors when entering and leaving a port; to display the degree of autonomy of a group of navigation vehicles 200 inspecting offshore wind power generation facilities to the outside world; and to display the work authorization status of an underwater UUV to divers and ROVs. In these applications, the present invention can improve external visibility and ease of management, and reduce the risk of collisions and interferences.

[0097] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and additions, omissions, substitutions, and other modifications of components are possible within the scope of the gist of the invention as described in the claims. The numerical values, communication methods, sensor types, and display modes described above are illustrative and do not limit the present invention. [Explanation of Symbols]

[0098] 1...External status display system, 2...External status display system for the group of navigation units, 10...Autonomous navigation unit for water areas, 11...Navigation unit body, 20...Control device, 21...Mode acquisition unit, 22...Display control unit, 23...Status change detection unit, 24...Exposure control unit, 25...Wave-related information acquisition unit, 26...Storage unit, 27...Navigation control unit, 28...Operation control unit, 30...Status display unit, 31...Light-emitting unit, 32...Reflector unit, 33...Acoustic output unit, 34...Underwater display unit, 40...Sensor unit, 42...Propulsion unit, 43...Steering unit, 50...Communication unit, 51...Underwater acoustic communication 52...Underwater optical communication unit, 60...Exposure mechanism, 61...Mast, 62...Antenna unit, 63...Float, 64...Buoy-shaped unit, 65...Towed unit, 66...Floating unit, 70...Group control device, 71...Individual mode acquisition unit, 72...Restricted state identification unit, 73...Formation change unit, 74...Group display control unit, 75...Group communication unit, 80...Restricted state navigation unit, 81...Representative display navigation unit, 90...External observation device, 91...Ship station, 92...Coastal station, 93...Port monitoring station, 94...Remote control station, 95...Satellite station, 96...Underwater observation device, 200...Navigation unit group

Claims

1. An external status display system used for autonomous navigation vehicles in waters, A mode acquisition unit that acquires mode information indicating the level of automatic operation in the navigation control or operation control of the autonomous navigation body for water, During navigation or operation of the autonomous navigation system for waters, a status display unit is provided or positioned in a location observable from the outside of the autonomous navigation system for waters, A display control unit controls the external display mode output from the status display unit based on the mode information, Equipped with, The aforementioned autonomous driving level is an index indicating the degree of autonomy in the navigation control or work control of the autonomous navigation vehicle for waters, and includes multiple levels corresponding to at least two categories, including limited autonomous navigation or fully autonomous navigation, from among limited autonomous navigation, fully autonomous navigation, minimum risk state, autonomous work, or work interruption state, wherein the level corresponding to limited autonomous navigation or fully autonomous navigation is a level indicating a state in which the control device of the autonomous navigation vehicle for waters makes a ship handling decision or work decision, and is different from a state in which a ship handling decision or work decision is made by a human. The display control unit causes the status display unit to output external display modes consisting of light emission modes, display modes, reflection modes, sound modes, or combinations thereof, which are associated with each of the automatic driving levels and are mutually identifiable from the outside. External status display system.

2. The mode acquisition unit further acquires an operational authority status indicating whether the authority to make a ship operation decision or work decision rests with the control device of the autonomous navigation unit for water, the control device of the remote device, or the human operator, and the display control unit changes the external display mode according to the difference in the operational authority status. The external status display system according to claim 1.

3. The status display unit outputs the external display mode, which is installed underwater and can be observed by an underwater external observation device, another underwater vehicle, a remotely operated underwater vehicle, a diver, or an underwater monitoring device, when the autonomous vehicle for water is navigating or working underwater. The external status display system according to claim 1.

4. The status display unit is positioned on, near, or across the water surface to be observable from the outside when at least a portion of the main body of the autonomous navigation system for water is submerged underwater or in an operating state. The external status display system according to claim 1.

5. The status display unit is provided on or near the water surface of a sensor unit, communication unit, antenna unit, mast, float, buoy-like unit, towing unit, floating unit, or external display unit when at least a part of the main body of the autonomous navigation unit for water is located below the water surface during navigation or operation. The external status display system according to claim 1.

6. The external display mode is determined by at least one of the following: emission color, chromaticity range, flashing cycle, lighting time, emission intensity, emission direction, emission position, lighting sequence of multiple light-emitting parts, time-series lighting pattern, encoded lighting pattern, reflection pattern, polarization pattern, near-infrared pattern, display graphic, underwater light display, or acoustic pattern. The external status display system according to claim 1.

7. The display control unit, if the first external display mode corresponding to the automatic driving level falls under conditions that could be confused with legal navigation lights, shapes, light signals, emergency ship lights, special signals, or lights restricted in the jurisdictional waters, will output a second external display mode different from the first external display mode from the status display unit. The external status display system according to claim 1.

8. The external status display system further comprises a communication unit that enables the transmission of status notification information corresponding to the mode information or the external display mode via maritime data communication receivable by at least one of a ship station, coastal station, port monitoring station, remote control station, or satellite station, wherein the status notification information includes status identification information indicating the autonomous driving level or display mode identification information indicating the external display mode, and further includes at least one of the identification information, location information, and time information of the autonomous navigator for waters. The external status display system according to claim 1.

9. The communication unit controls at least one of the transmission time, retransmission time, transmission power, transmission count, or communication path of the status notification information, based on receiving wave information indicating the relative height, wave phase, or exposure state of the receiving device that is the destination or relay destination of the status notification information, so that the status notification information is received when the receiving device is near the wave crest, at a position relatively high to the wave, or exposed above the water surface. The external status display system according to claim 8.

10. The external status display system further comprises a wave-related information acquisition unit that acquires wave-related information indicating at least one of waves, swells, vertical movement, attitude, draft changes of the autonomous navigation body for water, the height of the status display unit relative to the water surface, or the exposure state of the status display unit, and the display control unit outputs or enhances the external display mode associated with each of the autonomous driving levels based on the mode information and the wave-related information during the period when the status display unit is in a position relatively high with respect to the waves, during the period when the status display unit is exposed above the water surface, or during the period when the status display unit is oriented in a way that allows external observation, as described in Claim 1.

11. The external status display system according to claim 10, wherein the display control unit outputs the external display mode as a time-series display mode that can be identified as the same automatic operation level over multiple exposure periods when the status display unit is intermittently obscured by waves.

12. The external status display system according to claim 11, wherein the display control unit divides an encoded lighting pattern that is not completed in a single exposure period into multiple exposure periods and outputs it, and during periods when the status display unit is in a low position or is shielded, it holds an intermediate state of the time-series display mode in preparation for the next exposure period.

13. The external status display system according to claim 10, wherein the display control unit changes at least one of the light emission intensity, lighting time, flashing period, light emission direction, orientation of the display surface, sound output, or exposure state of the reflective surface of the external display mode during the period when the status display unit is in a position relatively high with respect to the waves.

14. An autonomous navigation system for waters, A navigational vehicle body that navigates in water or operates underwater, The external status display system according to claim 1, Equipped with, The status display unit of the external status display system is provided on the main body of the navigation vehicle or a member connected to the main body of the navigation vehicle, and is positioned in a location that can be observed from the outside, either underwater, on the water surface, near the water surface, or through the water surface, when at least a part of the main body of the navigation vehicle is navigating below the water surface or working underwater. Autonomous navigation vehicle for water bodies.

Images